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Fix issue 11: impatient timeout of get_camera_image() #13

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Fix issue 11: impatient timeout of get_camera_image() #13

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6 changes: 5 additions & 1 deletion vex/aim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,9 @@

DRIVE_VELOCITY_MAX_MMPS = 200 # millimeters per second
TURN_VELOCITY_MAX_DPS = 180 # Degrees per second

INITIAL_IMAGE_TIMEOUT = 5.0 # seconds

class AimException(Exception):
"""VEX AIM Exception Class"""

Expand Down Expand Up @@ -2119,7 +2122,8 @@ def get_camera_image(self):
start_time = time.time()
time_elapsed = 0
self.robot_instance._ws_img_thread.start_stream()
while (self.robot_instance._ws_img_thread.image_list[self.robot_instance._ws_img_thread.current_image_index] == bytes(1) and time_elapsed < 0.5):
while (self.robot_instance._ws_img_thread.image_list[self.robot_instance._ws_img_thread.current_image_index] == bytes(1) and \
time_elapsed < INITIAL_IMAGE_TIMEOUT):
time.sleep(0.01)
time_elapsed = time.time() - start_time
image = self.robot_instance._ws_img_thread.image_list[self.robot_instance._ws_img_thread.current_image_index]
Expand Down