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switch to threading

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Sem van der Hoeven
2023-05-22 12:10:29 +02:00
parent 18546545a4
commit 2ee2536007
1 changed files with 4 additions and 2 deletions
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6
src/api_communication/api_communication/api_listener.py
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@@ -3,13 +3,15 @@ from rclpy.node import Node
import asyncio import asyncio
import websockets.server import websockets.server
import threading
class ApiListener(Node): class ApiListener(Node):
def __init__(self): def __init__(self):
super().__init__('api_listener') super().__init__('api_listener')
self.get_logger().info('ApiListener node started') self.get_logger().info('ApiListener node started')
self.api_coro = asyncio.to_thread(self.run_api) self.angle = 30
self.server_task = asyncio.create_task(self.api_coro) server_thread = threading.Thread(target=self.run_api)
server_thread.start()
async def run_api(self): async def run_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')