sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

fix camera coroutines not being awaited

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

13
src/camera/camera/camera_controller.py
View File

@@ -28,7 +28,7 @@ class CameraController(Node):
self.server = 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.video_thread = threading.Thread(target=self.handle_video_connection)
@@ -50,11 +50,12 @@ class CameraController(Node):
return response
async def handle_video_connection(self):
asyncio.run(self.send_video())
def handle_video_connection(self):
self.get_logger().info('Starting video thread')
asyncio.ensure_future(self.send_video(), loop=self.event_loop)
async def send_video(self):
self.get_logger().info('Starting video thread')
self.get_logger().info('Starting sending video')
vid = cv2.VideoCapture(0)
# vid.set(cv2.CAP_PROP_FRAME_WIDTH, RES_4K_W)
@@ -73,6 +74,10 @@ class CameraController(Node):
except Exception as 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):
self.get_logger().info('Starting websocket server for video')
self.event_loop = asyncio.get_event_loop()