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Cleanup comments and add back call to spin()

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This commit is contained in:
Nicolas Hiillos
2022-11-14 19:20:08 +02:00
parent 1a54de4350
commit c318751cdb
1 changed files with 3 additions and 19 deletions
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22
src/draw_svg/src/py/drawing_surface.py
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@@ -16,7 +16,6 @@ import tkinter as tk
import math import math
import threading import threading
import atexit
def translate(val, lmin, lmax, rmin, rmax): def translate(val, lmin, lmax, rmin, rmax):
lspan = lmax - lmin lspan = lmax - lmin
@@ -31,7 +30,6 @@ class DrawingApp(tk.Tk):
self.queue = queue self.queue = queue
self.canvas = tk.Canvas(self, width=400, height=400) self.canvas = tk.Canvas(self, width=400, height=400)
self.canvas.pack(side="top", fill="both", expand=True) self.canvas.pack(side="top", fill="both", expand=True)
#self.canvas.create_line(200,200, 200,200, tags=("line",), arrow="last")
self.read_queue() self.read_queue()
def create_circle(self, x, y, r, **kwargs): def create_circle(self, x, y, r, **kwargs):
@@ -43,7 +41,7 @@ class DrawingApp(tk.Tk):
self.after(10, lambda: self.read_queue()) self.after(10, lambda: self.read_queue())
return return
p = self.queue.get() p = self.queue.get()
print("last_point->x:{} y:{} z:{}".format(p.x, p.y, p.z)) #print("last_point->x:{} y:{} z:{}".format(p.x, p.y, p.z))
r = 5 r = 5
x = translate(p.x, -1.0, 0.5, 0, 400) x = translate(p.x, -1.0, 0.5, 0, 400)
y = translate(p.y, 0.5, -1.0, 0, 400) y = translate(p.y, 0.5, -1.0, 0, 400)
@@ -69,16 +67,12 @@ class LogPen(Node):
callback_group=self._callback_group, callback_group=self._callback_group,
) )
self.get_logger().info("Initialization successful.") self.get_logger().info("Initialization successful.")
#atexit.register(self.cleanup)
#def cleanup(self):
#app.quit()
def pen_position_callback(self, msg: Odometry): def pen_position_callback(self, msg: Odometry):
""" """
Log position of pen Log position of pen
""" """
p = msg.pose.pose.position p = msg.pose.pose.position
#self.get_logger().info("x:{} y:{} z:{}".format(p.x, p.y, p.z)) self.get_logger().info("x:{} y:{} z:{}".format(p.x, p.y, p.z))
self.queue.put(p) self.queue.put(p)
def main(args=None): def main(args=None):
@@ -102,15 +96,10 @@ def start_log_thread(queue=Queue()):
executor = rclpy.executors.MultiThreadedExecutor(2) executor = rclpy.executors.MultiThreadedExecutor(2)
executor.add_node(log_pen) executor.add_node(log_pen)
#executor.spin() executor.spin()
#rclpy.shutdown()
#exit(0)
if __name__ == "__main__": if __name__ == "__main__":
#main()
q = Queue() q = Queue()
global app global app
@@ -120,11 +109,6 @@ if __name__ == "__main__":
log_thread = threading.Thread(target=start_log_thread, args=[q]) log_thread = threading.Thread(target=start_log_thread, args=[q])
log_thread.start() log_thread.start()
#thread0.join()
#thread1 = threading.Thread(target=DrawingApp().mainloop)
#thread1.start()
#thread1.join()
app.mainloop() app.mainloop()
rclpy.shutdown() rclpy.shutdown()
exit(0) exit(0)