quality: run and fix pylint check

.pylintrc

@@ -0,0 +1,618 @@
+[MAIN]
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Load and enable all available extensions. Use --list-extensions to see a list
+# all available extensions.
+#enable-all-extensions=
+
+# In error mode, messages with a category besides ERROR or FATAL are
+# suppressed, and no reports are done by default. Error mode is compatible with
+# disabling specific errors.
+#errors-only=
+
+# Always return a 0 (non-error) status code, even if lint errors are found.
+# This is primarily useful in continuous integration scripts.
+#exit-zero=
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code.
+extension-pkg-allow-list=depthai,node,cv2,events.*
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code. (This is an alternative name to extension-pkg-allow-list
+# for backward compatibility.)
+extension-pkg-whitelist=
+
+# Return non-zero exit code if any of these messages/categories are detected,
+# even if score is above --fail-under value. Syntax same as enable. Messages
+# specified are enabled, while categories only check already-enabled messages.
+fail-on=
+
+# Specify a score threshold under which the program will exit with error.
+fail-under=10
+
+# Interpret the stdin as a python script, whose filename needs to be passed as
+# the module_or_package argument.
+#from-stdin=
+
+# Files or directories to be skipped. They should be base names, not paths.
+ignore=CVS
+
+# Add files or directories matching the regular expressions patterns to the
+# ignore-list. The regex matches against paths and can be in Posix or Windows
+# format. Because '\' represents the directory delimiter on Windows systems, it
+# can't be used as an escape character.
+ignore-paths=
+
+# Files or directories matching the regular expression patterns are skipped.
+# The regex matches against base names, not paths. The default value ignores
+# Emacs file locks
+ignore-patterns=^\.#
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis). It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the
+# number of processors available to use, and will cap the count on Windows to
+# avoid hangs.
+jobs=1
+
+# Control the amount of potential inferred values when inferring a single
+# object. This can help the performance when dealing with large functions or
+# complex, nested conditions.
+limit-inference-results=100
+
+# List of plugins (as comma separated values of python module names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Minimum Python version to use for version dependent checks. Will default to
+# the version used to run pylint.
+py-version=3.10
+
+# Discover python modules and packages in the file system subtree.
+recursive=yes
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages.
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+# In verbose mode, extra non-checker-related info will be displayed.
+#verbose=
+
+
+[REPORTS]
+
+# Python expression which should return a score less than or equal to 10. You
+# have access to the variables 'fatal', 'error', 'warning', 'refactor',
+# 'convention', and 'info' which contain the number of messages in each
+# category, as well as 'statement' which is the total number of statements
+# analyzed. This score is used by the global evaluation report (RP0004).
+evaluation=max(0, 0 if fatal else 10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10))
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details.
+msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio). You can also give a reporter class, e.g.
+# mypackage.mymodule.MyReporterClass.
+#output-format=
+
+# Tells whether to display a full report or only the messages.
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, CONTROL_FLOW, INFERENCE, INFERENCE_FAILURE,
+# UNDEFINED.
+confidence=HIGH,
+           CONTROL_FLOW,
+           INFERENCE,
+           INFERENCE_FAILURE,
+           UNDEFINED
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once). You can also use "--disable=all" to
+# disable everything first and then re-enable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use "--disable=all --enable=classes
+# --disable=W".
+disable=raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        use-symbolic-message-instead
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[LOGGING]
+
+# The type of string formatting that logging methods do. `old` means using %
+# formatting, `new` is for `{}` formatting.
+logging-format-style=old
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format.
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes.
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it work,
+# install the 'python-enchant' package.
+spelling-dict=
+
+# List of comma separated words that should be considered directives if they
+# appear at the beginning of a comment and should not be checked.
+spelling-ignore-comment-directives=fmt: on,fmt: off,noqa:,noqa,nosec,isort:skip,mypy:
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains the private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to the private dictionary (see the
+# --spelling-private-dict-file option) instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+# Regular expression of note tags to take in consideration.
+notes-rgx=
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=cv2,events.events_pb2,depthai.*,dai.*
+
+# Tells whether to warn about missing members when the owner of the attribute
+# is inferred to be None.
+ignore-none=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of symbolic message names to ignore for Mixin members.
+ignored-checks-for-mixins=no-member,
+                          not-async-context-manager,
+                          not-context-manager,
+                          attribute-defined-outside-init
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local,argparse.Namespace
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+
+missing-member-max-choices=1
+
+# Regex pattern to define which classes are considered mixins.
+mixin-class-rgx=.*[Mm]ixin
+
+# List of decorators that change the signature of a decorated function.
+signature-mutators=
+
+
+[CLASSES]
+
+# Warn about protected attribute access inside special methods
+check-protected-access-in-special-methods=no
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp,
+                      __post_init__
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=cls
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid defining new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of names allowed to shadow builtins
+allowed-redefined-builtins=
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expected to
+# not be used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored.
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='    '
+
+# Maximum number of characters on a single line.
+max-line-length=120
+
+# Maximum number of lines in a module.
+max-module-lines=1000
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[IMPORTS]
+
+# List of modules that can be imported at any level, not just the top level
+# one.
+allow-any-import-level=
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Deprecated modules which should not be used, separated by a comma.
+deprecated-modules=
+
+# Output a graph (.gv or any supported image format) of external dependencies
+# to the given file (report RP0402 must not be disabled).
+ext-import-graph=
+
+# Output a graph (.gv or any supported image format) of all (i.e. internal and
+# external) dependencies to the given file (report RP0402 must not be
+# disabled).
+import-graph=
+
+# Output a graph (.gv or any supported image format) of internal dependencies
+# to the given file (report RP0402 must not be disabled).
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+# Couples of modules and preferred modules, separated by a comma.
+preferred-modules=
+
+
+[METHOD_ARGS]
+
+# List of qualified names (i.e., library.method) which require a timeout
+# parameter e.g. 'requests.api.get,requests.api.post'
+timeout-methods=requests.api.delete,requests.api.get,requests.api.head,requests.api.options,requests.api.patch,requests.api.post,requests.api.put,requests.api.request
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when caught.
+overgeneral-exceptions=BaseException,
+                       Exception
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=sys.exit,argparse.parse_error
+
+
+[SIMILARITIES]
+
+# Comments are removed from the similarity computation
+ignore-comments=yes
+
+# Docstrings are removed from the similarity computation
+ignore-docstrings=yes
+
+# Imports are removed from the similarity computation
+ignore-imports=yes
+
+# Signatures are removed from the similarity computation
+ignore-signatures=yes
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[DESIGN]
+
+# List of regular expressions of class ancestor names to ignore when counting
+# public methods (see R0903)
+exclude-too-few-public-methods=
+
+# List of qualified class names to ignore when counting class parents (see
+# R0901)
+ignored-parents=
+
+# Maximum number of arguments for function / method.
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in an if statement (see R0916).
+max-bool-expr=5
+
+# Maximum number of branch for function / method body.
+max-branches=12
+
+# Maximum number of locals for function / method body.
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body.
+max-returns=6
+
+# Maximum number of statements in function / method body.
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[STRING]
+
+# This flag controls whether inconsistent-quotes generates a warning when the
+# character used as a quote delimiter is used inconsistently within a module.
+check-quote-consistency=no
+
+# This flag controls whether the implicit-str-concat should generate a warning
+# on implicit string concatenation in sequences defined over several lines.
+check-str-concat-over-line-jumps=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names.
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style. If left empty, argument names will be checked with the set
+# naming style.
+#argument-rgx=
+
+# Naming style matching correct attribute names.
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style. If left empty, attribute names will be checked with the set naming
+# style.
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma.
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Bad variable names regexes, separated by a comma. If names match any regex,
+# they will always be refused
+bad-names-rgxs=
+
+# Naming style matching correct class attribute names.
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style. If left empty, class attribute names will be checked
+# with the set naming style.
+#class-attribute-rgx=
+
+# Naming style matching correct class constant names.
+class-const-naming-style=UPPER_CASE
+
+# Regular expression matching correct class constant names. Overrides class-
+# const-naming-style. If left empty, class constant names will be checked with
+# the set naming style.
+#class-const-rgx=
+
+# Naming style matching correct class names.
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-
+# style. If left empty, class names will be checked with the set naming style.
+#class-rgx=
+
+# Naming style matching correct constant names.
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style. If left empty, constant names will be checked with the set naming
+# style.
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names.
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style. If left empty, function names will be checked with the set
+# naming style.
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma.
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Good variable names regexes, separated by a comma. If names match any regex,
+# they will always be accepted
+good-names-rgxs=
+
+# Include a hint for the correct naming format with invalid-name.
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names.
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style. If left empty, inline iteration names will be checked
+# with the set naming style.
+#inlinevar-rgx=
+
+# Naming style matching correct method names.
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style. If left empty, method names will be checked with the set naming style.
+#method-rgx=
+
+# Naming style matching correct module names.
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style. If left empty, module names will be checked with the set naming style.
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+# These decorators are taken in consideration only for invalid-name.
+property-classes=abc.abstractproperty
+
+# Regular expression matching correct type variable names. If left empty, type
+# variable names will be checked with the set naming style.
+#typevar-rgx=
+
+# Naming style matching correct variable names.
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style. If left empty, variable names will be checked with the set
+# naming style.
+#variable-rgx=

camera/cli.py

@@ -1,27 +1,36 @@
+"""
+Mqtt gateway for oak-lite device
+"""
+import argparse
 import logging
 import os
-from . import depthai as cam
+
 import paho.mqtt.client as mqtt
-import argparse
+
+from . import depthai as cam
 
 logger = logging.getLogger(__name__)
 logging.basicConfig(level=logging.INFO)
 
-default_client_id = "robocar-depthai"
+_DEFAULT_CLIENT_ID = "robocar-depthai"
 
 
-def init_mqtt_client(broker_host: str, broker_port, user: str, password: str, client_id: str) -> mqtt.Client:
+def _init_mqtt_client(broker_host: str, broker_port, user: str, password: str, client_id: str) -> mqtt.Client:
     logger.info("Start part.py-robocar-oak-camera")
     client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
 
     client.username_pw_set(user, password)
-    logger.info("Connect to mqtt broker "+ broker_host)
+    logger.info("Connect to mqtt broker %s", broker_host)
     client.connect(host=broker_host, port=broker_port, keepalive=60)
     logger.info("Connected to mqtt broker")
     return client
 
 
-def execute_from_command_line():
+def execute_from_command_line() -> None:
+    """
+    Cli entrypoint
+    :return:
+    """
     logging.basicConfig(level=logging.INFO)
 
     parser = argparse.ArgumentParser()
@@ -40,10 +49,10 @@ def execute_from_command_line():
                         default=_get_env_int_value("MQTT_BROKER_PORT", 1883))
     parser.add_argument("-C", "--mqtt-client-id",
                         help="MQTT client id",
-                        default=_get_env_value("MQTT_CLIENT_ID", default_client_id))
+                        default=_get_env_value("MQTT_CLIENT_ID", _DEFAULT_CLIENT_ID))
     parser.add_argument("-c", "--mqtt-topic-robocar-oak-camera",
                         help="MQTT topic where to publish robocar-oak-camera frames",
-                        default=_get_env_value("MQTT_TOPIC_CAMERA","/oak/camera_rgb"))
+                        default=_get_env_value("MQTT_TOPIC_CAMERA", "/oak/camera_rgb"))
     parser.add_argument("-o", "---mqtt-topic-robocar-objects",
                         help="MQTT topic where to publish objects detection results",
                         default=_get_env_value("MQTT_TOPIC_OBJECTS", "/objects"))
@@ -60,12 +69,12 @@ def execute_from_command_line():
 
     args = parser.parse_args()
 
-    client = init_mqtt_client(broker_host=args.mqtt_broker_host,
-                              broker_port=args.mqtt_broker_port,
-                              user=args.mqtt_username,
-                              password=args.mqtt_password,
-                              client_id=args.mqtt_client_id,
-                              )
+    client = _init_mqtt_client(broker_host=args.mqtt_broker_host,
+                               broker_port=args.mqtt_broker_port,
+                               user=args.mqtt_username,
+                               password=args.mqtt_password,
+                               client_id=args.mqtt_client_id,
+                               )
     frame_processor = cam.FramePublisher(mqtt_client=client,
                                          frame_topic=args.mqtt_topic_robocar_oak_camera,
                                          objects_topic=args.mqtt_topic_robocar_objects,

camera/depthai.py

@@ -1,13 +1,16 @@
+"""
+Camera event loop
+"""
 import datetime
 import logging
+
+import cv2
+import depthai as dai
+import numpy as np
 import paho.mqtt.client as mqtt
 
 import events.events_pb2
 
-import depthai as dai
-import cv2
-import numpy as np
-
 logger = logging.getLogger(__name__)
 
 NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
@@ -16,6 +19,10 @@ NN_HEIGHT = 192
 
 
 class FramePublisher:
+    """
+    Camera controller that publish events from camera
+    """
+
     def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, objects_topic: str, objects_threshold: float,
                  img_width: int, img_height: int):
         self._mqtt_client = mqtt_client
@@ -25,6 +32,7 @@ class FramePublisher:
         self._img_width = img_width
         self._img_height = img_height
         self._pipeline = self._configure_pipeline()
+        self._stop = False
 
     def _configure_pipeline(self) -> dai.Pipeline:
         logger.info("configure pipeline")
@@ -53,7 +61,6 @@ class FramePublisher:
         xout_rgb = pipeline.create(dai.node.XLinkOut)
         xout_rgb.setStreamName("rgb")
 
-
         # Properties
         cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
         cam_rgb.setPreviewSize(width=self._img_width, height=self._img_height)
@@ -72,7 +79,11 @@ class FramePublisher:
         logger.info("pipeline configured")
         return pipeline
 
-    def run(self):
+    def run(self) -> None:
+        """
+        Start event loop
+        :return:
+        """
         # Connect to device and start pipeline
         with dai.Device(self._pipeline) as device:
             logger.info('MxId: %s', device.getDeviceInfo().getMxId())
@@ -87,12 +98,15 @@ class FramePublisher:
             q_rgb = device.getOutputQueue(name="rgb", maxSize=queue_size, blocking=False)
             q_nn = device.getOutputQueue(name="nn", maxSize=queue_size, blocking=False)
 
+            self._stop = False
             while True:
+                if self._stop:
+                    return
                 try:
                     logger.debug("wait for new frame")
-                    inRgb = q_rgb.get()  # blocking call, will wait until a new data has arrived
+                    in_rgb = q_rgb.get()  # blocking call, will wait until a new data has arrived
 
-                    im_resize = inRgb.getCvFrame()
+                    im_resize = in_rgb.getCvFrame()
 
                     is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
                     byte_im = im_buf_arr.tobytes()
@@ -127,14 +141,14 @@ class FramePublisher:
                         for i in range(boxes.shape[0]):
                             bbox = boxes[i]
                             logger.debug("new object detected: %s", str(bbox))
-                            o = events.events_pb2.Object()
-                            o.type = events.events_pb2.TypeObject.ANY
-                            o.top = bbox[0].astype(float)
-                            o.right = bbox[3].astype(float)
-                            o.bottom = bbox[2].astype(float)
-                            o.left = bbox[1].astype(float)
-                            o.confidence = scores[i].astype(float)
-                            objs.append(o)
+                            obj = events.events_pb2.Object()
+                            obj.type = events.events_pb2.TypeObject.ANY
+                            obj.top = bbox[0].astype(float)
+                            obj.right = bbox[3].astype(float)
+                            obj.bottom = bbox[2].astype(float)
+                            obj.left = bbox[1].astype(float)
+                            obj.confidence = scores[i].astype(float)
+                            objs.append(obj)
                         objects_msg.objects.extend(objs)
 
                         objects_msg.frame_ref.name = frame_msg.id.name
@@ -147,5 +161,13 @@ class FramePublisher:
                                                   qos=0,
                                                   retain=False)
 
-                except Exception as e:
-                    logger.exception("unexpected error: %s", str(e))
+                # pylint: disable=broad-except # bad frame or event must not stop loop
+                except Exception as excpt:
+                    logger.exception("unexpected error: %s", str(excpt))
+
+    def stop(self):
+        """
+        Stop event loop, if loop is not running, do nothing
+        :return:
+        """
+        self._stop = True

poetry.lock

@@ -1,3 +1,18 @@
+[[package]]
+name = "astroid"
+version = "2.12.12"
+description = "An abstract syntax tree for Python with inference support."
+category = "dev"
+optional = false
+python-versions = ">=3.7.2"
+
+[package.dependencies]
+lazy-object-proxy = ">=1.4.0"
+wrapt = [
+    {version = ">=1.11,<2", markers = "python_version < \"3.11\""},
+    {version = ">=1.14,<2", markers = "python_version >= \"3.11\""},
+]
+
 [[package]]
 name = "attrs"
 version = "22.1.0"
@@ -107,6 +122,17 @@ category = "main"
 optional = false
 python-versions = ">=3.6"
 
+[[package]]
+name = "dill"
+version = "0.3.5.1"
+description = "serialize all of python"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
+
+[package.extras]
+graph = ["objgraph (>=1.7.2)"]
+
 [[package]]
 name = "google"
 version = "3.0.0"
@@ -134,6 +160,20 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "isort"
+version = "5.10.1"
+description = "A Python utility / library to sort Python imports."
+category = "dev"
+optional = false
+python-versions = ">=3.6.1,<4.0"
+
+[package.extras]
+colors = ["colorama (>=0.4.3,<0.5.0)"]
+pipfile-deprecated-finder = ["pipreqs", "requirementslib"]
+plugins = ["setuptools"]
+requirements-deprecated-finder = ["pip-api", "pipreqs"]
+
 [[package]]
 name = "jmespath"
 version = "1.0.1"
@@ -142,6 +182,22 @@ category = "main"
 optional = false
 python-versions = ">=3.7"
 
+[[package]]
+name = "lazy-object-proxy"
+version = "1.7.1"
+description = "A fast and thorough lazy object proxy."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "mccabe"
+version = "0.7.0"
+description = "McCabe checker, plugin for flake8"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "numpy"
 version = "1.23.4"
@@ -188,6 +244,18 @@ python-versions = "*"
 [package.extras]
 proxy = ["PySocks"]
 
+[[package]]
+name = "platformdirs"
+version = "2.5.2"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
+test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+
 [[package]]
 name = "pluggy"
 version = "1.0.0"
@@ -224,6 +292,28 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
+[[package]]
+name = "pylint"
+version = "2.15.4"
+description = "python code static checker"
+category = "dev"
+optional = false
+python-versions = ">=3.7.2"
+
+[package.dependencies]
+astroid = ">=2.12.11,<=2.14.0-dev0"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+dill = ">=0.2"
+isort = ">=4.2.5,<6"
+mccabe = ">=0.6,<0.8"
+platformdirs = ">=2.2.0"
+tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
+tomlkit = ">=0.10.1"
+
+[package.extras]
+spelling = ["pyenchant (>=3.2,<4.0)"]
+testutils = ["gitpython (>3)"]
+
 [[package]]
 name = "pyparsing"
 version = "3.0.9"
@@ -330,6 +420,14 @@ category = "dev"
 optional = false
 python-versions = ">=3.7"
 
+[[package]]
+name = "tomlkit"
+version = "0.11.5"
+description = "Style preserving TOML library"
+category = "dev"
+optional = false
+python-versions = ">=3.6,<4.0"
+
 [[package]]
 name = "urllib3"
 version = "1.26.12"
@@ -343,12 +441,24 @@ brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
 secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
 socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
 
+[[package]]
+name = "wrapt"
+version = "1.14.1"
+description = "Module for decorators, wrappers and monkey patching."
+category = "dev"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.10"
-content-hash = "b165038947d8a9e0e256c91b449c4cbd1e65ccfd0e65f271d002fc8e21e2640e"
+content-hash = "c241f1088945e1b451684386b6aac16ba85a85394c94c8a19099b5ebea05b53f"
 
 [metadata.files]
+astroid = [
+    {file = "astroid-2.12.12-py3-none-any.whl", hash = "sha256:72702205200b2a638358369d90c222d74ebc376787af8fb2f7f2a86f7b5cc85f"},
+    {file = "astroid-2.12.12.tar.gz", hash = "sha256:1c00a14f5a3ed0339d38d2e2e5b74ea2591df5861c0936bb292b84ccf3a78d83"},
+]
 attrs = [
     {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
     {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
@@ -413,6 +523,10 @@ depthai = [
     {file = "depthai-2.17.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:de7b5e4a15b0a9e15fdf19c5388e6aa9629ecc25a955675d400173f9a2dd199b"},
     {file = "depthai-2.17.4.0.tar.gz", hash = "sha256:b8e3c2eaa643c64e737435adaa23d54e3fda58baad1477f5176908689473a85f"},
 ]
+dill = [
+    {file = "dill-0.3.5.1-py2.py3-none-any.whl", hash = "sha256:33501d03270bbe410c72639b350e941882a8b0fd55357580fbc873fba0c59302"},
+    {file = "dill-0.3.5.1.tar.gz", hash = "sha256:d75e41f3eff1eee599d738e76ba8f4ad98ea229db8b085318aa2b3333a208c86"},
+]
 google = [
     {file = "google-3.0.0-py2.py3-none-any.whl", hash = "sha256:889cf695f84e4ae2c55fbc0cfdaf4c1e729417fa52ab1db0485202ba173e4935"},
     {file = "google-3.0.0.tar.gz", hash = "sha256:143530122ee5130509ad5e989f0512f7cb218b2d4eddbafbad40fd10e8d8ccbe"},
@@ -425,10 +539,57 @@ iniconfig = [
     {file = "iniconfig-1.1.1-py2.py3-none-any.whl", hash = "sha256:011e24c64b7f47f6ebd835bb12a743f2fbe9a26d4cecaa7f53bc4f35ee9da8b3"},
     {file = "iniconfig-1.1.1.tar.gz", hash = "sha256:bc3af051d7d14b2ee5ef9969666def0cd1a000e121eaea580d4a313df4b37f32"},
 ]
+isort = [
+    {file = "isort-5.10.1-py3-none-any.whl", hash = "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7"},
+    {file = "isort-5.10.1.tar.gz", hash = "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"},
+]
 jmespath = [
     {file = "jmespath-1.0.1-py3-none-any.whl", hash = "sha256:02e2e4cc71b5bcab88332eebf907519190dd9e6e82107fa7f83b1003a6252980"},
     {file = "jmespath-1.0.1.tar.gz", hash = "sha256:90261b206d6defd58fdd5e85f478bf633a2901798906be2ad389150c5c60edbe"},
 ]
+lazy-object-proxy = [
+    {file = "lazy-object-proxy-1.7.1.tar.gz", hash = "sha256:d609c75b986def706743cdebe5e47553f4a5a1da9c5ff66d76013ef396b5a8a4"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:bb8c5fd1684d60a9902c60ebe276da1f2281a318ca16c1d0a96db28f62e9166b"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a57d51ed2997e97f3b8e3500c984db50a554bb5db56c50b5dab1b41339b37e36"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fd45683c3caddf83abbb1249b653a266e7069a09f486daa8863fb0e7496a9fdb"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:8561da8b3dd22d696244d6d0d5330618c993a215070f473b699e00cf1f3f6443"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:fccdf7c2c5821a8cbd0a9440a456f5050492f2270bd54e94360cac663398739b"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-win32.whl", hash = "sha256:898322f8d078f2654d275124a8dd19b079080ae977033b713f677afcfc88e2b9"},
+    {file = "lazy_object_proxy-1.7.1-cp310-cp310-win_amd64.whl", hash = "sha256:85b232e791f2229a4f55840ed54706110c80c0a210d076eee093f2b2e33e1bfd"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:46ff647e76f106bb444b4533bb4153c7370cdf52efc62ccfc1a28bdb3cc95442"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:12f3bb77efe1367b2515f8cb4790a11cffae889148ad33adad07b9b55e0ab22c"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c19814163728941bb871240d45c4c30d33b8a2e85972c44d4e63dd7107faba44"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:e40f2013d96d30217a51eeb1db28c9ac41e9d0ee915ef9d00da639c5b63f01a1"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:2052837718516a94940867e16b1bb10edb069ab475c3ad84fd1e1a6dd2c0fcfc"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-win32.whl", hash = "sha256:6a24357267aa976abab660b1d47a34aaf07259a0c3859a34e536f1ee6e76b5bb"},
+    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-win_amd64.whl", hash = "sha256:6aff3fe5de0831867092e017cf67e2750c6a1c7d88d84d2481bd84a2e019ec35"},
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+    {file = "lazy_object_proxy-1.7.1-cp39-cp39-win32.whl", hash = "sha256:2130db8ed69a48a3440103d4a520b89d8a9405f1b06e2cc81640509e8bf6548f"},
+    {file = "lazy_object_proxy-1.7.1-cp39-cp39-win_amd64.whl", hash = "sha256:677ea950bef409b47e51e733283544ac3d660b709cfce7b187f5ace137960d61"},
+    {file = "lazy_object_proxy-1.7.1-pp37.pp38-none-any.whl", hash = "sha256:d66906d5785da8e0be7360912e99c9188b70f52c422f9fc18223347235691a84"},
+]
+mccabe = [
+    {file = "mccabe-0.7.0-py2.py3-none-any.whl", hash = "sha256:6c2d30ab6be0e4a46919781807b4f0d834ebdd6c6e3dca0bda5a15f863427b6e"},
+    {file = "mccabe-0.7.0.tar.gz", hash = "sha256:348e0240c33b60bbdf4e523192ef919f28cb2c3d7d5c7794f74009290f236325"},
+]
 numpy = [
     {file = "numpy-1.23.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:95d79ada05005f6f4f337d3bb9de8a7774f259341c70bc88047a1f7b96a4bcb2"},
     {file = "numpy-1.23.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:926db372bc4ac1edf81cfb6c59e2a881606b409ddc0d0920b988174b2e2a767f"},
@@ -475,6 +636,10 @@ packaging = [
 paho-mqtt = [
     {file = "paho-mqtt-1.6.1.tar.gz", hash = "sha256:2a8291c81623aec00372b5a85558a372c747cbca8e9934dfe218638b8eefc26f"},
 ]
+platformdirs = [
+    {file = "platformdirs-2.5.2-py3-none-any.whl", hash = "sha256:027d8e83a2d7de06bbac4e5ef7e023c02b863d7ea5d079477e722bb41ab25788"},
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+]
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pyproject.toml

@@ -23,6 +23,10 @@ protobuf = "^4.21.8"
 [tool.poetry.group.test.dependencies]
 pytest = "^7.1.3"
 
+
+[tool.poetry.group.dev.dependencies]
+pylint = "^2.15.4"
+
 [build-system]
 requires = ["poetry-core>=1.0.0", "poetry-dynamic-versioning"]
 build-backend = "poetry_dynamic_versioning.backend"