912af8d821
Before actuation_receiver tests started a receiver with real zmq context. This led to flaky tests because of port congestion issues. ref: N25B-386
101 lines
3.3 KiB
Python
101 lines
3.3 KiB
Python
import logging
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import signal
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import threading
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from robot_interface.utils.qi_utils import get_qi_session
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class State(object):
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"""
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Do not create an instance of this class directly: use the instance `state` below. This state must be initiated once,
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probably when your program starts.
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This class is used to share state between threads. For example, when the program is quit, that all threads can
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detect this via the `exit_event` property being set.
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:ivar is_initialized: Flag indicating whether the state setup (exit handlers, QI session) has completed.
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:vartype is_initialized: bool
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:ivar exit_event: A thread event used to signal all threads that the program is shutting down.
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:vartype exit_event: threading.Event | None
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:ivar sockets: A list of ZeroMQ socket wrappers (`SocketBase`) that need to be closed during deinitialization.
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:vartype sockets: List[SocketBase]
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:ivar qi_session: The QI session object used for interaction with the robot/platform services.
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:vartype qi_session: None | qi.Session
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"""
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def __init__(self):
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self.is_initialized = False
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self.exit_event = None
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self.sockets = []
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self.qi_session = None
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self.is_speaking = False
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def initialize(self):
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"""
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Sets up the application state. Creates the thread exit event, registers
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signal handlers (`SIGINT`, `SIGTERM`) for graceful shutdown, and
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establishes the QI session.
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"""
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if self.is_initialized:
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logging.warn("Already initialized")
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return
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self.exit_event = threading.Event()
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def handle_exit(_, __):
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logging.info("Exiting.")
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self.exit_event.set()
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signal.signal(signal.SIGINT, handle_exit)
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signal.signal(signal.SIGTERM, handle_exit)
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self.qi_session = get_qi_session()
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self.is_initialized = True
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def deinitialize(self):
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"""
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Closes all sockets stored in the `sockets` list.
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"""
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if not self.is_initialized: return
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for socket in self.sockets:
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socket.close()
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self.is_initialized = False
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def __getattribute__(self, name):
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"""
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Custom attribute access method that enforces a check: the state must be
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fully initialized before any non-setup attributes (like `sockets` or `qi_session`)
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can be accessed.
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:param name: The name of the attribute being accessed.
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:type name: str
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:return: The value of the requested attribute.
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:rtype: Any
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"""
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if name in (
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"initialize",
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"deinitialize",
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"is_initialized",
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"__dict__",
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"__class__",
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"__doc__"):
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return object.__getattribute__(self, name)
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if not object.__getattribute__(self, "is_initialized"):
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# Special case for the exit_event: if the event is set, return it without an error
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if name == "exit_event":
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exit_event = object.__getattribute__(self, "exit_event")
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if exit_event and exit_event.is_set(): return exit_event
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raise RuntimeError("State must be initialized before accessing '%s'" % name)
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return object.__getattribute__(self, name)
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# Must call `.initialize` before use
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state = State()
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