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add sending values back

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Sem van der Hoeven
2023-05-22 14:47:58 +02:00
parent 3bfb61f29d
commit 72d9249c69
1 changed files with 5 additions and 2 deletions
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7
src/api_communication/api_communication/api_listener.py
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@@ -13,10 +13,14 @@ class ApiListener(Node):
super().__init__('api_listener')
self.get_logger().info('ApiListener node started')
self.drone_status_subscriber = self.create_subscription(DroneStatus, '/drone/status', self.drone_status_callback, 10)
self.last_battery_percentage = 0
self.last_cpu_usage = 0
self.server = None
def drone_status_callback(self, msg):
self.get_logger().info('Received drone battery and cpu: {0} {1}'.format(msg.battery_percentage,msg.cpu_usage))
self.last_battery_percentage = msg.battery_percentage
self.last_cpu_usage = msg.cpu_usage
async def spin(self):
self.get_logger().info('Starting API')
@@ -31,8 +35,7 @@ class ApiListener(Node):
rclpy.spin_once(self, timeout_sec=0.1)
message = await websocket.recv()
self.get_logger().info('Received message: {0}'.format(message))
self.messages = self.messages + 1
await websocket.send("You sent " + str(self.messages) + " messages")
await websocket.send("Yeet ")
except websockets.exceptions.ConnectionClosed:
self.get_logger().info('Connection closed')