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Use multiprocessing for slam, add more debug prints

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Piv
2020-02-12 22:03:25 +10:30
parent 3a9906f7da
commit 65d5e94c0d
2 changed files with 7 additions and 4 deletions
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5
SlamController/slam_servicer.py
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@@ -1,7 +1,7 @@
from . import SlamController_pb2_grpc
from . import SlamController_pb2
from . import slam_streamer as slam
from threading import Thread
from multiprocessing import Process
class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
@@ -19,12 +19,13 @@ class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
self.slam.port = request.port
self.slam.map_pixels = request.map_size_pixels
self.slam.map_meters = request.map_size_meters
self.slam_thread = Thread(target=self.slam.start)
self.slam_thread = Process(target=self.slam.start)
self.slam_thread.start()
return SlamController_pb2.Empty()
def stop_streaming(self, request, context):
if self.slam_thread is not None:
self.slam.stop_scanning()
self.slam_thread.join()
self.slam = None
return SlamController_pb2.Empty()