sem/5g_drone_ROS2
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try different approach

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Sem van der Hoeven
2023-05-22 16:39:54 +02:00
parent 5740e14fac
commit 81ddc95b01
1 changed files with 21 additions and 6 deletions
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27
src/api_communication/api_communication/api_listener.py
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@@ -22,9 +22,16 @@ class ApiListener(Node):
self.message_queue = [] self.message_queue = []
self.checking_for_message = False self.checking_for_message = False
self.server = None # self.server = None
self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True) # self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True)
self.server_thread.start() # self.server_thread.start()
self.get_logger().info('Starting API')
self.websocket = websockets.connect('ws://100.100.100.106:9001')
self.get_logger().info('API started')
consumer_thread = threading.Thread(asyncio.run(self.consume_messages()))
consumer_thread.start()
def drone_status_callback(self, msg): def drone_status_callback(self, msg):
self.last_battery_percentage = msg.battery_percentage self.last_battery_percentage = msg.battery_percentage
@@ -32,14 +39,22 @@ class ApiListener(Node):
def start_api_thread(self): def start_api_thread(self):
asyncio.run(self.handle_api()) asyncio.run(self.handle_api())
def on_message(self,message):
self.get_logger().info(f"Callback received message: {message}")
async def consume_messages(self):
async for message in self.websocket:
self.get_logger().info(f"Consumer message: {message}")
self.on_message(message)
async def handle_api(self): async def handle_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')
self.websocket = websockets.connect('ws://100.100.100.106:9001') self.websocket = websockets.connect('ws://100.100.100.106:9001')
self.get_logger().info('API started') self.get_logger().info('API started')
async for message in self.websocket: consumer_thread = threading.Thread(asyncio.run(self.consume_messages()))
self.get_logger().info(f"Received message: {message}") consumer_thread.start()
await self.websocket.send(message)
# async def handle_message_receive(self,websocket): # async def handle_message_receive(self,websocket):
# self.last_message = await websocket.recv() # self.last_message = await websocket.recv()