From 48e1ce8f5b163ad279b483a162fb4baed6f55b9b Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Tue, 30 May 2023 16:18:22 +0200
Subject: [PATCH] try

---
 api/index.js                                  | 23 +++++++++++--------
 .../api_communication/api_listener.py         | 14 +++++++----
 2 files changed, 23 insertions(+), 14 deletions(-)

diff --git a/api/index.js b/api/index.js
index bd1960bb..8a7df15f 100644
--- a/api/index.js
+++ b/api/index.js
@@ -23,15 +23,20 @@ var connect_to_api = function () {
     });
     
     ws.on("message", function message(message) {
-      var msg = JSON.parse(message);
-      if (msg.type == "STATUS") {
-        last_status = msg.data;
-      } else if (msg.type == "IMAGE") {
-        console.log("got picture");
-        // console.log(msg.image);
-        last_image = msg.image;
-        received_picture = true;
-      }
+        try {
+            var msg = JSON.parse(message);
+            if (msg.type == "STATUS") {
+              last_status = msg.data;
+            } else if (msg.type == "IMAGE") {
+              console.log("got picture");
+              // console.log(msg.image);
+              last_image = msg.image;
+              received_picture = true;
+            }
+        } catch (error) {
+            console.log("could not parse as json")
+
+        }
     });
     
     ws.on("error", function error(err) {
diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
index ab2259cb..5832d205 100644
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -90,7 +90,11 @@ class ApiListener(Node):
     def publish_message(self, message):
         # self.get_logger().info(f'Publishing message: {message}')
         if self.websocket is not None:
-            asyncio.run(self.websocket.send(message))
+            try:
+                asyncio.run(self.websocket.send(message))
+            except Exception as e:
+                self.get_logger().error(
+                    'Something went wrong while sending a message to the websocket: ' + str(e))
         else:
             self.get_logger().error('Trying to publish message but no websocket connection')
 
@@ -134,12 +138,12 @@ class ApiListener(Node):
             with open(result_filename, 'rb') as f:
                 self.get_logger().info('Reading image')
                 read_file = f.read()
-                # base64_img = base64.b64encode(read_file)
-                # self.message_queue.append(json.dumps(
-                #     {'type': ResponseMessage.IMAGE.name, 'image': base64_img.decode('utf-8')}))
+                base64_img = base64.b64encode(read_file)
+                self.message_queue.append(json.dumps(
+                    {'type': ResponseMessage.IMAGE.name, 'image': base64_img.decode('utf-8')}))
                 
                 # send image as binary file
-                self.message_queue.append(read_file)
+                # self.message_queue.append(read_file)
         except Exception as e:
             self.get_logger().error('Something went wrong while sending a take picture request and waiting for the response: %r' % (e))