sem/5g_drone_ROS2
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add thread that runs asyncio daemon

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Sem van der Hoeven
2023-05-22 15:54:03 +02:00
parent 0165538cbc
commit 1b5a2f9c3a
1 changed files with 8 additions and 10 deletions
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18
src/api_communication/api_communication/api_listener.py
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@@ -16,16 +16,16 @@ 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) self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True)
self.server_thread.start()
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))
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
def spin(self): def start_api_thread(self):
while rclpy.ok(): asyncio.run(self.handle_api())
rclpy.spin_once(self,timeout_sec=0.1)
async def handle_api(self): async def handle_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')
@@ -44,17 +44,15 @@ class ApiListener(Node):
self.get_logger().info('Connection closed') self.get_logger().info('Connection closed')
async def main(args=None): def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)
api_listener = ApiListener() api_listener = ApiListener()
rclpy.spin(api_listener) rclpy.spin(api_listener)
api_listener.destroy_node() api_listener.destroy_node()
rclpy.shutdown() rclpy.shutdown()
print("running main") if __name__ == '__main__':
loop = asyncio.get_event_loop() main()
loop.run_until_complete(main())
loop.run_forever()