Fix last async issues

Only spin needs to be done, which is not easy

Author: MatthijsBurgh

telegram_ros/src/telegram_ros/bridge.py

@@ -39,7 +39,7 @@ async def wrapper(self, update: Update, context: CallbackContext):
                 "ROS Bridge initialized to another chat_id. Type /start to connect to this chat_id"
             )
         else:
-            callback_function(self, update, context)
+            await callback_function(self, update, context)
 
     return wrapper
 
@@ -58,7 +58,7 @@ def wrapper(self, msg):
             rospy.logerr("ROS Bridge not initialized, dropping message of type %s", msg._type)
         else:
             try:
-                callback_function(self, msg)
+                asyncio.run(callback_function(self, msg))
             except TimedOut as e:
                 rospy.logerr("Telegram timeout: %s", e)
 
@@ -114,11 +114,11 @@ def _shutdown(self, reason: str):
         Sending a message to the current chat id on destruction.
         """
         if self._telegram_chat_id:
-            self._telegram_app.bot.send_message(
+            asyncio.run(self._telegram_app.bot.send_message(
                 self._telegram_chat_id,
                 f"Stopping Telegram ROS bridge, ending this chat. Reason of shutdown: {reason}."
                 " Type /start to connect again after starting a new Telegram ROS bridge.",
-            )
+            ))
 
     def spin(self):
         """
@@ -196,14 +196,14 @@ async def _telegram_message_callback(self, update: Update, _: CallbackContext):
         self._from_telegram_string_publisher.publish(String(data=text))
 
     @ros_callback
-    def _ros_string_callback(self, msg: String):
+    async def _ros_string_callback(self, msg: String):
         """
         Called when a new ROS String message is coming in that should be sent to the Telegram conversation
 
         :param msg: String message
         """
         if msg.data:
-            self._telegram_app.bot.send_message(self._telegram_chat_id, msg.data)
+            await self._telegram_app.bot.send_message(self._telegram_chat_id, msg.data)
         else:
             rospy.logwarn("Ignoring empty string message")
 
@@ -216,8 +216,8 @@ async def _telegram_photo_callback(self, update: Update, _: CallbackContext):
         :param update: Received update that holds the chat_id and message data
         """
         rospy.logdebug("Received image, downloading highest resolution image ...")
-        new_file = asyncio.run(update.message.photo[-1].get_file())
-        byte_array = asyncio.run(new_file.download_as_bytearray())
+        new_file = await update.message.photo[-1].get_file()
+        byte_array = await new_file.download_as_bytearray()
         rospy.logdebug("Download complete, publishing ...")
 
         img = cv2.imdecode(np.asarray(byte_array, dtype=np.uint8), cv2.IMREAD_COLOR)
@@ -232,14 +232,14 @@ async def _telegram_photo_callback(self, update: Update, _: CallbackContext):
             self._from_telegram_string_publisher.publish(String(data=update.message.caption))
 
     @ros_callback
-    def _ros_image_callback(self, msg: Image):
+    async def _ros_image_callback(self, msg: Image):
         """
         Called when a new ROS Image message is coming in that should be sent to the Telegram conversation
 
         :param msg: Image message
         """
         cv2_img = self._cv_bridge.imgmsg_to_cv2(msg, "bgr8")
-        self._telegram_app.bot.send_photo(
+        await self._telegram_app.bot.send_photo(
             self._telegram_chat_id,
             photo=BytesIO(cv2.imencode(".jpg", cv2_img)[1].tobytes()),
             caption=msg.header.frame_id,
@@ -263,16 +263,16 @@ async def _telegram_location_callback(self, update: Update, _: CallbackContext):
         )
 
     @ros_callback
-    def _ros_location_callback(self, msg: NavSatFix):
+    async def _ros_location_callback(self, msg: NavSatFix):
         """
         Called when a new ROS NavSatFix message is coming in that should be sent to the Telegram conversation
 
         :param msg: NavSatFix that the robot wants to share
         """
-        self._telegram_app.bot.send_location(self._telegram_chat_id, location=Location(msg.longitude, msg.latitude))
+        await self._telegram_app.bot.send_location(self._telegram_chat_id, location=Location(msg.longitude, msg.latitude))
 
     @ros_callback
-    def _ros_options_callback(self, msg: Options):
+    async def _ros_options_callback(self, msg: Options):
         """
         Called when a new ROS Options message is coming in that should be sent to the Telegram conversation
 
@@ -284,7 +284,7 @@ def chunks(l, n):  # noqa: E741
             for i in range(0, len(l), n):
                 yield l[i : i + n]  # noqa: E203
 
-        self._telegram_app.bot.send_message(
+        await self._telegram_app.bot.send_message(
             self._telegram_chat_id,
             text=msg.question,
             reply_markup=ReplyKeyboardMarkup(