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

change send video thread to use asyncio.run because webserver thread does not use asyncio

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-06-02 11:22:28 +02:00
parent baa0f0c35f
commit 560d6ca866
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/camera/camera/camera_controller.py
View File

@@ -28,11 +28,12 @@ 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.start()
self.video_thread = threading.Thread(target=self.handle_video_connection) self.video_thread = threading.Thread(target=self.handle_video_connection)
self.video_thread.start() self.video_thread.start()
self.websocket_thread = threading.Thread(target=self.start_websocket_server)
self.websocket_thread.start()
@@ -50,7 +51,7 @@ class CameraController(Node):
return response return response
async def handle_video_connection(self): async def handle_video_connection(self):
asyncio.ensure_future(self.send_video(),loop=self.event_loop) asyncio.run(self.send_video())
async def send_video(self): async def send_video(self):
self.get_logger().info('Starting video thread') self.get_logger().info('Starting video thread')
@@ -71,6 +72,7 @@ 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))
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()