sem/5g_drone_ROS2
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only send data if we received status info

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Sem van der Hoeven
2023-05-25 16:53:11 +02:00
parent f63bbad247
commit a05dd8a4b9
1 changed files with 16 additions and 11 deletions
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27
src/api_communication/api_communication/api_listener.py
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@@ -43,7 +43,7 @@ class ApiListener(Node):
self.take_picture_request = TakePicture.Request()
self.status_data = {}
self.status_data_received = False
self.last_message = ""
self.message_queue = []
self.checking_for_message = False
@@ -58,6 +58,7 @@ class ApiListener(Node):
self.response_thread.start()
def drone_status_callback(self, msg):
self.status_data_received = True
self.status_data['battery_percentage'] = msg.battery_percentage
self.status_data['cpu_usage'] = msg.cpu_usage
self.status_data['armed'] = msg.armed
@@ -69,9 +70,10 @@ class ApiListener(Node):
asyncio.run(self.websocket.send(message))
def publish_status(self):
if self.websocket is not None:
self.message_queue.append(json.dumps(
{'type': ResponseMessage.STATUS, 'data': self.status_data}))
if self.status_data_received:
if self.websocket is not None:
self.message_queue.append(json.dumps(
{'type': ResponseMessage.STATUS.name, 'data': self.status_data}))
def handle_responses(self):
while True:
@@ -99,7 +101,7 @@ class ApiListener(Node):
with open(result_filename, 'rb') as f:
image_data = f.read()
self.message_queue.append(json.dumps(
{'type': ResponseMessage.IMAGE, 'image': image_data}))
{'type': ResponseMessage.IMAGE.name, 'image': image_data}))
def send_available_commands(self):
print('Sending available commands')
@@ -114,10 +116,10 @@ class ApiListener(Node):
def consume_message(self, message):
print(f'Consuming message: {message}')
try:
message_json = json.loads(message)
message_json = json.loads(str(message))
if not message_json['command']:
self.get_logger().error('Received message without command')
# self.send_available_commands()
self.send_available_commands()
else:
self.get_logger().info(
f'Received command: {message_json["command"]}')
@@ -133,16 +135,19 @@ class ApiListener(Node):
self.process_image_request(message_json)
elif message_json['command'] == RequestCommand.GET:
self.get_logger().info('Get command received')
# self.send_available_commands()
self.send_available_commands()
else:
self.get_logger().error('Received unknown command')
# self.send_available_commands()
self.send_available_commands()
except TypeError:
self.get_logger().error('Received unknown command')
# self.send_available_commands()
self.send_available_commands()
except json.JSONDecodeError:
self.get_logger().error('Received invalid JSON')
self.send_available_commands()
except Exception as e:
self.get_logger().error('Something went wrong!')
self.get_logger().error(e)
self.get_logger().error(str(e))
async def api_handler(self, websocket):
self.get_logger().info('New connection')