Fix bug where microphone sensor would use 100% CPU while waiting for …

…subscribers
ros-naoqi · Aug 13, 2017 · fc31040 · fc31040
1 parent 8de81d6
commit fc31040
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/naoqi_sensors_py/src/naoqi_sensors/naoqi_microphone.py b/naoqi_sensors_py/src/naoqi_sensors/naoqi_microphone.py
@@ -85,13 +85,11 @@ def reconfigure( self, new_config, level ):
     def run(self):
         r=rospy.Rate(2)
         while self.is_looping():
-            if self.pub_audio_.get_num_connections() == 0:
-                if self.isSubscribed:
-                    rospy.loginfo('Unsubscribing from audio bridge as nobody listens to the topics.')
-                    self.release()
-                continue
+            if self.pub_audio_.get_num_connections() == 0 and self.isSubscribed:
+                rospy.loginfo('Unsubscribing from audio bridge as nobody listens to the topics.')
+                self.release()
 
-            if not self.isSubscribed:
+            elif self.pub_audio_.get_num_connections() > 0 and not self.isSubscribed:
                 self.reconfigure(self.config, 0)
 
             r.sleep()