From 7f5ab30962aa171a0e3bf1f9811cbbdf7ec13463 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 22 May 2023 11:51:19 +0200
Subject: [PATCH] add api basics

---
 .../api_communication/api_listener.py         | 38 +++++++++++++++++++
 src/api_communication/package.xml             |  7 ++--
 src/api_communication/setup.py                |  1 +
 src/px4_msgs                                  |  2 +-
 4 files changed, 44 insertions(+), 4 deletions(-)
 create mode 100644 src/api_communication/api_communication/api_listener.py

diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
new file mode 100644
index 00000000..e7a1c578
--- /dev/null
+++ b/src/api_communication/api_communication/api_listener.py
@@ -0,0 +1,38 @@
+import rclpy
+from rclpy.node import Node
+
+import asyncio
+import websockets.server
+
+class ApiListener(Node):
+    def __init__(self):
+        super().__init__('api_listener')
+        self.get_logger().info('ApiListener node started')
+        asyncio.run(self.run_api())
+    
+    async def run_api(self):
+        self.get_logger().info('Starting API')
+        self.server = await websockets.serve(self.api_handler, 'localhost', 8765)
+    
+    async def api_handler(self, websocket):
+        try:
+            while True:
+                message = await websocket.recv()
+                self.get_logger().info('Received message: {0}'.format(message))
+                await websocket.send("You sent " + str(message))
+        except websockets.exceptions.ConnectionClosed:
+            self.get_logger().info('Connection closed')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    api_listener = ApiListener()
+
+    rclpy.spin(api_listener)
+
+    api_listener.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/src/api_communication/package.xml b/src/api_communication/package.xml
index 8f3e38e2..be9c3731 100644
--- a/src/api_communication/package.xml
+++ b/src/api_communication/package.xml
@@ -3,9 +3,10 @@
 <package format="3">
   <name>api_communication</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
-  <license>TODO: License declaration</license>
+  <description>package for communicating with edge computer through 5G</description>
+  <maintainer email="semmer99@gmail.com">sem</maintainer>
+  <license>Apache License 2.0</license>
+  <depend>rclpy</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/src/api_communication/setup.py b/src/api_communication/setup.py
index 61eae685..a359b4cc 100644
--- a/src/api_communication/setup.py
+++ b/src/api_communication/setup.py
@@ -20,6 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+                    'api_listener = api_communication.api_listener:main'
         ],
     },
 )
diff --git a/src/px4_msgs b/src/px4_msgs
index ffc3a4cd..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4