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add logging and sending back message

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Sem van der Hoeven
2023-05-22 16:21:45 +02:00
parent 2f5f117db8
commit 9f2f47aac4
1 changed files with 6 additions and 1 deletions
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7
src/api_communication/api_communication/api_listener.py
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@@ -40,10 +40,12 @@ class ApiListener(Node):
await self.server.wait_closed() await self.server.wait_closed()
async def handle_message_receive(self,websocket): async def handle_message_receive(self,websocket):
self.get_logger().info(f"Received message: {self.last_message}")
self.last_message = await websocket.recv() self.last_message = await websocket.recv()
def message_received_callback(self): def message_received_callback(self):
self.get_logger().info(f"Received message: {self.last_message}") self.get_logger().info(f"Received message callback: {self.last_message}")
self.message_queue.append(self.last_message)
self.checking_for_message = False self.checking_for_message = False
# def handle_message(self, message): # def handle_message(self, message):
@@ -53,9 +55,12 @@ class ApiListener(Node):
try: try:
while True: while True:
if not self.checking_for_message: if not self.checking_for_message:
self.get_logger().info('Waiting for message')
self.checking_for_message = True self.checking_for_message = True
task = asyncio.create_task(self.handle_message_receive(websocket)) task = asyncio.create_task(self.handle_message_receive(websocket))
task.add_done_callback(self.message_received_callback) task.add_done_callback(self.message_received_callback)
if len(self.message_queue) > 0:
websocket.send(self.message_queue.pop(0))
except websockets.exceptions.ConnectionClosed: except websockets.exceptions.ConnectionClosed:
self.get_logger().info('Connection closed') self.get_logger().info('Connection closed')