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made api listener exit after waiting for services too long

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Sem van der Hoeven
2023-05-30 11:23:50 +02:00
parent c8c7723ad7
commit 87b951060d
1 changed files with 12 additions and 0 deletions
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12
src/api_communication/api_communication/api_listener.py
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@@ -39,15 +39,27 @@ class ApiListener(Node):
self.drone_status_subscriber = self.create_subscription( self.drone_status_subscriber = self.create_subscription(
DroneStatus, '/drone/status', self.drone_status_callback, 10) DroneStatus, '/drone/status', self.drone_status_callback, 10)
self.timer = self.create_timer(1, self.publish_status) self.timer = self.create_timer(1, self.publish_status)
waiting = 0
self.take_picture_client = self.create_client( self.take_picture_client = self.create_client(
TakePicture, '/drone/picture') TakePicture, '/drone/picture')
while not self.take_picture_client.wait_for_service(timeout_sec=1.0): while not self.take_picture_client.wait_for_service(timeout_sec=1.0):
if (waiting > 10):
self.get_logger().error(
'Take picture service not available, exiting...')
exit(-1)
self.get_logger().info('Take picture service not available, waiting again...') self.get_logger().info('Take picture service not available, waiting again...')
waiting = waiting + 1
self.take_picture_request = TakePicture.Request() self.take_picture_request = TakePicture.Request()
self.move_position_client = self.create_client( self.move_position_client = self.create_client(
MovePosition, '/drone/move_position') MovePosition, '/drone/move_position')
waiting = 0
while not self.move_position_client.wait_for_service(timeout_sec=1.0): while not self.move_position_client.wait_for_service(timeout_sec=1.0):
if (waiting > 10):
self.get_logger().error(
'Move position service not available, exiting...')
exit(-1)
self.get_logger().info('Move position service not available, waiting again...') self.get_logger().info('Move position service not available, waiting again...')
waiting = waiting + 1
self.move_position_request = MovePosition.Request() self.move_position_request = MovePosition.Request()
self.status_data = {} self.status_data = {}