I have created a class to communicate with another processes via pipes.
Class creates separate threads that read/write to pipes and use async queues to communicate with your thread.
It;s a proven solution that I use in my project
import time
import subprocess
import queue
import threading
TIMEOUT_POLLINGINTERVAL = 0.5
class ShellCall():
    def __init__(self):
        self._popen = None
        """ :type: subprocess.Popen """
        self._stdOutQueue = None
        """ :type: queue.Queue """
        self._stdErrQueue = None
        """ :type: queue.Queue """
        self._stdOut = []
        self._stdErr = []
    def __del__(self):
        if self._popen and self._popen.poll() is None:
            self._popen.kill()
    def call(self, command, shell=False):
        """
        Execute a shell command
        :param command: command to be executed
        :type command: str | list[str]
        :param shell: If shell is True, the specified command will be executed through the shell
        :type shell: bool
        :rtype: None
        """
        if shell:
            command = command.encode('utf-8')
        else:
            command = [item.encode('utf-8') for item in command]
        self._popen = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=shell, bufsize=0)
        self._stdOutQueue = self._getAsyncReadQueue(self._popen.stdout)
        self._stdErrQueue = self._getAsyncReadQueue(self._popen.stderr)
    def _getAsyncReadQueue(self, sourcePipe):
        """
        Create a thread to read from pipe in asynchronous mode, get queue to receive data from pipe
        :param sourcePipe: Pipe to read from
        :type sourcePipe: pipe
        :return: Queue to receive read data
        :rtype: queue.Queue
        """
        newQueue = queue.Queue()
        newThread = threading.Thread(target=self._enqueueOutput, args=(sourcePipe, newQueue))
        newThread.daemon = True  # thread dies with the program
        newThread.start()
        return newQueue
    @staticmethod
    def _enqueueOutput(sourcePipe, outputQueue):
        """
        Read from pipe and write to the queue
        :param sourcePipe: Pipe to read from
        :type sourcePipe: pipe
        :param outputQueue: Queue to write to
        :type outputQueue: queue.Queue
        """
        for line in iter(sourcePipe.readline, b''):
            outputQueue.put(line)
    def waitNotNoneReturnCode(self, timeout, *, checkCallback=None):
        """
        Wait until any return code
        :param timeout: Timeout for executed command (sec). If timeout expired - ShellException raised
        :type timeout: float
        :param checkCallback: Any callable that will be used to check is shell call finished
        :type checkCallback: callable
        :rtype: None
        """
        self._wait(timeout, notNoneReturnCode=True, checkCallback=checkCallback)
    def waitNoErrorReturnCode(self, timeout, *, checkCallback=None):
        """
        Wait until success return code '0'. Otherwise raise ShellException
        :param timeout: Timeout for executed command (sec). If timeout expired - ShellException raised
        :type timeout: float
        :param checkCallback: Any callable that will be used to check is shell call finished
        :type checkCallback: callable
        :rtype: None
        """
        self._wait(timeout, notNoneReturnCode=True, noErrorReturnCode=True, checkCallback=checkCallback)
    def waitNoStdErr(self, timeout, *, checkCallback=None):
        """
        Wait until success return code '0' and empty stderr. Otherwise raise ShellException
        :param timeout: Timeout for executed command (sec). If timeout expired - ShellException raised
        :type timeout: float
        :param checkCallback: Any callable that will be used to check is shell call finished
        :type checkCallback: callable
        :rtype: None
        """
        self._wait(timeout, notNoneReturnCode=True, noErrorReturnCode=True, noStdErr=True, checkCallback=checkCallback)
    def waitStdOut(self, timeout, *, checkCallback=None):
        """
        Wait until success return code '0', empty stderr and not empty stdout. Otherwise raise ShellException
        :param timeout: Timeout for executed command (sec). If timeout expired - ShellException raised
        :type timeout: float
        :param checkCallback: Any callable that will be used to check is shell call finished
        :type checkCallback: callable
        :rtype: None
        """
        self._wait(timeout, notNoneReturnCode=True, noErrorReturnCode=True,
                   noStdErr=True, stdOut=True, checkCallback=checkCallback)
    def _wait(self, timeout, *, pollingTime=TIMEOUT_POLLINGINTERVAL,
              notNoneReturnCode=False, noErrorReturnCode=False, noStdErr=False, stdOut=False, checkCallback=None):
        """
        Raise ShellException if conditions not satisfied (see :func:`checkCallResults`).
        Raise ShellException if conditions not satisfied too long.
        :param timeout: Timeout for executed command (sec). If timeout expired - ShellException raised
        :type timeout: float
        :param pollingTime: Time interval length to check result of command execution
        :type pollingTime: float
        :rtype: None
        """
        startTime = time.time()
        while True:
            if self._checkCallResults(notNoneReturnCode=notNoneReturnCode, noErrorReturnCode=noErrorReturnCode,
                                      noStdErr=noStdErr, stdOut=stdOut, checkCallback=checkCallback):
                return
            # exception due to timeout
            if time.time() - startTime > timeout:
                raise ShellException('Shell call not finished too long', self)
            time.sleep(pollingTime)
    def _checkCallResults(self, notNoneReturnCode=False, noErrorReturnCode=False,
                          noStdErr=False, stdOut=False, checkCallback=None):
        """
        Raise ShellException if noErrorReturnCode=True and shell call return not 0 return call
        Raise ShellException if noStdErr=True and shell call print anything to stderr
        :param notNoneReturnCode: return True only if shell call return any return call
        :type notNoneReturnCode: bool
        :param noErrorReturnCode: return True only if shell call return 0 return code
        :type noErrorReturnCode: bool
        :param noStdErr: return True only if shell call print nothing to stderr
        :type noStdErr: bool
        :param stdOut: return True only if shell call print anything to stdout
        :type stdOut: bool
        :param checkCallback: Any callable that will be used to check is shell call finished,
                              positional arguments, keyword arguments
        :type checkCallback: callable, args, kwargs
        :return: True if conditions are satisfied
        :rtype: bool
        """
        # exceptions
        if noErrorReturnCode:
            if self.getReturnCode() is not None and self.getReturnCode() > 0:
                raise ShellException('Shell call finished with error return code', self)
        if noStdErr:
            if len(self.getStdErr()) > 0:
                raise ShellException('Shell call have non-empty stderr', self)
        # break loop
        notNoneReturnCodeCondition = (self.getReturnCode() is not None) if notNoneReturnCode else True
        noErrorReturnCodeCondition = (self.getReturnCode() == 0) if noErrorReturnCode else True
        notStdErrCondition = (len(self.getStdErr()) == 0) if noStdErr else True
        stdOutCondition = (len(self.getStdOut()) > 0) if stdOut else True
        callbackCondition = checkCallback() if checkCallback else True
        if notNoneReturnCodeCondition and noErrorReturnCodeCondition and \
                notStdErrCondition and stdOutCondition and callbackCondition:
            return True
        else:
            return False
    def getReturnCode(self):
        """
        Get return code of the process
        :return: return code of the child process or None if process is not terminated yet
        :rtype: int|None
        """
        return self._popen.poll()
    def getStdOut(self):
        """
        Get list with stdout lines
        :rtype: list[str]
        """
        self._stdOut += self._readAllQueue(self._stdOutQueue)
        return self._stdOut
    def getStdErr(self):
        """
        Get list with stderr lines
        :rtype: list[str]
        """
        self._stdErr += self._readAllQueue(self._stdErrQueue)
        return self._stdErr
    @staticmethod
    def _readAllQueue(sourceQueue):
        lines = []
        try:
            while True:
                line = sourceQueue.get_nowait()  # or q.get(timeout=.1)
                line = line.decode('utf-8').rstrip()
                lines.append(line)
        except queue.Empty:
            return lines
    def __repr__(self):
        stdOut = str.join(' ', self.getStdOut())
        stdOut = (stdOut[:1000] + '...') if len(stdOut) > 1000 else stdOut
        stdErr = str.join(' ', self.getStdErr())
        stdErr = (stdErr[:1000] + '...') if len(stdErr) > 1000 else stdErr
        return '<ShellCall(command={}, ReturnCode={}, stdout="{}", stderr="{}")>'. \
            format(self._popen.args, self.getReturnCode(), stdOut, stdErr)
class ShellException(Exception):
    def __init__(self, description, shellCall):
        """
        :param description: test description of the error
        :type description: str
        :param shellCall: shell call object used to execute a command
        :type shellCall: ShellCall
        :rtype: None
        """
        super(Exception, self).__init__(description, shellCall)
    def getShellCall(self):
        """
        Get shell call object used to execute a command
        :rtype: ShellCall
        """
        description, shellCall = self.args
        return shellCall