sem/5g_drone_ROS2
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try different approach

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Sem van der Hoeven
2023-05-22 16:47:37 +02:00
parent 81ddc95b01
commit adaf933664
1 changed files with 27 additions and 40 deletions
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67
src/api_communication/api_communication/api_listener.py
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@@ -22,16 +22,9 @@ class ApiListener(Node):
self.message_queue = [] self.message_queue = []
self.checking_for_message = False self.checking_for_message = False
# self.server = None self.server = None
# self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True) self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True)
# self.server_thread.start() self.server_thread.start()
self.get_logger().info('Starting API')
self.websocket = websockets.connect('ws://100.100.100.106:9001')
self.get_logger().info('API started')
consumer_thread = threading.Thread(asyncio.run(self.consume_messages()))
consumer_thread.start()
def drone_status_callback(self, msg): def drone_status_callback(self, msg):
self.last_battery_percentage = msg.battery_percentage self.last_battery_percentage = msg.battery_percentage
@@ -39,47 +32,41 @@ class ApiListener(Node):
def start_api_thread(self): def start_api_thread(self):
asyncio.run(self.handle_api()) asyncio.run(self.handle_api())
def on_message(self,message):
self.get_logger().info(f"Callback received message: {message}")
async def consume_messages(self):
async for message in self.websocket:
self.get_logger().info(f"Consumer message: {message}")
self.on_message(message)
async def handle_api(self): async def handle_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')
self.websocket = websockets.connect('ws://100.100.100.106:9001') self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
self.get_logger().info('API started') self.get_logger().info('API started')
consumer_thread = threading.Thread(asyncio.run(self.consume_messages())) await self.server.wait_closed()
consumer_thread.start()
# async def handle_message_receive(self,websocket): async def handle_message_receive(self,websocket):
# self.last_message = await websocket.recv() self.get_logger().info(f"Received message callback: {self.last_message}")
self.last_message = await websocket.recv()
# def message_received_callback(self): def message_received_callback(self):
# self.get_logger().info(f"Received message callback: {self.last_message}") self.get_logger().info(f"Received message callback: {self.last_message}")
# self.message_queue.append(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):
# deserialized_msg = json.loads(message) # deserialized_msg = json.loads(message)
# async def api_handler(self, websocket): async def api_handler(self, websocket):
# try: try:
# while True: async for message in websocket:
# if not self.checking_for_message: self.get_logger().info(f"Received message: {message}")
# self.get_logger().info('Waiting for message') websocket.send(message)
# self.checking_for_message = True # while True:
# task = asyncio.create_task(self.handle_message_receive(websocket)) # if not self.checking_for_message:
# task.add_done_callback(self.message_received_callback) # self.get_logger().info('Waiting for message')
# if len(self.message_queue) > 0: # self.checking_for_message = True
# websocket.send(self.message_queue.pop(0)) # task = asyncio.create_task(self.handle_message_receive(websocket))
# 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')
def main(args=None): def main(args=None):