feat: split camera worker and tick worker

tickworker.py

@@ -0,0 +1,71 @@
+import sched
+import time
+from threading import Thread
+import json
+
+from redis import Redis
+
+from control.walle import WallE
+
+INTERVAL_TICK = 0.0125  # 20/s
+
+
+class EventListener(Thread):
+    def __init__(self):
+        super(EventListener, self).__init__()
+        self.keep_running = True
+        self.dbcon = Redis()
+        self.pubsub = self.dbcon.pubsub()
+        self.pubsub.subscribe(['move', 'look'])
+
+    def run(self) -> None:
+        while self.keep_running:
+            item = self.pubsub.get_message()
+            if not item:
+                time.sleep(0.01)
+                continue
+            channel = item['channel'].decode()
+            data = item['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
+        self.pubsub.close()
+
+    def stop(self):
+        self.keep_running = False
+
+    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()
+walle = WallE()
+walle.setup()
+
+
+def walle_tick():
+    scheduler.enter(INTERVAL_TICK, 1, walle_tick)
+    walle.tick()
+
+
+scheduler.enter(INTERVAL_TICK, 1, walle_tick)
+
+if __name__ == '__main__':
+    redisdb = Redis()
+    event_listener = EventListener()
+    event_listener.start()
+    try:
+        scheduler.run()
+    except KeyboardInterrupt:
+        event_listener.stop()
+        raise