protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
executionStoppingToken = stoppingToken;
await db.InitAsync();
AllModules = new List <IVectorPlusBehaviourModule>(PluginHelper.ExtractModulesFromAllPlugins());
Controller = CreateController();
await Controller.ConnectAsync(controllerConfig, RetrieveRoboConfig()?.ToRobotConfiguration());
await Controller.StartMainLoopAsync(stoppingToken);
}