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publish status?

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Sem van der Hoeven
2023-05-29 12:47:40 +02:00
parent c67d4ac73a
commit 3b97c44ed8
2 changed files with 4 additions and 3 deletions
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3
api/views/index.ejs
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@@ -14,14 +14,13 @@
<div class="video"> <div class="video">
<div class="mainvideo"> <div class="mainvideo">
<p>Camera view:</p> <p>Camera view:</p>
<p><%- api_connected %></p>
</div> </div>
<div class="lastpicture"> <div class="lastpicture">
<p>Last picture:</p> <p>Last picture:</p>
<img id="picture"> <img id="picture">
</div> </div>
</div> </div>
<p><%- api_connected %></p>
<div>Hello World!</div>
</body> </body>
</html> </html>

4
src/api_communication/api_communication/api_listener.py
View File

@@ -77,6 +77,7 @@ class ApiListener(Node):
def publish_status(self): def publish_status(self):
if self.status_data_received: if self.status_data_received:
self.status_data_received = False
if self.websocket is not None: if self.websocket is not None:
self.message_queue.append(json.dumps( self.message_queue.append(json.dumps(
{'type': ResponseMessage.STATUS.name, 'data': self.status_data})) {'type': ResponseMessage.STATUS.name, 'data': self.status_data}))
@@ -84,6 +85,7 @@ class ApiListener(Node):
def handle_responses(self): def handle_responses(self):
while True: while True:
if len(self.message_queue) > 0: if len(self.message_queue) > 0:
self.get_logger().info("sending message")
self.publish_message(self.message_queue.pop(0)) self.publish_message(self.message_queue.pop(0))
def start_api_thread(self): def start_api_thread(self):
@@ -130,7 +132,7 @@ class ApiListener(Node):
self.move_position_request.angle = message['yaw'] self.move_position_request.angle = message['yaw']
self.get_logger().info(f'Calling move position service with request: {str(self.move_position_request)}') self.get_logger().info(f'Calling move position service with request: {str(self.move_position_request)}')
self.future = self.move_position_client.call_async(self.move_position_request) self.future = self.move_position_client.call_async(self.move_position_request)
rclpy.spin_until_future_complete(self, self.future) rclpy.spin_until_future_complete(self, self.future)
result = self.future.result() result = self.future.result()