Migrate IPC to @ virtual address

teleop/utils/ipc.py

@@ -87,29 +87,15 @@ class IPC_Server:
         self._data_loop_thread = None
         self._hb_loop_thread = None
 
-        rd = os.environ.get("XDG_RUNTIME_DIR") or "/tmp"
         self.ctx = zmq.Context.instance()
-        # data IPC (REQ/REP): required
-        self.data_ipc = os.path.join(rd, f"xr-teleoperate-data-{os.getuid()}.ipc")
         self.rep_socket = self.ctx.socket(zmq.REP)
-        try:
-            if os.path.exists(self.data_ipc):
-                os.unlink(self.data_ipc)  # remove stale IPC file
-        except OSError:
-            pass
-        self.rep_socket.bind(f"ipc://{self.data_ipc}")
-        logger_mp.info(f"[IPC_Server] Listening to Data at ipc://{self.data_ipc}")
+        self.rep_socket.bind("ipc://@xr_teleoperate_data.ipc")
+        logger_mp.info("[IPC_Server] Listening to Data at ipc://@xr_teleoperate_data.ipc")
 
         # heartbeat IPC (PUB/SUB)
-        self.hb_ipc = os.path.join(rd, f"xr-teleoperate-hb-{os.getuid()}.ipc")
         self.pub_socket = self.ctx.socket(zmq.PUB)
-        try:
-            if os.path.exists(self.hb_ipc):
-                os.unlink(self.hb_ipc)  # remove stale IPC file
-        except OSError:
-            pass
-        self.pub_socket.bind(f"ipc://{self.hb_ipc}")
-        logger_mp.info(f"[IPC_Server] Publishing HeartBeat at ipc://{self.hb_ipc}")
+        self.pub_socket.bind("ipc://@xr_teleoperate_hb.ipc")
+        logger_mp.info("[IPC_Server] Publishing HeartBeat at ipc://@xr_teleoperate_hb.ipc")
 
     def _data_loop(self):
         """
@@ -213,7 +199,6 @@ class IPC_Client:
     """
     def __init__(self, hb_fps=10.0):
         """hb_fps: heartbeat subscribe frequency, should match server side."""
-        rd = os.environ.get("XDG_RUNTIME_DIR") or "/tmp"
         self.ctx = zmq.Context.instance()
 
         # heartbeat IPC (PUB/SUB)
@@ -224,20 +209,20 @@ class IPC_Client:
         self._hb_interval = 1.0 / float(hb_fps)     # expected heartbeat interval
         self._hb_lock = threading.Lock()            # lock for heartbeat state
         self._hb_timeout = 5.0 * self._hb_interval  # timeout to consider offline
-        self.hb_ipc = os.path.join(rd, f"xr-teleoperate-hb-{os.getuid()}.ipc")
+
         self.sub_socket = self.ctx.socket(zmq.SUB)
         self.sub_socket.setsockopt(zmq.RCVHWM, 1)
-        self.sub_socket.connect(f"ipc://{self.hb_ipc}")
+        self.sub_socket.connect("ipc://@xr_teleoperate_hb.ipc")
         self.sub_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        logger_mp.info(f"[IPC_Client] Subscribed to HeartBeat at ipc://{self.hb_ipc}")
+        logger_mp.info("[IPC_Client] Subscribed to HeartBeat at ipc://@xr_teleoperate_hb.ipc")
+
         self._hb_thread = threading.Thread(target=self._hb_loop, daemon=True)
         self._hb_thread.start()
 
         # data IPC (REQ/REP)
-        self.data_ipc = os.path.join(rd, f"xr-teleoperate-data-{os.getuid()}.ipc")
         self.req_socket = self.ctx.socket(zmq.REQ)
-        self.req_socket.connect(f"ipc://{self.data_ipc}")
-        logger_mp.info(f"[IPC_Client] Connected to Data at ipc://{self.data_ipc}")
+        self.req_socket.connect("ipc://@xr_teleoperate_data.ipc")
+        logger_mp.info("[IPC_Client] Connected to Data at ipc://@xr_teleoperate_data.ipc")
 
     def _make_reqid(self) -> str:
         import uuid
@@ -322,7 +307,7 @@ class IPC_Client:
             self.sub_socket.setsockopt(zmq.LINGER, 0)
             self.sub_socket.close()
         except Exception:
-                pass
+            pass
         try:
             self.ctx.term()
         except Exception: