feat: 对接KCP-C

Deploy_Tienkung/rl_control_node.py

@@ -47,7 +47,13 @@ def timing_decorator(func):
 class XMIGCSControlNode(Node):
     """xMIGCS控制节点Python版本"""
 
-    VALID_CONTROL_TOOLS = ("joystick", "xbox", "keyboard", "udp_loopback")
+    VALID_CONTROL_TOOLS = (
+        "joystick",
+        "xbox",
+        "keyboard",
+        "udp_loopback",
+        "omnisocket_loopback",
+    )
 
     def __init__(self, debug=False):
         super().__init__('xmigcs_control_node')
@@ -185,6 +191,13 @@ class XMIGCSControlNode(Node):
             self.udp_fsm_controller.init()
             self.udp_fsm_controller.start()
 
+        if "omnisocket_loopback" in self.control_tools:
+            from udp_loopback.omnisocket_fsm_controller import OmniSocketFSMController
+
+            self.omnisocket_fsm_controller = OmniSocketFSMController()
+            self.omnisocket_fsm_controller.init()
+            self.omnisocket_fsm_controller.start()
+
         # Xbox控制器
         if "xbox" in self.control_tools:
             self.xbox_controller = XBOXController()
@@ -333,6 +346,15 @@ class XMIGCSControlNode(Node):
                 self.udp_fsm_controller.get_last_fsm_command_time(),
             ))
 
+        if "omnisocket_loopback" in self.control_tools:
+            self.omnisocket_fsm_controller.update_flag()
+            source_flags.append((
+                "omnisocket_loopback",
+                self.omnisocket_fsm_controller.get_udp_flag(),
+                self.omnisocket_fsm_controller.get_last_input_time(),
+                self.omnisocket_fsm_controller.get_last_fsm_command_time(),
+            ))
+
         source_name, active_flag = self._select_control_flag(source_flags)
         flag = self._copy_control_flag(active_flag)
         flag.fsm_state_command = self._select_fsm_command(source_flags)
@@ -421,6 +443,9 @@ class XMIGCSControlNode(Node):
         if hasattr(self,
                    'udp_fsm_controller') and "udp_loopback" in self.control_tools:
             self.udp_fsm_controller.stop()
+        if hasattr(self,
+                   'omnisocket_fsm_controller') and "omnisocket_loopback" in self.control_tools:
+            self.omnisocket_fsm_controller.stop()
 
         if self.control_thread and self.control_thread.is_alive():
             self.control_thread.join(timeout=1.0)