refactor<com> remove comments and use docstrinfg for functions

coms/coms/app.py

@@ -4,7 +4,7 @@
 import signal
 import threading
 from byodr.utils.ssh import Router
-from .communication import start_communication
+from .communication import CommunicationHandler
 from .common_utils import *
 from .robot_comm import *
 
@@ -35,9 +35,10 @@ def main():
     application = ComsApplication(event=quit_event, config_dir=args.config)
     tel_chatter = TeleopChatter(application.get_robot_config_file(), application.get_user_config_file())
     socket_manager = SocketManager(tel_chatter, quit_event=quit_event)
+    communication_handler = CommunicationHandler(quit_event)
 
     # Starting the functions that will allow the client and server of each segment to start sending and receiving data
-    communication_thread = threading.Thread(target=start_communication, args=(socket_manager, application.get_robot_config_file()))
+    communication_thread = threading.Thread(target=communication_handler.start_communication, args=(socket_manager, application.get_robot_config_file()))
 
     application.setup()
     socket_manager.start_threads()

coms/coms/common_utils.py

@@ -7,9 +7,6 @@
 from .robot_comm import *
 
 
-common_queue = Queue(maxsize=1)
-
-
 class ComsApplication(Application):
     def __init__(self, event, config_dir=os.getcwd(), hz=20):
         """set up configuration directory and a configuration file path
@@ -62,8 +59,6 @@ def setup(self):
             if _hash != self._config_hash:
                 self._config_hash = _hash
 
-        # logger.info(tel_data["command"]["robot_config"])
-
 
 class SocketManager:
     def __init__(self, teleop_chatter, quit_event):
@@ -80,11 +75,11 @@ def __init__(self, teleop_chatter, quit_event):
         self.threads = [self.tel_chatter_socket, self.teleop_receiver, self.vehicle_receiver, self.pilot_receiver]
 
     def publish_to_pilot(self, message):
-        # Method to publish a message using coms_to_pilot_publisher
+        """Method to publish a message using coms_to_pilot_publisher"""
         self.coms_to_pilot_publisher.publish(message)
 
     def get_teleop_input(self):
-        # Method to get data from teleop_receiver
+        """Method to get data from teleop_receiver"""
         return self.teleop_receiver.get()
 
     def get_teleop_chatter(self):
@@ -95,11 +90,11 @@ def get_teleop_chatter(self):
 
     def chatter_message(self, cmd):
         """Broadcast message from COMS chatter with a timestamp. It is a one time message"""
-        logger.info(cmd)
+        # logger.info(cmd)
         self.coms_chatter.publish(dict(time=timestamp(), command=cmd))
 
     def get_velocity(self):
-        # Method to get data from vehicle_receiver
+        """Method to get data from vehicle_receiver"""
         return self.vehicle_receiver.get()
 
     def get_watchdog_status(self):

coms/coms/robot_comm.py

@@ -11,9 +11,6 @@
 logger = logging.getLogger(__name__)
 
 
-# This file will have the ZMQ socket and dealing with the robot configuration file
-
-
 class DataPublisher(threading.Thread):
     def __init__(self, data, event, robot_config_dir, message=" ", sleep_time=5, pub_port=5454, rep_port=5455):
         super(DataPublisher, self).__init__()

coms/coms/server.py

@@ -1,12 +1,6 @@
 import socket
 import logging
 import json
-from byodr.utils.ssh import Nano
-
-# import signal
-# signal.signal(signal.SIGPIPE,signal.SIG_DFL)
-
-nano_ip = Nano.get_ip_address()
 
 
 # Declaring the logger