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add daemon thread for api

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Sem van der Hoeven
2023-05-22 15:50:21 +02:00
parent 890ba3d121
commit 0165538cbc
1 changed files with 4 additions and 5 deletions
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9
src/api_communication/api_communication/api_listener.py
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@@ -5,7 +5,7 @@ from drone_services.msg import DroneStatus
import asyncio import asyncio
import websockets.server import websockets.server
import threading
class ApiListener(Node): class ApiListener(Node):
@@ -16,6 +16,7 @@ class ApiListener(Node):
self.last_battery_percentage = 0 self.last_battery_percentage = 0
self.last_cpu_usage = 0 self.last_cpu_usage = 0
self.server = None self.server = None
self.server_thread = threading.Thread(target=self.handle_api,daemon=True)
def drone_status_callback(self, msg): def drone_status_callback(self, msg):
self.get_logger().info('Received drone battery and cpu: {0} {1}'.format(msg.battery_percentage,msg.cpu_usage)) self.get_logger().info('Received drone battery and cpu: {0} {1}'.format(msg.battery_percentage,msg.cpu_usage))
@@ -47,10 +48,8 @@ async def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)
api_listener = ApiListener() api_listener = ApiListener()
# start the websockets api in its own task wrapper rclpy.spin(api_listener)
asyncio.ensure_future(api_listener.handle_api())
api_listener.spin()
api_listener.destroy_node() api_listener.destroy_node()
rclpy.shutdown() rclpy.shutdown()