Convert led code to class based for multithreading

run.py

@@ -17,7 +17,7 @@ import signal
 import socket
 from flask import Flask, render_template, request
 import requests
-import led_control
+from led_control import LEDSystem
 import server
 import asyncio
 import json
@@ -36,7 +36,7 @@ killme = None
 #pool = None
 serverproc = None
 camera = None
-
+ledsys = None
 to_server_queue = Queue()
 from_server_queue = Queue()
 
@@ -47,6 +47,8 @@ def arm_start_callback(res):
 def led_start_callback(res):
     global led_ready
     led_ready = True
+    global ledsys
+    ledsys = res
 
 def camera_start_callback(res):
     global camera_ready
@@ -233,11 +235,13 @@ def setup_server(pool):
     global camera
 
     pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
-    pool.apply_async(led_control.init, callback=led_start_callback)
+    global ledsys
+    ledsys = LEDSystem()
+    pool.apply_async(ledsys.init, callback=led_start_callback)
     #pool.apply_async(sensor_control.init, callback=sensor_start_callback)
     serverproc = Process(target=start_server_socket)
     serverproc.start()
-
+    
     if led_ready is False:
         fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
         while led_ready is False: