use thread pool instead of thread

mangdangroboticsclub · Nov 12, 2023 · b96dbb5 · b96dbb5
1 parent e8805dd
commit b96dbb5
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/mini_pupper_music/mini_pupper_music/music_server.py b/mini_pupper_music/mini_pupper_music/music_server.py
@@ -19,7 +19,7 @@
 from rclpy.node import Node
 from mini_pupper_interfaces.srv import MusicCommand
 import pygame
-import threading
+import concurrent.futures
 import os
 from ament_index_python.packages import get_package_share_directory
 
@@ -33,6 +33,7 @@ def __init__(self):
  self.play_sound_callback
  )
  self.song_pool = {'robot1.mp3', 'robot1.wav'}
+ self.thread_executor = concurrent.futures.ThreadPoolExecutor(max_workers=1) 
 
  def play_sound_callback(self, request, response):
  if request.command == 'play':
@@ -55,10 +56,8 @@ def play_sound_file(self, file_name):
  package_path = get_package_share_directory(package_name)
  sound_path = os.path.join(package_path, 'resource', file_name)
 
- # Create a new thread for playing the sound
- thread = threading.Thread(target=self.play_sound_in_background, args=(sound_path,))
- thread.daemon = True # Set the thread as a daemon (will exit when the main program ends)
- thread.start()
+ # Submit the playback task to the thread pool
+ self.thread_executor.submit(self.play_sound_in_background, sound_path)
 
  def play_sound_in_background(self, sound_path):
  pygame.init()