made project thread safe by making detector and tracker objects out of core object and they are shared using pointers

app.py

@@ -8,6 +8,7 @@ import os
 import time
 import threading  # Import threading module
 
+from detector import Detector
 
 # Add the proto directory to the Python path
 proto_dir = os.path.join(os.path.dirname(__file__), 'message_queue', 'proto')
@@ -25,6 +26,7 @@ from icecream import ic
 
 from configs import ConfigManager
 from core import Core
+from tracker import Tracker
 from message_queue.Bridge import Bridge
 from message_queue.Manager import Manager
 from message_queue.proto.ImageMessage_pb2 import ImageMessage, TrackMode
@@ -171,7 +173,9 @@ if __name__ == '__main__':
         print(f'{videoStreamer.id} connected')
         videoStreamers.append(videoStreamer)
 
-    core = Core(videoStreamers)
+    tracker = Tracker()
+    detector = Detector(classes=[0, 2, 5, 7])
+    core = Core(videoStreamers,tracker,detector)
 
     def manager_callback(msg_str):
         msg = Message()
@@ -226,6 +230,7 @@ if __name__ == '__main__':
     manager.start(manager_callback)
 
     def gotNewFrame(bboxes, id_, isDetection, ctime):
+        #print(f"Got new frame, bboxes : {bboxes} Id: {id} Is detection {isDetection}")
         m = Message()
         m.msgType = MessageType.MESSAGE_TYPE_IMAGE
         m.image.timestamp = int(ctime.value)

core.py

@@ -25,11 +25,11 @@ class Core(QThread):
     newFrame = pyqtSignal(object, int, bool,ctypes.c_int64)
     coordsUpdated = pyqtSignal(int, object, bool)
 
-    def __init__(self, video_sources: List[VideoStreamer], parent=None):
+    def __init__(self, video_sources: List[VideoStreamer], tracker = None, detector = None , parent=None):
         super(QThread, self).__init__(parent)
 
-        self.__detector = Detector(classes=[0, 2, 5, 7])
-        self.__tracker = Tracker()
+        self.__detector = detector
+        self.__tracker = tracker
 
         self.__video_sources = video_sources
         self.__processing_source = video_sources[0]
@@ -118,6 +118,7 @@ class Core(QThread):
         self.__detection_thread = None
 
     def start_track(self, x: int, y: int, w: int = 0, h: int = 0):
+      print(f"start tracking: {x}, {y}, {w}, {h}")
       try:
         self.__is_detecting = False
         self.__is_tracking = False
@@ -142,12 +143,14 @@ class Core(QThread):
 
       if self.__tracking_thread is not None:
           self.__tracking_thread.join()
+          self.stop_track()
       self.__is_tracking = True
       self.__tracking_thread = Thread(target=self.__tracking)
       self.__tracking_thread.start()
       sleep(0.03)
 
     def stop_track(self):
+        print("stop tracking")
         self.stop_detection()
         self.__tracker.stop()
         self.__is_tracking = False