sem/5g_drone_ROS2
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add publishing every second

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Sem van der Hoeven
2023-05-22 16:52:42 +02:00
parent 55f89d9516
commit 44a6dde339
1 changed files with 8 additions and 0 deletions
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8
src/api_communication/api_communication/api_listener.py
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@@ -14,6 +14,7 @@ class ApiListener(Node):
super().__init__('api_listener') super().__init__('api_listener')
self.get_logger().info('ApiListener node started') self.get_logger().info('ApiListener node started')
self.drone_status_subscriber = self.create_subscription(DroneStatus, '/drone/status', self.drone_status_callback, 10) self.drone_status_subscriber = self.create_subscription(DroneStatus, '/drone/status', self.drone_status_callback, 10)
self.timer = self.create_timer(1, self.publish_status)
self.last_battery_percentage = 0 self.last_battery_percentage = 0
self.last_cpu_usage = 0 self.last_cpu_usage = 0
@@ -22,6 +23,7 @@ class ApiListener(Node):
self.message_queue = [] self.message_queue = []
self.checking_for_message = False self.checking_for_message = False
self.websocket = None
self.server = None self.server = None
self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True) self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True)
self.server_thread.start() self.server_thread.start()
@@ -30,6 +32,11 @@ class ApiListener(Node):
self.last_battery_percentage = msg.battery_percentage self.last_battery_percentage = msg.battery_percentage
self.last_cpu_usage = msg.cpu_usage self.last_cpu_usage = msg.cpu_usage
def publish_status(self):
if self.websocket is not None:
self.get_logger().info(f"Publishing status: battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}")
asyncio.run(self.websocket.send(f"battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}"))
def start_api_thread(self): def start_api_thread(self):
asyncio.run(self.handle_api()) asyncio.run(self.handle_api())
@@ -52,6 +59,7 @@ class ApiListener(Node):
# deserialized_msg = json.loads(message) # deserialized_msg = json.loads(message)
async def api_handler(self, websocket): async def api_handler(self, websocket):
self.websocket = websocket
try: try:
async for message in websocket: async for message in websocket:
self.get_logger().info(f"Received message: {message}") self.get_logger().info(f"Received message: {message}")