44 lines
1.2 KiB
Python
44 lines
1.2 KiB
Python
from __future__ import annotations
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import atexit
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from .control import ControlArbiter, NativeUdpControlIngress, OmniSocketControlSender
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from .telemetry import GpsDataService, HubTelemetryReceiver, NetworkTelemetryService
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from .video import OmniSocketVideoReceiver, VideoFrameService
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_video_receiver = OmniSocketVideoReceiver()
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_control_sender = OmniSocketControlSender()
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_hub_telemetry_receiver = HubTelemetryReceiver()
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control_arbiter = ControlArbiter(_control_sender)
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native_control_ingress = NativeUdpControlIngress(control_arbiter)
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video_service = VideoFrameService(_video_receiver)
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gps_service = GpsDataService(_video_receiver)
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network_service = NetworkTelemetryService(
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_video_receiver,
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_control_sender,
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control_arbiter,
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native_control_ingress,
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_hub_telemetry_receiver,
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)
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def shutdown_monitoring_services() -> None:
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for closer in (
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network_service.close,
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native_control_ingress.close,
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control_arbiter.close,
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_hub_telemetry_receiver.close,
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_video_receiver.close,
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_control_sender.close,
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):
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try:
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closer()
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except Exception:
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pass
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atexit.register(shutdown_monitoring_services)
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