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update code for report

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Sem van der Hoeven
2023-06-13 21:53:44 +02:00
parent 953c7d6884
commit 93ac0ad866
1 changed files with 3 additions and 58 deletions
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61
src/api_communication/api_communication/api_listener.py
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@@ -36,15 +36,11 @@ class RequestCommand(Enum):
"""
Enum for the commands that can be sent to the API
"""
GET_COMMANDS_TYPES = -1 # to get the available commands and types
GET_COMMANDS_TYPES = -1
LAND = 0
ARM_DISARM = 1
MOVE_POSITION = 2
MOVE_DIRECTION = 3
TAKE_PICTURE = 5
EMERGENCY_STOP = 6
API_HEARTBEAT = 7
class ResponseMessage(Enum):
"""
@@ -52,10 +48,8 @@ class ResponseMessage(Enum):
"""
ALL_REQUESTS_RESPONSES = -1
STATUS = 0
IMAGE = 1
MOVE_DIRECTION_RESULT = 2
FAILSAFE = 3
API_HEARTBEAT = 4
class ApiListener(Node):
@@ -232,43 +226,6 @@ class ApiListener(Node):
self.get_logger().info('API started on port 9001')
await self.server.wait_closed()
def process_image_request(self, message_json):
"""Processes an image request from the client
Args:
message_json (str): The JSON message received, containing an optional filename for the result image
"""
self.get_logger().info('Processing image request')
if 'filename' in message_json:
self.get_logger().info(
f'Filename: {message_json["filename"]}')
self.take_picture_request.input_name = message_json['filename']
self.get_logger().info('Calling take picture service')
future = self.take_picture_client.call_async(self.take_picture_request)
future.add_done_callback(partial(self.image_request_callback))
def image_request_callback(self, future):
"""Callback for when an image request is made from the client"
Args:
future (Future): Future object that holds the result
"""
try:
result_filename = future.result().filename
self.get_logger().info("Received result filename: " + result_filename)
with open(result_filename, 'rb') as f:
self.get_logger().info('Reading image')
read_file = f.read()
base64_img = base64.b64encode(read_file)
self.message_queue.append(json.dumps(
{'type': ResponseMessage.IMAGE.name, 'image': base64_img.decode('utf-8')}))
# send image as binary file
# self.message_queue.append(read_file)
except Exception as e:
self.get_logger().error(
'Something went wrong while sending a take picture request and waiting for the response: %r' % (e))
def send_available_commands(self):
"""Sends the available commands to the client
"""
@@ -388,7 +345,6 @@ class ApiListener(Node):
result = future.result()
if result.success:
self.get_logger().info('Ready service call success')
# self.armed = True
else:
self.get_logger().error('Ready service call failed')
except Exception as e:
@@ -400,7 +356,6 @@ class ApiListener(Node):
result = future.result()
if result.success:
self.get_logger().info('Arm service call success')
# self.armed = True
else:
self.get_logger().error('Arm service call failed')
except Exception as e:
@@ -418,6 +373,7 @@ class ApiListener(Node):
except Exception as e:
self.get_logger().error(
'Something went wrong while calling the disarm service!\n' + str(e))
def land_service_callback(self, future):
try:
result = future.result()
@@ -448,23 +404,15 @@ class ApiListener(Node):
elif message_json['command'] == RequestCommand.ARM_DISARM.value:
self.get_logger().info('Arm/disarm command received')
self.arm_disarm()
elif message_json['command'] == RequestCommand.MOVE_POSITION.value:
self.get_logger().info('Move position command received')
elif message_json['command'] == RequestCommand.MOVE_DIRECTION.value:
self.get_logger().info('Move direction command received')
self.handle_direction_message(message_json)
elif message_json['command'] == RequestCommand.TAKE_PICTURE.value:
self.get_logger().info('Take picture command received')
self.process_image_request(message_json)
elif message_json['command'] == RequestCommand.GET.value:
elif message_json['command'] == RequestCommand.GET_COMMANDS_TYPES.value:
self.get_logger().info('Get command received')
self.send_available_commands()
elif message_json['command'] == RequestCommand.EMERGENCY_STOP.value:
self.get_logger().info('Emergency stop command received')
self.emergency_stop()
elif message_json['command'] == RequestCommand.API_HEARTBEAT.value:
self.get_logger().info('API heartbeat received')
self.message_queue.append(json.dumps({"type": ResponseMessage.API_HEARTBEAT.name}))
else:
self.get_logger().error('Received unknown command ' +
str(message_json['command']))
@@ -488,9 +436,6 @@ class ApiListener(Node):
websocket (websockets object): the websocket connection
"""
self.get_logger().info('New connection')
# if self.websocket is not None:
# self.get_logger().error('Got a new websocket connection but I am already connected!')
# return
self.websocket = websocket
try: