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only send failsafe msg once

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Sem van der Hoeven
2023-06-05 20:36:37 +02:00
parent b7037a3e6f
commit 45426bea1e
1 changed files with 6 additions and 3 deletions
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src/api_communication/api_communication/api_listener.py
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@@ -105,6 +105,7 @@ class ApiListener(Node):
self.event_loop = None self.event_loop = None
self.armed = False self.armed = False
self.failsafe_enabled = False self.failsafe_enabled = False
self.has_sent_failsafe_msg = False
def wait_for_service(self,client,service_name): def wait_for_service(self,client,service_name):
"""Waits for a client service to be available """Waits for a client service to be available
@@ -151,6 +152,8 @@ class ApiListener(Node):
if self.failsafe_enabled: if self.failsafe_enabled:
return return
if not self.has_sent_failsafe_msg:
self.has_sent_failsafe_msg = True
self.status_data['failsafe'] = msg.enabled self.status_data['failsafe'] = msg.enabled
self.message_queue.append(json.dumps( self.message_queue.append(json.dumps(
{'type': ResponseMessage.FAILSAFE.name, 'message': msg.msg})) {'type': ResponseMessage.FAILSAFE.name, 'message': msg.msg}))