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

try to use same event loop

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-31 22:07:42 +02:00
parent ea5d9429d8
commit e1c3864811
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/api_communication/api_communication/api_listener.py
View File

@@ -85,6 +85,8 @@ class ApiListener(Node):
self.video_trhead = threading.Thread(target=self.send_video) self.video_trhead = threading.Thread(target=self.send_video)
self.video_trhead.start() self.video_trhead.start()
self.event_loop = None
def drone_status_callback(self, msg): def drone_status_callback(self, msg):
self.status_data_received = True self.status_data_received = True
self.status_data['battery_percentage'] = msg.battery_percentage self.status_data['battery_percentage'] = msg.battery_percentage
@@ -129,16 +131,16 @@ class ApiListener(Node):
def handle_responses(self): def handle_responses(self):
while True: while True:
if len(self.message_queue) > 0 and self.websocket is not None: if len(self.message_queue) > 0 and self.websocket is not None and self.event_loop is not None:
# self.get_logger().info("sending message") # self.get_logger().info("sending message")
loop = asyncio.get_event_loop() asyncio.ensure_future(self.publish_message(self.message_queue.pop(0)), loop=self.event_loop)
asyncio.ensure_future(self.publish_message(self.message_queue.pop(0)), loop=loop)
def start_api_thread(self): def start_api_thread(self):
asyncio.run(self.handle_api()) asyncio.run(self.handle_api())
async def handle_api(self): async def handle_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')
self.event_loop = asyncio.get_event_loop()
self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001) self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
self.get_logger().info('API started on port 9001') self.get_logger().info('API started on port 9001')
await self.server.wait_closed() await self.server.wait_closed()