Merge pull request #39 from ArendJan/fix-oled

Fix oled by using thread safe run_coroutine_threadsafe

mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3.8
 import asyncio
-import nest_asyncio
 import os, os.path
 import sys
 import time
@@ -13,7 +12,6 @@
 from tmx_pico_aio import tmx_pico_aio
 from telemetrix_aio import telemetrix_aio
 
-nest_asyncio.apply()
 
 # Import the right Telemetrix AIO
 devices = rospy.get_param("/mirte/device")
@@ -53,9 +51,6 @@ async def analog_write(board, pin, value):
 font = ImageFont.load_default()
 
 from adafruit_ssd1306 import _SSD1306
-from concurrent.futures import ThreadPoolExecutor
-
-executor = ThreadPoolExecutor(10)
 
 
 import mappings.default
@@ -681,7 +676,12 @@ def set_oled_image_service(self, req):
             return SetOLEDImageResponse(False)
 
         try:
-            self.loop.run_until_complete(self.set_oled_image_service_async(req))
+            # the ros service is started on a different thread than the asyncio loop
+            # When using the normal loop.run_until_complete() function, both threads join in and the oled communication will get broken faster
+            future = asyncio.run_coroutine_threadsafe(
+                self.set_oled_image_service_async(req), self.loop
+            )
+            future.result()  # wait for it to be done
         except Exception as e:
             print(e)
         return SetOLEDImageResponse(True)