drones_pipe_thread.py

from multiprocessing import Pipe
import threading, select, time


class PipeThread(threading.Thread):
    def __init__(self, network):
        threading.Thread.__init__(self)
        self.daemon = True
        self.network = network
        self.collision_conn, self.drone_conn = Pipe(duplex=False)

    def run(self):
        feed_interval = self.network.POLL_RATE

        while True:
            # send the conflicting drone parameters, the running instance and the current parameters
            msg = (self.network.drones, self.network.vehicle.mode, self.network.vehicle_params)
            self.drone_conn.send(msg)
            time.sleep(feed_interval)