23c3379bfb
As changed in the API document, this now uses the new port negotiation style. ref: N25B-168
64 lines
2.1 KiB
Python
64 lines
2.1 KiB
Python
import logging
|
|
import signal
|
|
import threading
|
|
|
|
from robot_interface.utils.qi_utils import get_qi_session
|
|
|
|
|
|
class State(object):
|
|
"""
|
|
Do not create an instance of this class directly: use the instance `state` below. This state must be initiated once,
|
|
probably when your program starts.
|
|
|
|
This class is used to share state between threads. For example, when the program is quit, that all threads can
|
|
detect this via the `exit_event` property being set.
|
|
"""
|
|
def __init__(self):
|
|
self.is_initialized = False
|
|
self.exit_event = None
|
|
self.sockets = [] # type: List[SocketBase]
|
|
self.qi_session = None # type: None | ssl.SSLSession
|
|
|
|
def initialize(self):
|
|
if self.is_initialized:
|
|
logging.warn("Already initialized")
|
|
return
|
|
|
|
self.exit_event = threading.Event()
|
|
def handle_exit(_, __):
|
|
logging.info("Exiting.")
|
|
self.exit_event.set()
|
|
signal.signal(signal.SIGINT, handle_exit)
|
|
signal.signal(signal.SIGTERM, handle_exit)
|
|
|
|
self.qi_session = get_qi_session()
|
|
|
|
self.is_initialized = True
|
|
|
|
def deinitialize(self):
|
|
if not self.is_initialized: return
|
|
|
|
for socket in self.sockets:
|
|
socket.close()
|
|
|
|
self.is_initialized = False
|
|
|
|
def __getattribute__(self, name):
|
|
# Enforce that the state is initialized before accessing any property (aside from the basic ones)
|
|
if name in ("initialize", "deinitialize", "is_initialized", "__dict__", "__class__"):
|
|
return object.__getattribute__(self, name)
|
|
|
|
if not object.__getattribute__(self, "is_initialized"):
|
|
# Special case for the exit_event: if the event is set, return it without an error
|
|
if name == "exit_event":
|
|
exit_event = object.__getattribute__(self, "exit_event")
|
|
if exit_event and exit_event.is_set(): return exit_event
|
|
|
|
raise RuntimeError("State must be initialized before accessing '%s'" % name)
|
|
|
|
return object.__getattribute__(self, name)
|
|
|
|
|
|
# Must call `.initialize` before use
|
|
state = State()
|