From 1b5a2f9c3a90c8f828b1701c99333abdf1b101ea Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 22 May 2023 15:54:03 +0200 Subject: [PATCH] add thread that runs asyncio daemon --- .../api_communication/api_listener.py | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py index 33a6cd40..b1e93174 100644 --- a/src/api_communication/api_communication/api_listener.py +++ b/src/api_communication/api_communication/api_listener.py @@ -16,16 +16,16 @@ class ApiListener(Node): self.last_battery_percentage = 0 self.last_cpu_usage = 0 self.server = None - self.server_thread = threading.Thread(target=self.handle_api,daemon=True) + self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True) + self.server_thread.start() 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.last_battery_percentage = msg.battery_percentage self.last_cpu_usage = msg.cpu_usage - def spin(self): - while rclpy.ok(): - rclpy.spin_once(self,timeout_sec=0.1) + def start_api_thread(self): + asyncio.run(self.handle_api()) async def handle_api(self): self.get_logger().info('Starting API') @@ -44,17 +44,15 @@ class ApiListener(Node): self.get_logger().info('Connection closed') -async def main(args=None): +def main(args=None): rclpy.init(args=args) api_listener = ApiListener() - + rclpy.spin(api_listener) api_listener.destroy_node() rclpy.shutdown() -print("running main") -loop = asyncio.get_event_loop() -loop.run_until_complete(main()) -loop.run_forever() \ No newline at end of file +if __name__ == '__main__': + main() \ No newline at end of file