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Move thread fix for alex planner #334

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Merged
spomichter merged 1 commit into from
Jun 3, 2025
Merged

Move thread fix for alex planner #334

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15 changes: 11 additions & 4 deletions dimos/robot/unitree_webrtc/connection.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,10 +61,17 @@ def start_background_loop():
self.connection_ready.wait()

def move(self, vector: Vector):
self.conn.datachannel.pub_sub.publish_without_callback(
RTC_TOPIC["WIRELESS_CONTROLLER"],
data={"lx": vector.x, "ly": vector.y, "rx": vector.z, "ry": 0},
)
# x - Positive right, negative left
# y - positive forward, negative backwards
# z - Positive rotate right, negative rotate left
async def async_move():
self.conn.datachannel.pub_sub.publish_without_callback(
RTC_TOPIC["WIRELESS_CONTROLLER"],
data={"lx": vector.x, "ly": vector.y, "rx": vector.z, "ry": 0},
)

future = asyncio.run_coroutine_threadsafe(async_move(), self.loop)
return future.result()

# Generic conversion of unitree subscription to Subject (used for all subs)
def unitree_sub_stream(self, topic_name: str):
Expand Down