Reworked serial reading

rpi/hardware/generic/serial_reader.py

@@ -0,0 +1,40 @@
+import threading
+from threading import Thread
+from typing import Callable
+
+from serial import Serial
+
+class SerialReader:
+
+    serial : Serial = None
+    __thread : Thread | None = None
+    __listeners : list[Callable] = None
+
+    def __init__(self, port, baudrate):
+        self.serial = Serial(port, baudrate)
+        self._run_event = threading.Event()
+        self.__listeners = []
+
+    def start(self) -> None:
+        self._run_event.set()
+        if self.__thread is None or not self.__thread.is_alive():
+            self.__thread = Thread(target=self.__read, daemon=True)
+            self.__thread.start()
+
+    def stop(self) -> None:
+        if self._run_event.is_set():
+            self._run_event.clear()
+
+    def subscribe(self, listener : Callable) -> None:
+        self.__listeners.append(listener)
+
+    def __notify(self, data : str):
+        for listener in self.__listeners:
+            listener(data)
+
+    def __read(self):
+        while self._run_event.is_set():
+            line = self.serial.readline()
+            if line:
+                data = line.decode('utf-8', errors='ignore')
+                self.__notify(data)