add api basics

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()

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>

src/api_communication/setup.py

@@ -20,6 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+                    'api_listener = api_communication.api_listener:main'
         ],
     },
 )