sem/5g_drone_ROS2
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Sem van der Hoeven
2023-05-29 18:25:12 +02:00
parent c12f016545
commit a3cfc5cd97
1 changed files with 3 additions and 1 deletions
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4
src/api_communication/api_communication/api_listener.py
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@@ -101,7 +101,7 @@ class ApiListener(Node):
await self.server.wait_closed() await self.server.wait_closed()
def process_image_request(self, message_json): def process_image_request(self, message_json):
self.get_logger().info('Take picture command received') self.get_logger().info('Processing image request')
if message_json['filename']: if message_json['filename']:
self.get_logger().info( self.get_logger().info(
f'Filename: {message_json["filename"]}') f'Filename: {message_json["filename"]}')
@@ -110,6 +110,7 @@ class ApiListener(Node):
rclpy.spin_until_future_complete(self, self.future) rclpy.spin_until_future_complete(self, self.future)
result_filename = self.future.result() result_filename = self.future.result()
with open(result_filename, 'rb') as f: with open(result_filename, 'rb') as f:
self.get_logger().info('Reading image')
image_data = f.read() image_data = f.read()
self.message_queue.append(json.dumps( self.message_queue.append(json.dumps(
{'type': ResponseMessage.IMAGE.name, 'image': image_data})) {'type': ResponseMessage.IMAGE.name, 'image': image_data}))
@@ -172,6 +173,7 @@ class ApiListener(Node):
self.get_logger().info('Move direction command received') self.get_logger().info('Move direction command received')
self.handle_direction_message(message_json) self.handle_direction_message(message_json)
elif message_json['command'] == RequestCommand.TAKE_PICTURE.value: elif message_json['command'] == RequestCommand.TAKE_PICTURE.value:
self.get_logger().info('Take picture command received')
self.process_image_request(message_json) self.process_image_request(message_json)
elif message_json['command'] == RequestCommand.GET.value: elif message_json['command'] == RequestCommand.GET.value:
self.get_logger().info('Get command received') self.get_logger().info('Get command received')