wehub-resource-sync
93 lines
2.7 KiB
Python
93 lines
2.7 KiB
Python
"""Facilitates communication between processes for object detection signals."""
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import threading
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import zmq
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SOCKET_PUB = "ipc:///tmp/cache/detector_pub"
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SOCKET_SUB = "ipc:///tmp/cache/detector_sub"
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class ZmqProxyRunner(threading.Thread):
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def __init__(self, context: zmq.Context[zmq.Socket]) -> None:
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super().__init__(name="detector_proxy")
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self.context = context
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def run(self) -> None:
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"""Run the proxy."""
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incoming = self.context.socket(zmq.XSUB)
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incoming.bind(SOCKET_PUB)
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outgoing = self.context.socket(zmq.XPUB)
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outgoing.bind(SOCKET_SUB)
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# Blocking: This will unblock (via exception) when we destroy the context
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# The incoming and outgoing sockets will be closed automatically
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# when the context is destroyed as well.
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try:
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zmq.proxy(incoming, outgoing)
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except zmq.ZMQError:
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pass
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class DetectorProxy:
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"""Proxies object detection signals."""
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def __init__(self) -> None:
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self.context = zmq.Context()
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self.runner = ZmqProxyRunner(self.context)
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self.runner.start()
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def stop(self) -> None:
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# destroying the context will tell the proxy to stop
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self.context.destroy()
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self.runner.join()
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class ObjectDetectorPublisher:
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"""Publishes signal for object detection to different processes."""
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topic_base = "object_detector/"
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def __init__(self, topic: str = "") -> None:
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self.topic = f"{self.topic_base}{topic}"
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self.context = zmq.Context()
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self.socket = self.context.socket(zmq.PUB)
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self.socket.connect(SOCKET_PUB)
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def publish(self, sub_topic: str = "") -> None:
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"""Publish message."""
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self.socket.send_string(f"{self.topic}{sub_topic}/")
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def stop(self) -> None:
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self.socket.close()
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self.context.destroy()
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class ObjectDetectorSubscriber:
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"""Simplifies receiving a signal for object detection."""
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topic_base = "object_detector/"
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def __init__(self, topic: str = "") -> None:
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self.topic = f"{self.topic_base}{topic}/"
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self.context = zmq.Context()
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self.socket = self.context.socket(zmq.SUB)
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self.socket.setsockopt_string(zmq.SUBSCRIBE, self.topic)
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self.socket.connect(SOCKET_SUB)
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def check_for_update(self, timeout: float = 5) -> str | None:
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"""Returns message or None if no update."""
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try:
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has_update, _, _ = zmq.select([self.socket], [], [], timeout)
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if has_update:
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return self.socket.recv_string(flags=zmq.NOBLOCK)
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except zmq.ZMQError:
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pass
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return None
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def stop(self) -> None:
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self.socket.close()
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self.context.destroy()
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