From 45426bea1e66afa7a53705bdc1fc6f09f2109407 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 5 Jun 2023 20:36:37 +0200 Subject: [PATCH] only send failsafe msg once --- src/api_communication/api_communication/api_listener.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py index 1c38e398..86b35ed4 100644 --- a/src/api_communication/api_communication/api_listener.py +++ b/src/api_communication/api_communication/api_listener.py @@ -105,6 +105,7 @@ class ApiListener(Node): self.event_loop = None self.armed = False self.failsafe_enabled = False + self.has_sent_failsafe_msg = False def wait_for_service(self,client,service_name): """Waits for a client service to be available @@ -151,9 +152,11 @@ class ApiListener(Node): if self.failsafe_enabled: return - self.status_data['failsafe'] = msg.enabled - self.message_queue.append(json.dumps( - {'type': ResponseMessage.FAILSAFE.name, 'message': msg.msg})) + if not self.has_sent_failsafe_msg: + self.has_sent_failsafe_msg = True + self.status_data['failsafe'] = msg.enabled + self.message_queue.append(json.dumps( + {'type': ResponseMessage.FAILSAFE.name, 'message': msg.msg})) async def publish_message(self, message): """publishes a message to the NodeJS client