Merge pull request #2738 from JdeRobot/remove-shared-used-inside-some…

…-exercises

Remove shared used inside some exercises

exercises/static/exercises/global_navigation_newmanager/python_template/ros2_humble/GUI.py

@@ -7,7 +7,6 @@
 
 from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI
 from console_interfaces.general.console import start_console
-from shared.image import SharedImage
 from map import Map
 from HAL import getPose3d
 
@@ -22,9 +21,12 @@ def __init__(self, host="ws://127.0.0.1:2303"):
         self.mapXY = None
         self.worldXY = None
 
+        self.image_to_be_shown = None
+        self.image_to_be_shown_updated = False
+        self.image_show_lock = threading.Lock()
+
         # Payload vars
         self.payload = {'image': '', 'map': '', 'array': ''}
-        self.shared_image = SharedImage("numpyimage")
         self.map = Map(getPose3d)
 
         self.start()
@@ -60,23 +62,36 @@ def update_gui(self):
         message = json.dumps(self.payload)
         self.send_to_client(message)
 
+    # Function to prepare image payload
+    # Encodes the image as a JSON string and sends through the WS
     def payloadImage(self):
-        """Encodes the image data to be sent to websocket"""
-        image = self.shared_image.get()
+        with self.image_show_lock:
+            image_to_be_shown_updated = self.image_to_be_shown_updated
+            image_to_be_shown = self.image_to_be_shown
+
+        image = image_to_be_shown
         payload = {'image': '', 'shape': ''}
-
+
+        if not image_to_be_shown_updated:
+            return payload
+
         shape = image.shape
-        frame = cv2.imencode('.PNG', image)[1]
+        frame = cv2.imencode('.JPEG', image)[1]
         encoded_image = base64.b64encode(frame)
-        
+
         payload['image'] = encoded_image.decode('utf-8')
         payload['shape'] = shape
-
+
+        with self.image_show_lock:
+            self.image_to_be_shown_updated = False
+
         return payload
 
     def showNumpy(self, image):
         processed_image = np.stack((image,) * 3, axis=-1)
-        self.shared_image.add(processed_image)
+        with self.image_show_lock:
+            self.image_to_be_shown = processed_image
+            self.image_to_be_shown_updated = True
 
     def showPath(self, array):
         """Process the array(ideal path) to be sent to websocket"""