Some notes:

• Add documentation explaining what the function does, the input parameters and the expected output as well as type checking. An example can be seen here.
• Lets move the Command() and CommandType() classes into a separate file, perhaps core/commands.py. Up to you 😸
• Following the best practices of our favourite object oriented programming language, lets separate out the classes into separate files in core/, so AcquisitionWorker.py and Tracker.py. They can be imported back in very simply, I believe there are examples within CARP to do this already.
• This is a bit picky of me, but I think it would be nice for comments to generally outline whats happening in the code a bit more discretely, an example would be here:

    def run(self):
        logging.info("AcquisitionWorker thread started.")
        try:
            while not self.stop_event.is_set():
                # Handle commands
                while True:

while not self.stop_event.is_set() is a significant while condition, defining that self.stop_event controls whether or not CARP runs. Something like:

    def run(self):
        logging.info("AcquisitionWorker thread started.")
        try:
            # process commands and data while stop_event isn't set
            while not self.stop_event.is_set():
                # Handle commands
                while True:

Again, this is a bit pedantic of me, but it allows for the program flow to be a bit more natural imo. You can ignore this if you like, I may add them in in the future to understand where and what is happening throughout the code :)

I'll get to actually reviewing the code as soon as I can 😅

Looks good! In lieu of actual tests I think it would be nice that we double check that the code works in the lab (we can do this together or I can do it, whatevers easier), then I'll approve the PR and we can get to rebasing and merging.