UGA-Innovation-Factory/UR10-Sentry
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fixed i/o lock on global variable

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This commit is contained in:
Tomás L
2024-07-23 15:43:19 -04:00
parent 7694f1a968
commit 662fc1956f
3 changed files with 10 additions and 8 deletions
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12
main.py
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@@ -24,15 +24,17 @@ class CameraJoystick(threading.Thread):
self.keep_running = True
def run(self):
global current_joystick
while self.keep_running:
time.sleep(0.0001)
q_val = []
try:
q_val = q.get_nowait()
except queue.Empty:
pass
#print(bb)
bb = b.get_joystick_position_from_new_set_of_bboxes(q_val)
self.joystick_queue.put(bb)
current_joystick = b.get_joystick_position_from_new_set_of_bboxes(q_val)
#self.joystick_queue.put(bb)
def stop(self):
self.keep_running = False
@@ -58,8 +60,8 @@ class JoystickScheduler(threading.Thread):
camera_joystick = CameraJoystick(joystick_queue)
camera_joystick.start()
joystick_scheduler = JoystickScheduler(joystick_queue)
joystick_scheduler.start()
# joystick_scheduler = JoystickScheduler(joystick_queue)
# joystick_scheduler.start()
ur.initialize_pose()
@@ -70,5 +72,5 @@ while True:
time.sleep(0.2)
except KeyboardInterrupt:
camera_joystick.stop()
joystick_scheduler.stop()
# joystick_scheduler.stop()
break