main.py

## Python
from pathlib import Path
import time
import sys

## MMS
from trackmap_gui import TrackMapGUI
from vehicle_model import VehicleModel
from path_planning import PathPlanner
from motion_controller import MotionController
from keyboard_controller import KeyboardController

rate = 50.0

def main(keyboard=False):
    track_csv = Path("./FSG2019.csv")
    track_ref_csv = Path("./FSG2019_ref.csv")

    gui = TrackMapGUI(track_csv)
    vehicle = VehicleModel()
    planner = PathPlanner(track_ref_csv)
    
    if keyboard:
        controller = KeyboardController()
    else:
        controller = MotionController()

    while(True):
        car = vehicle.get_state(1.0/rate)
        next_reference = planner.get_next_reference(car)
        
        next_controls = controller.get_controls(car, next_reference)
        vehicle.set_control_inputs(next_controls)

        gui.update_vehicle(car)
        gui.update_reference(next_reference)
        gui.event_loop()
        
        time.sleep(1.0/rate)

if __name__ == "__main__":
    keyboard = len(sys.argv) > 1 and sys.argv[1] == "keyboard"
    main(keyboard)