Organize host and robot streaming releases

host/robot-command-center/backend/monitoring/services.py

@@ -0,0 +1,53 @@
+from __future__ import annotations
+
+import atexit
+
+from .control import ControlAckTracker, ControlArbiter, NativeUdpControlIngress, OmniSocketControlAckReceiver, OmniSocketControlSender
+from .telemetry import GpsDataService, HubTelemetryReceiver, NetworkTelemetryService
+from .video import OmniSocketVideoReceiver, VideoDisplayProbeStore, VideoFrameService
+
+
+_video_receiver = OmniSocketVideoReceiver()
+_control_ack_tracker = ControlAckTracker()
+_control_sender = OmniSocketControlSender(_control_ack_tracker)
+_control_ack_receiver = OmniSocketControlAckReceiver(_control_ack_tracker)
+_hub_telemetry_receiver = HubTelemetryReceiver()
+_video_display_probe_store = VideoDisplayProbeStore()
+
+control_arbiter = ControlArbiter(_control_sender)
+camera_control_service = _control_sender
+native_control_ingress = NativeUdpControlIngress(control_arbiter)
+
+video_service = VideoFrameService(_video_receiver, _video_display_probe_store)
+gps_service = GpsDataService(_video_receiver)
+network_service = NetworkTelemetryService(
+    _video_receiver,
+    _control_sender,
+    _control_ack_tracker,
+    _control_ack_receiver,
+    control_arbiter,
+    native_control_ingress,
+    _hub_telemetry_receiver,
+    _video_display_probe_store,
+)
+
+
+def shutdown_monitoring_services() -> None:
+    for closer in (
+        network_service.close,
+        native_control_ingress.close,
+        control_arbiter.close,
+        _control_ack_receiver.close,
+        _control_ack_tracker.close,
+        _hub_telemetry_receiver.close,
+        _video_display_probe_store.close,
+        _video_receiver.close,
+        _control_sender.close,
+    ):
+        try:
+            closer()
+        except Exception:
+            pass
+
+
+atexit.register(shutdown_monitoring_services)