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Return empty in slam servicer

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Piv
2020-02-11 17:43:59 +10:30
parent 3b6df222eb
commit 10893acef7
1 changed files with 5 additions and 2 deletions
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7
SlamController/slam_servicer.py
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@@ -1,4 +1,5 @@
import SlamController_pb2_grpc import SlamController_pb2_grpc
import SlamController_pb2
import slam_streamer as slam import slam_streamer as slam
from threading import Thread from threading import Thread
@@ -17,7 +18,9 @@ class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
self.slam.map_meters = request.map_size_meters self.slam.map_meters = request.map_size_meters
self.slam_thread = Thread(target=self.slam.start) self.slam_thread = Thread(target=self.slam.start)
self.slam_thread.start() self.slam_thread.start()
return SlamController_pb2.Empty()
def stop_streaming(self, request, context): def stop_streaming(self, request, context):
if self.slam_thread is not None: if self.slam_thread is not None:
self.slam.stop_scanning() self.slam.stop_scanning()
return SlamController_pb2.Empty()