From a725c593ff7698eb2e2ad9db365344b655a0eb57 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 5 Jun 2023 21:12:08 +0200
Subject: [PATCH] try except with parsing status message

---
 .../api_communication/api_listener.py         | 29 +++++++++++--------
 1 file changed, 17 insertions(+), 12 deletions(-)

diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
index 42dd48dd..08c03a71 100644
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -130,18 +130,20 @@ class ApiListener(Node):
         Args:
             msg (DroneStatus): The received message 
         """
-        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
-        self.armed = msg.armed
-        self.status_data['control_mode'] = msg.control_mode
-        self.status_data['route_setpoint'] = msg.route_setpoint
-        self.status_data['velocity'] = msg.velocity
-        self.status_data['position'] = msg.position
-        self.status_data['failsafe'] = msg.failsafe
-        self.status_data['velocity'] = msg.velocity
-        self.status_data['position'] = msg.position
+        try:
+            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
+            self.armed = msg.armed
+            self.status_data['control_mode'] = msg.control_mode
+            self.status_data['route_setpoint'] = msg.route_setpoint
+            self.status_data['velocity'] = [msg.velocity[0], msg.velocity[1], msg.velocity[2]]
+            self.status_data['position'] = [msg.position[0], msg.position[1], msg.position[2]]
+            self.status_data['failsafe'] = msg.failsafe
+        except Exception as e:
+            self.get_logger().error(
+                f'Error while parsing drone status message: {e}')
 
     def failsafe_callback(self, msg):
         """Callback for when the failsafe gets enabled. Queues a FAILSAFE message to the client
@@ -190,6 +192,9 @@ class ApiListener(Node):
             if len(self.message_queue) > 0 and self.websocket is not None:
                 self.get_logger().info("sending message")
                 asyncio.run(self.publish_message(self.message_queue.pop(0)))
+            else:
+                if self.websocket is None:
+                    self.get_logger().error("No websocket connection")
 
     def start_api_thread(self):
         """Starts the API thread"""