From 62a5b276fb7d8bab5d5c06b36d93a92dd2c22846 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Wed, 24 May 2023 15:40:21 +0200
Subject: [PATCH 1/3] usbcam config file

---
 config/params.yaml | 22 ++++++++++++++++++++++
 src/px4_msgs       |  2 +-
 2 files changed, 23 insertions(+), 1 deletion(-)
 create mode 100644 config/params.yaml

diff --git a/config/params.yaml b/config/params.yaml
new file mode 100644
index 00000000..5ec51428
--- /dev/null
+++ b/config/params.yaml
@@ -0,0 +1,22 @@
+/**:
+    ros__parameters:
+      video_device: "/dev/video0"
+      framerate: 10.0
+      io_method: "mmap"
+      frame_id: "camera"
+      pixel_format: "yuyv"  # see usb_cam/supported_formats for list of supported formats
+      image_width: 2320
+      image_height: 1744
+      camera_name: "drone_camera"
+      camera_info_url: "package://usb_cam/config/camera_info.yaml"
+      brightness: -1
+      contrast: -1
+      saturation: -1
+      sharpness: -1
+      gain: -1
+      auto_white_balance: true
+      white_balance: 4000
+      autoexposure: true
+      exposure: 100
+      autofocus: false
+      focus: -1
diff --git a/src/px4_msgs b/src/px4_msgs
index b64ef047..ffc3a4cd 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
+Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266

From fe8e6b7126593879c32e7a3b6ceb13bd89879a60 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Thu, 25 May 2023 16:25:38 +0200
Subject: [PATCH 2/3] add websocket client test

---
 .../api_communication/api_listener.py                |  2 +-
 websocket-client-test.py                             | 12 ++++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)
 create mode 100644 websocket-client-test.py

diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
index ae574860..35f5caf2 100644
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -84,7 +84,7 @@ class ApiListener(Node):
     async def handle_api(self):
         self.get_logger().info('Starting API')
         self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
-        self.get_logger().info('API started')
+        self.get_logger().info('API started on port 9001')
         await self.server.wait_closed()
 
     def process_image_request(self, message_json):
diff --git a/websocket-client-test.py b/websocket-client-test.py
new file mode 100644
index 00000000..a3ce0699
--- /dev/null
+++ b/websocket-client-test.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+import asyncio
+from websockets.sync.client import connect
+
+def hello():
+    with connect("ws://localhost:8765") as websocket:
+        websocket.send("Hello world!")
+        message = websocket.recv()
+        print(f"Received: {message}")
+
+hello()

From 32c58b74b72ecd91110cdcddd8a3c05f9a3ce282 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Thu, 25 May 2023 16:25:48 +0200
Subject: [PATCH 3/3] add websocket client test

---
 src/px4_msgs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/px4_msgs b/src/px4_msgs
index b64ef047..ffc3a4cd 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
+Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266