import logging
import multiprocessing

from BusClient import BusClient
from nodes.Beamformer import Beamformer
from nodes.Broker import Broker
from nodes.Device import Device
from nodes.ImageCV import ImageCV
from nodes.Loader import Loader
from nodes.MainUI import MainUI
from nodes.Robot import Robot
from nodes.WebRTC import WebRTC
from utils.Msg import KillMsg

if __name__ == '__main__':
    logging.basicConfig(level=logging.INFO)
    multiprocessing.set_start_method('spawn')
    multiprocessing.Pool()
    pps = []
    ps = [
        Broker(),
        WebRTC(),
        MainUI(),
        Device(level=logging.DEBUG),
        ImageCV(),
        Beamformer(),
        Loader(),
        Robot(),
    ]
    for p in ps:
        pps.append(multiprocessing.Process(target=p))
    for p in pps:
        p.start()

    c = BusClient(KillMsg)
    while True:
        x: KillMsg = c.recv()
        if x.name == '':
            break
    for p in pps:
        p.kill()