From cb290395aaa7040ada3a6e82a32a6aac5c68b373 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Thu, 14 Nov 2024 13:46:50 -0400 Subject: [PATCH] Enable straming now takes robot name --- guiTools/spiri_sdk_guitools/sim_drone.py | 2 +- guiTools/spiri_sdk_guitools/video_button.py | 16 ++++++++-------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/guiTools/spiri_sdk_guitools/sim_drone.py b/guiTools/spiri_sdk_guitools/sim_drone.py index 9c9907f..eeedf70 100644 --- a/guiTools/spiri_sdk_guitools/sim_drone.py +++ b/guiTools/spiri_sdk_guitools/sim_drone.py @@ -151,7 +151,7 @@ class Robot: ui.label(f"""Sysid: {self.sysid}""") ui.button("Start", on_click=self.async_start).classes("m-2") ui.button("Stop", on_click=self.async_stop).classes("m-2") - self.video_button = EnableStreamingButton(sysid=self.sysid).classes( + self.video_button = EnableStreamingButton(robot_name=self.robot_name).classes( "m-2" ) diff --git a/guiTools/spiri_sdk_guitools/video_button.py b/guiTools/spiri_sdk_guitools/video_button.py index 7c29164..6146163 100644 --- a/guiTools/spiri_sdk_guitools/video_button.py +++ b/guiTools/spiri_sdk_guitools/video_button.py @@ -4,13 +4,13 @@ from loguru import logger import os GZ_TOPIC_INFO = ["gz", "topic", "-i", "-t"] -ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/spiri-{sysid}/link/pitch_link/sensor/camera/image/enable_streaming" +ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/{robot_name}/link/pitch_link/sensor/camera/image/enable_streaming" class EnableStreamingButton(ui.element): - def __init__(self, sysid, state: bool = False) -> None: + def __init__(self, robot_name, state: bool = False) -> None: super().__init__() - self.sysid = sysid + self.robot_name = robot_name self._state = state self.button = None with self.classes(): @@ -24,7 +24,7 @@ class EnableStreamingButton(ui.element): async def on_click(self) -> None: spinner = ui.spinner(size="lg") # So we don't block UI - result = await run.cpu_bound(self.enable_streaming, self.sysid, not self._state) + result = await run.cpu_bound(self.enable_streaming, self.robot_name, not self._state) if result: ui.notify("Success", type="positive]") self.set_state(state=not self._state) @@ -43,17 +43,17 @@ class EnableStreamingButton(ui.element): def stop_video(self): if self._state != False: - self.enable_streaming(sysid=self.sysid, is_streaming=False) + self.enable_streaming(robot_name=self.robot_name, is_streaming=False) self.set_state(state=False) @staticmethod - def enable_streaming(sysid: int, is_streaming: bool) -> bool: + def enable_streaming(robot_name: str, is_streaming: bool) -> bool: world_name = os.environ["WORLD_NAME"] # Check if this topic has any subscribers i.e. model is up gz_topic_list_proc = subprocess.Popen( GZ_TOPIC_INFO - + [ENABLE_STREAMING_TOPIC.format(world_name=world_name, sysid=sysid)], + + [ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name)], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, @@ -72,7 +72,7 @@ class EnableStreamingButton(ui.element): "gz", "topic", "-t", - ENABLE_STREAMING_TOPIC.format(world_name=world_name, sysid=sysid), + ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name), "-m", "gz.msgs.Boolean", "-p",