From 698430aa669a72196cde6f22aad4e7e83e532bd8 Mon Sep 17 00:00:00 2001
From: Arend-Jan van Hilten <a.j.vanhilten@tudelft.nl>
Date: Mon, 15 Apr 2024 13:26:34 +0000
Subject: [PATCH] Fix oled slow default

---
 mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
index b830b817..b575b8bd 100755
--- a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
+++ b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -751,7 +751,15 @@ async def start(self):
     def show_default(self, event=None):
         if not self.default_image:
             return
-        asyncio.run(self.show_default_async())
+        try:
+            # 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.show_default_async(), self.loop
+            )
+            future.result()  # wait for it to be done
+        except Exception as e:
+            print(e)
 
     async def show_default_async(self):
         text = ""