From 2b36a9a3839600708af216b413463a5d2a7a005e Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 5 Jun 2023 15:00:18 +0200 Subject: [PATCH] comments --- .../api_communication/api_listener.py | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py index fa80309b..4fd92f7b 100644 --- a/src/api_communication/api_communication/api_listener.py +++ b/src/api_communication/api_communication/api_listener.py @@ -235,6 +235,8 @@ class ApiListener(Node): def send_available_commands(self): + """Sends the available commands to the client + """ print('Sending available commands') requestcommands = {} messagetypes = {} @@ -249,6 +251,11 @@ class ApiListener(Node): {'type': ResponseMessage.ALL_REQUESTS_RESPONSES.name, 'data': result})) def handle_direction_message(self, message): + """Calls the move position service with the given values + + Args: + message (JSON object): the message containing the direction values + """ self.move_position_request.up_down = float(message['up_down']) self.move_position_request.left_right = float(message['left_right']) self.move_position_request.front_back = float( @@ -260,6 +267,7 @@ class ApiListener(Node): self.send_move_position_request() def send_move_position_request(self): + """Sends the move position request to the move position service""" try: self.future = self.move_position_client.call_async( self.move_position_request) @@ -281,6 +289,7 @@ class ApiListener(Node): 'Something went wrong while sending a move position request!\n' + str(e)) def emergency_stop(self): + """Sends an emergency stop request to the failsafe service""" try: self.enable_failsafe_request.message = "Emergency stop activated" future = self.enable_failsafe_client.call_async(self.enable_failsafe_request) @@ -292,6 +301,7 @@ class ApiListener(Node): self.get_logger().error("Something went wrong while trying to enable failsafe!\n" + str(e)) def takeoff(self): + """Sends a takeoff request to the move position service""" self.get_logger().info('Takeoff command received') self.move_position_request.up_down = 0.1 self.move_position_request.left_right = 0.0 @@ -300,6 +310,7 @@ class ApiListener(Node): self.send_move_position_request() def land(self): + """Sends a land request to the move position service""" self.get_logger().info('Land command received') self.move_position_request.up_down = -0.1 self.move_position_request.left_right = 0.0 @@ -308,6 +319,7 @@ class ApiListener(Node): self.send_move_position_request() def arm_disarm(self): + """Sends an arm or disarm request to the PX4Controller""" if self.armed: self.get_logger().info('Disarm command received') future = self.disarm_drone_client.call_async(self.disarm_drone_request) @@ -324,6 +336,7 @@ class ApiListener(Node): self.get_logger().info('Arm service call success') def consume_message(self, message): + """Consumes a message from the client""" self.get_logger().info(f'Consuming message: {message}') try: message_json = json.loads(str(message)) @@ -369,6 +382,11 @@ class ApiListener(Node): self.get_logger().error(str(e)) async def api_handler(self, websocket): + """Handles the websocket connection + + Args: + websocket (websockets object): the websocket connection + """ self.get_logger().info('New connection') # if self.websocket is not None: # self.get_logger().error('Got a new websocket connection but I am already connected!') @@ -390,6 +408,7 @@ class ApiListener(Node): def main(args=None): + """Main function""" rclpy.init(args=args) api_listener = ApiListener()