clamp_realtime_viewer/GrpcClient.py

import time
import grpc
import def_pb2 as pb
import def_pb2_grpc as mrpc
import threading
from concurrent.futures import ThreadPoolExecutor
def singleton(cls):
    _instance = {}

    def inner():
        if cls not in _instance:
            _instance[cls] = cls()
        return _instance[cls]
    return inner
@singleton
class GrpcStream(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.threadpool=ThreadPoolExecutor(5)
        self.exit_=False
        self.features_=None
        self.clouds_=None
        self.cloudCallBack=None
        self.ErrorCallback=None

    def SetDataCallBack(self,CloudsCallBack,ErrorCallback):
        self.cloudCallBack=CloudsCallBack
        self.ErrorCallback=ErrorCallback

    def OpenDataStream(self,ip,port):
        connectstr='%s:%d'%(ip,port)
        channel=grpc.insecure_channel(connectstr)
        stub = mrpc.StreamServerStub(channel)
        cmd=pb.RequestCmd()
        self.clouds_ = stub.OpenStream(cmd)
    def CloseDataStream(self,ip,port):
        connectstr='%s:%d'%(ip,port)
        channel=grpc.insecure_channel(connectstr)
        stub = mrpc.StreamServerStub(channel)
        cmd=pb.RequestCmd()
        print(" close stream")
        stub.CloseStream(cmd)

    def loopDataStream(self):
        while self.exit_ == False:
            time.sleep(0.001)
            if self.clouds_ is not None:
                try:
                    for clouds in self.clouds_:
                        if self.cloudCallBack is not None:
                            self.cloudCallBack(clouds)
                except Exception as e:
                    if self.ErrorCallback is not None:
                        self.ErrorCallback(str(e))
                    self.clouds_=None
    def run(self):
        self.threadpool.submit(self.loopDataStream)
        print(" close ")
    def close(self):
        self.exit_=True
        self.threadpool.shutdown()
        self.join()