#2 Code Structure Optimization

Author: KingRichord

python/infinite_sense_core/message.py

@@ -43,14 +43,6 @@ def pub(self, topic: str, metadata: str):
         except zmq.ZMQError as e:
             print(f"[ERROR] Publish error: {e}")
 
-    def pub_struct(self, topic: str, data: bytes):
-        try:
-            with self.lock:
-                self.publisher.send_string(+topic, zmq.SNDMORE)
-                self.publisher.send(data, zmq.DONTWAIT)
-        except zmq.ZMQError as e:
-            print(f"[ERROR] Publish struct error: {e}")
-
     def sub(self, topic: str, callback):
         def run():
             try:
@@ -62,30 +54,11 @@ def run():
                     data_msg = subscriber.recv_string()
                     if topic_msg != topic:
                         continue
-                    callback(data_msg)
+                    callback(data_msg.encode(), len(data_msg))
             except zmq.ZMQError as e:
                 print(f"[ERROR] Exception in Sub thread for topic [{topic}]: {e}")
 
         thread = threading.Thread(target=run, daemon=True)
         thread.start()
         self.sub_threads.append(thread)
 
-    def sub_struct(self, topic: str, callback):
-        def run():
-            try:
-                context = zmq.Context()
-                subscriber = context.socket(zmq.SUB)
-                subscriber.connect(self.endpoint)
-                subscriber.setsockopt_string(zmq.SUBSCRIBE, topic)
-                while True:
-                    topic_msg = subscriber.recv_string()
-                    data_msg = subscriber.recv()
-                    if topic_msg != topic:
-                        continue
-                    callback(data_msg)
-            except zmq.ZMQError as e:
-                print(f"[ERROR] Exception in SubStruct for topic [{topic}]: {e}")
-
-        thread = threading.Thread(target=run, daemon=True)
-        thread.start()
-        self.sub_threads.append(thread)

python/main.py

@@ -1,20 +1,8 @@
 import logging
 import time
-import threading
 from infinite_sense_core.infinit_sense import Synchronizer
+from infinite_sense_core.message import Messenger
 
-class Messenger:
-    @staticmethod
-    def get_instance():
-        return Messenger()
-
-    def sub_struct(self, topic, callback):
-        def run():
-            while True:
-                time.sleep(1)
-                fake_data = b"fake binary data"
-                callback(fake_data, len(fake_data))
-        threading.Thread(target=run, daemon=True).start()
 
 class MockSensor:
     def initialization(self):
@@ -52,8 +40,8 @@ def main():
     synchronizer.start()
 
     messenger = Messenger.get_instance()
-    messenger.sub_struct("imu_1", imu_callback)
-    messenger.sub_struct("cam_1", image_callback)
+    messenger.sub("imu_1", imu_callback)
+    messenger.sub("cam_1", image_callback)
 
     logging.info("Synchronizer is running. Press Ctrl+C to exit.")