theoretical implementation of tracker

urx/tracker.py

@@ -0,0 +1,60 @@
+import time
+from multiprocessing import Process, Queue, Event
+
+from urx.urrtmon import URRTMonitor
+
+
+class Tracker(Process):
+    def __init__(self, robot_host):
+        self.host = robot_host
+        self._queue = Queue()
+        Process.__init__(self, args=(self._queue,))
+        self._stop = Event()
+        self._finished = Event()
+        self._data = []
+
+    def _log(self, *args):
+        print(self.__class__.__name__, ": ".join([str(i) for i in args]))
+
+    def run(self):
+        self._log("Running")
+        rtmon = URRTMonitor(self.host)
+        rtmon.start()
+        while not self._stop.is_set():
+            data = rtmon.get_all_data(wait=True)
+            self._data.append(data)
+        self._queue.put(data)
+        self._finished.set()
+        self._log("Closing")
+
+    def start_acquisition(self):
+        self.start()
+
+    def stop_acquisition(self):
+        self._stop.set()
+
+    def get_result(self):
+        self._stop.set()
+        while not self._finished.is_set():
+            time.sleep(0.1)
+        return self._queue.get()
+
+    def shutdown(self, join=True):
+        self._stop.set() # just to make sure 
+        self._log("Shutting down")
+        if join:
+            self.join()
+
+
+if __name__ == "__main__":
+    p = Tracker()
+    try:
+        p.start_acquisition()
+        time.sleep(3)
+        p.stop_acquisition()
+        a = p.get_result()
+        print("Result is: ", a)
+    finally:
+        p.shutdown()
+
+