fix event

Author: previ

event.py

@@ -1,5 +1,5 @@
 import threading
-from pubsub import pub
+from event_channel.threaded_event_channel import ThreadedEventChannel
 
 class EventManager(object):
     _instance = None
@@ -10,25 +10,33 @@ def get_instance(cls, node_name=None):
         return cls._instance
 
     def __init__(self, node_name):
+        self._channel = ThreadedEventChannel(blocking=False)
+        self._publisher_threads = None 
+        self._subscribers = [] 
         self._node_name = node_name
         self._event_generators = []
 
     def publish(self, topic, msg):
-        pub.sendMessage(topic, message=msg)
+        self._publisher_threads = self._channel.publish(topic, msg)
 
     def register_event_listener(self, topic, callback):
-        pub.subscribe(callback, topic)
+        self._channel.subscribe(topic, callback)
+        self._subscribers.append((topic, callback))
 
     def register_event_generator(self, generator_func):
         generator = threading.Thread(target=generator_func)
         self._event_generators.append(generator)
         generator.start()
 
     def unregister_listeners(self):
-        pub.unsubAll()
-
+        for l in self._subscribers:
+            self._channel.unsubscribe(l[0], l[1]) 
+        self._subscribers = []
+	
     def unregister_publishers(self):
-        pass
+        if self._publisher_threads:
+            for t in self._publisher_threads:
+                t.join()
 
     def start_event_generators(self):
         for g in self._event_generators:
@@ -37,3 +45,4 @@ def start_event_generators(self):
     def wait_event_generators(self):
         for g in self._event_generators:
             g.join()
+        self._event_generators = []

program.py

@@ -221,8 +221,8 @@ def run(self, *args):
                 get_event().wait_event_generators()
                 get_event().unregister_listeners()
                 get_event().unregister_publishers()
-            except Exception:
-                logging.error("error polishing event system")
+            except Exception as e:
+                logging.error("error polishing event system: %s", str(e))
             try:
                 get_bot().stop()
                 get_cam().video_stop() #if video is running, stop it

requirements_stub.txt

@@ -27,7 +27,7 @@ opencv-contrib-python==4.5.3.56
 pigpio==1.78
 Pillow==9.1.1
 protobuf==4.21.1
-Pypubsub==4.0.3
+event-channel==0.4.3
 pytz==2022.1
 pyyaml==6.0
 pyzbar==0.1.9