add thread handlering (#109)

* add thread handlering Signed-off-by: tkhmy <[email protected]> * change thread to aiohttp for Async POST Signed-off-by: tkhmy <[email protected]> --------- Signed-off-by: tkhmy <[email protected]>
tier4 · Aug 22, 2024 · 9742b74 · 9742b74
1 parent 286e292
commit 9742b74
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Showing 2 changed files with 16 additions and 12 deletions.
diff --git a/setup.sh b/setup.sh
@@ -5,7 +5,7 @@
 # aptで必要なパッケージをインストール
 sudo apt update -y
 sudo apt -y install python3-pyqt5.qtquick qml-module-qtquick-controls qml-module-qtquick-controls2 qml-module-qtquick-shapes python3-pyqt5.qtmultimedia libasound2-dev
-sudo pip3 install simpleaudio
+sudo pip3 install simpleaudio aiohttp pyserial
 
 # signageのbuild
 colcon build
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -6,6 +6,9 @@
 import requests
 import json
 from datetime import datetime
+import aiohttp
+import asyncio
+
 import signage.signage_utils as utils
 from tier4_external_api_msgs.msg import DoorStatus
 from autoware_adapi_v1_msgs.msg import (
@@ -65,7 +68,7 @@ def __init__(
         self._announced_arrive = False
         self._trigger_external_signage = False
 
-        self.process_station_list_from_fms()
+        asyncio.run(self.process_station_list_from_fms())
 
         self._node.create_timer(0.2, self.route_checker_callback)
         self._node.create_timer(0.2, self.emergency_checker_callback)
@@ -170,15 +173,16 @@ def announce_engage_when_starting(self):
         except Exception as e:
             self._node.get_logger().error("not able to play the announce, ERROR: {}".format(str(e)))
 
-    def process_station_list_from_fms(self, force_update=False):
+    async def process_station_list_from_fms(self, force_update=False):
         try:
-            respond = requests.post(
-                "http://{}:4711/v1/services/order".format(self.AUTOWARE_IP),
-                json=self._fms_payload,
-                timeout=5,
-            )
+            async with aiohttp.ClientSession() as session:
+                async with session.post(
+                    f"http://{self.AUTOWARE_IP}:4711/v1/services/order",
+                    json=self._fms_payload,
+                    timeout=5,
+                ) as response:
+                    data = await response.json()
 
-            data = json.loads(respond.text)
             self._fms_check_time = self._node.get_clock().now()
 
             if not data:
@@ -312,14 +316,14 @@ def route_checker_callback(self):
 
             if self._prev_route_state != RouteState.SET:
                 if self._autoware.information.route_state == RouteState.SET:
-                    self.process_station_list_from_fms(force_update=True)
+                    asyncio.run(self.process_station_list_from_fms(force_update=True))
 
             if not self._fms_check_time:
-                self.process_station_list_from_fms()
+                asyncio.run(self.process_station_list_from_fms())
             elif utils.check_timeout(
                 self._node.get_clock().now(), self._fms_check_time, self._parameter.check_fms_time
             ):
-                self.process_station_list_from_fms()
+                asyncio.run(self.process_station_list_from_fms())
 
             if self._in_emergency_state:
                 return