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add task wrapper for api

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Sem van der Hoeven
2023-05-22 15:06:10 +02:00
parent 72d9249c69
commit 1ab95054f2
1 changed files with 6 additions and 4 deletions
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10
src/api_communication/api_communication/api_listener.py
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@@ -22,7 +22,7 @@ class ApiListener(Node):
self.last_battery_percentage = msg.battery_percentage self.last_battery_percentage = msg.battery_percentage
self.last_cpu_usage = msg.cpu_usage self.last_cpu_usage = msg.cpu_usage
async def spin(self): async def handle_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')
self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001) self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
self.get_logger().info('API started') self.get_logger().info('API started')
@@ -31,8 +31,7 @@ class ApiListener(Node):
async def api_handler(self, websocket): async def api_handler(self, websocket):
try: try:
while rclpy.ok(): while True:
rclpy.spin_once(self, timeout_sec=0.1)
message = await websocket.recv() message = await websocket.recv()
self.get_logger().info('Received message: {0}'.format(message)) self.get_logger().info('Received message: {0}'.format(message))
await websocket.send("Yeet ") await websocket.send("Yeet ")
@@ -45,9 +44,12 @@ async def main(args=None):
api_listener = ApiListener() api_listener = ApiListener()
await api_listener.spin() # start the websockets api in its own task wrapper
asyncio.ensure_future(api_listener.handle_api())
rclpy.spin(api_listener)
api_listener.destroy_node() api_listener.destroy_node()
rclpy.shutdown() rclpy.shutdown()
print("running main")
asyncio.run(main()) asyncio.run(main())