feat: use redis to communicate movement

worker.py

@@ -1,9 +1,10 @@
 import sched
 from threading import Thread
+import json
 
 from redis import Redis
 
-# from control.walle import WallE
+from control.walle import WallE
 from control.camera import Camera
 
 INTERVAL_TICK = 0.05  # 20/s
@@ -21,16 +22,33 @@ class EventListener(Thread):
         for item in self.pubsub.listen():
             channel = item['channel'].decode()
             data = item['data']
-            print(channel)
-            print(data)
+            if not isinstance(data, bytes):
+                print(f"Channel {channel} got message that is not bytes {data}")
+                continue
+            try:
+                self.handle_message(channel, data)
+            except ValueError:
+                pass  # todo
+
+    def handle_message(self, channel: str, data: bytes):
+        data_dict = json.loads(data.decode())
+        if channel == 'move':
+            walle.set_movement(data_dict['angle'], data_dict['force'])
+        elif channel == 'look':
+            walle.set_eye_velocity(data_dict['angle'], data_dict['force'])
+        else:
+            print(f'Unknown channel {channel}')
 
 
 scheduler = sched.scheduler()
 camera = Camera()
+walle = WallE()
+walle.setup()
 
 
 def walle_tick():
-    pass
+    scheduler.enter(INTERVAL_TICK, 1, camera_image)
+    walle.tick()
 
 
 def camera_image():