dotbot/dotbot_simulator: rework threading

[aabadie]

No description provided.

[codecov]

Codecov Report

❌ Patch coverage is 79.27928% with 23 lines in your changes missing coverage. Please review.
✅ Project coverage is 82.01%. Comparing base (545dfb1) to head (eca08ab).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
dotbot/dotbot_simulator.py	73.23%	19 Missing ⚠️
dotbot/controller.py	50.00%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #209      +/-   ##
==========================================
+ Coverage   81.87%   82.01%   +0.14%     
==========================================
  Files          30       30              
  Lines        2907     2941      +34     
==========================================
+ Hits         2380     2412      +32     
- Misses        527      529       +2     

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[geonnave]

@WilliamTakeshi I will let you test this one since I know you have some scripts for generating several nodes for the simulator (btw, let's consider merging those scripts somewhere in this repo (perhaps in the examples folder) so that others can also use them).

[WilliamTakeshi]

@aabadie I tested locally and feels the same, or a bit slower.

I pushed the example that I used on this branch, more specifically on this commit

The idea was, just create a grid with 100, 200, 300, 400 and 500 bots and change the led color every 0.25s to a new random color. Just to test how many updates can the simulator do

For the simulator on main, it works fine for 100 and a bit laggy for 200, 300 is bad
for the simulator with queue, it forks fine for 100, but feels more laggy for 200, 300 is almost impossible.

cmd for running the simulator (wo any logging) python3 -m dotbot.controller_app --config-path config_sample.toml -a dotbot-simulator --log-level error
and cmd for running the blink experiment python3 -m dotbot.examples.blinky