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fix camera coroutines not being awaited

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Sem van der Hoeven
2023-06-02 11:40:13 +02:00
parent 560d6ca866
commit 43b39f4002
1 changed files with 9 additions and 4 deletions
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13
src/camera/camera/camera_controller.py
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@@ -28,7 +28,7 @@ class CameraController(Node):
self.server = None self.server = None
self.event_loop = None self.event_loop = None
self.websocket_thread = threading.Thread(target=self.start_websocket_server) self.websocket_thread = threading.Thread(target=self.start_listening)
self.websocket_thread.start() self.websocket_thread.start()
self.video_thread = threading.Thread(target=self.handle_video_connection) self.video_thread = threading.Thread(target=self.handle_video_connection)
@@ -50,11 +50,12 @@ class CameraController(Node):
return response return response
async def handle_video_connection(self): def handle_video_connection(self):
asyncio.run(self.send_video()) self.get_logger().info('Starting video thread')
asyncio.ensure_future(self.send_video(), loop=self.event_loop)
async def send_video(self): async def send_video(self):
self.get_logger().info('Starting video thread') self.get_logger().info('Starting sending video')
vid = cv2.VideoCapture(0) vid = cv2.VideoCapture(0)
# vid.set(cv2.CAP_PROP_FRAME_WIDTH, RES_4K_W) # vid.set(cv2.CAP_PROP_FRAME_WIDTH, RES_4K_W)
@@ -73,6 +74,10 @@ class CameraController(Node):
except Exception as e: except Exception as e:
self.get_logger().error('Something went wrong while reading and sending video: ' + str(e)) self.get_logger().error('Something went wrong while reading and sending video: ' + str(e))
def start_listening(self):
self.get_logger().info('Starting listening for websocket connections')
asyncio.run(self.start_websocket_server())
async def start_websocket_server(self): async def start_websocket_server(self):
self.get_logger().info('Starting websocket server for video') self.get_logger().info('Starting websocket server for video')
self.event_loop = asyncio.get_event_loop() self.event_loop = asyncio.get_event_loop()