Run simulator and pfs in parallel

src/hermes/hermes.py

@@ -11,6 +11,8 @@ def __init__(self, config):
 
 
     def run(self):
-        print(self.submodules[0].measure_pdms())
         for submodule in self.submodules:
+            sub_thread = Thread(target=submodule.run)
+            sub_thread.daemon = True
+            sub_thread.start()
             submodule.run()

src/hermes/modules/eps.py

@@ -1,4 +1,5 @@
 #https://drive.google.com/drive/u/0/folders/1RtOsvaIf1FDO5OYh6ZsVETSZuCb2_O6_ page 39
+import time
 from enum import Enum
 from .helpers import read_file, write_file
 
@@ -84,18 +85,20 @@ def reset(self):
 
 
     def run(self):
-        # Add some sort of control loop? (What does the EPS do when its just being left)
-        # Implement watchdog
-        commands = read_file(self.command_filename)
-        performed_command = False
-        for register in commands:
-            self.ingest(register, commands[register])
-            performed_command = True
-        if read_file(self.command_filename) != self.empty_commands:
-            write_file(self.command_filename, self.empty_commands)
-        self.state_dict = {-1: self.state}
-        if read_file(self.state_filename) != self.state_dict:
-            write_file(self.state_filename, self.state_dict)
+        while True:
+            time.sleep(0.1) # Temporary for testing, should remove this in final version
+            print(self.measure_pdms())
+            # Implement watchdog
+            commands = read_file(self.command_filename)
+            performed_command = False
+            for register in commands:
+                self.ingest(register, commands[register])
+                performed_command = True
+            if read_file(self.command_filename) != self.empty_commands:
+                write_file(self.command_filename, self.empty_commands)
+            self.state_dict = {-1: self.state}
+            if read_file(self.state_filename) != self.state_dict:
+                write_file(self.state_filename, self.state_dict)
 
 
     def get_pin_num(self, command):

src/main.py

@@ -1,16 +1,19 @@
-import sys
+import sys, os
+# Add MCL to path so that we can import it
+sys.path.append(os.path.abspath(os.path.join('../..', 'pfs')))
+
 import json
 import time
 import argparse
-from hermes import Hermes
 from threading import Thread
 
+from hermes import Hermes
+from MainControlLoop.main_control_loop import MainControlLoop
 
-def hermes_thread(hermes):
-    while True:
-        time.sleep(0.1)
-        hermes.run()
 
+def mcl_thread(mcl):
+    while True:
+        mcl.execute()
 
 
 def ingest(inp):
@@ -23,7 +26,9 @@ def main():
 #    args = parser.parse_args()
     config = json.load(open("config.json"))
     hermes = Hermes(config)
-    thread = Thread(target=hermes_thread, args=(hermes,))
+    hermes.run()
+    mcl = MainControlLoop()
+    thread = Thread(target=mcl_thread, args=(mcl,))
     thread.daemon = True
     thread.start()