sem/5g_drone_ROS2
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Sem van der Hoeven
2023-06-05 15:00:18 +02:00
parent 273d979beb
commit 2b36a9a383
1 changed files with 19 additions and 0 deletions
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19
src/api_communication/api_communication/api_listener.py
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@@ -235,6 +235,8 @@ class ApiListener(Node):
def send_available_commands(self): def send_available_commands(self):
"""Sends the available commands to the client
"""
print('Sending available commands') print('Sending available commands')
requestcommands = {} requestcommands = {}
messagetypes = {} messagetypes = {}
@@ -249,6 +251,11 @@ class ApiListener(Node):
{'type': ResponseMessage.ALL_REQUESTS_RESPONSES.name, 'data': result})) {'type': ResponseMessage.ALL_REQUESTS_RESPONSES.name, 'data': result}))
def handle_direction_message(self, message): 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.up_down = float(message['up_down'])
self.move_position_request.left_right = float(message['left_right']) self.move_position_request.left_right = float(message['left_right'])
self.move_position_request.front_back = float( self.move_position_request.front_back = float(
@@ -260,6 +267,7 @@ class ApiListener(Node):
self.send_move_position_request() self.send_move_position_request()
def send_move_position_request(self): def send_move_position_request(self):
"""Sends the move position request to the move position service"""
try: try:
self.future = self.move_position_client.call_async( self.future = self.move_position_client.call_async(
self.move_position_request) self.move_position_request)
@@ -281,6 +289,7 @@ class ApiListener(Node):
'Something went wrong while sending a move position request!\n' + str(e)) 'Something went wrong while sending a move position request!\n' + str(e))
def emergency_stop(self): def emergency_stop(self):
"""Sends an emergency stop request to the failsafe service"""
try: try:
self.enable_failsafe_request.message = "Emergency stop activated" self.enable_failsafe_request.message = "Emergency stop activated"
future = self.enable_failsafe_client.call_async(self.enable_failsafe_request) 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)) self.get_logger().error("Something went wrong while trying to enable failsafe!\n" + str(e))
def takeoff(self): def takeoff(self):
"""Sends a takeoff request to the move position service"""
self.get_logger().info('Takeoff command received') self.get_logger().info('Takeoff command received')
self.move_position_request.up_down = 0.1 self.move_position_request.up_down = 0.1
self.move_position_request.left_right = 0.0 self.move_position_request.left_right = 0.0
@@ -300,6 +310,7 @@ class ApiListener(Node):
self.send_move_position_request() self.send_move_position_request()
def land(self): def land(self):
"""Sends a land request to the move position service"""
self.get_logger().info('Land command received') self.get_logger().info('Land command received')
self.move_position_request.up_down = -0.1 self.move_position_request.up_down = -0.1
self.move_position_request.left_right = 0.0 self.move_position_request.left_right = 0.0
@@ -308,6 +319,7 @@ class ApiListener(Node):
self.send_move_position_request() self.send_move_position_request()
def arm_disarm(self): def arm_disarm(self):
"""Sends an arm or disarm request to the PX4Controller"""
if self.armed: if self.armed:
self.get_logger().info('Disarm command received') self.get_logger().info('Disarm command received')
future = self.disarm_drone_client.call_async(self.disarm_drone_request) 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') self.get_logger().info('Arm service call success')
def consume_message(self, message): def consume_message(self, message):
"""Consumes a message from the client"""
self.get_logger().info(f'Consuming message: {message}') self.get_logger().info(f'Consuming message: {message}')
try: try:
message_json = json.loads(str(message)) message_json = json.loads(str(message))
@@ -369,6 +382,11 @@ class ApiListener(Node):
self.get_logger().error(str(e)) self.get_logger().error(str(e))
async def api_handler(self, websocket): async def api_handler(self, websocket):
"""Handles the websocket connection
Args:
websocket (websockets object): the websocket connection
"""
self.get_logger().info('New connection') self.get_logger().info('New connection')
# if self.websocket is not None: # if self.websocket is not None:
# self.get_logger().error('Got a new websocket connection but I am already connected!') # 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): def main(args=None):
"""Main function"""
rclpy.init(args=args) rclpy.init(args=args)
api_listener = ApiListener() api_listener = ApiListener()