From b502c5b285896474e224d80dbf324b6adcece669 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 29 May 2023 18:36:02 +0200
Subject: [PATCH] add try except for sending move request

---
 api/index.js                                  |  1 +
 api/views/index.ejs                           |  1 +
 .../api_communication/api_listener.py         | 28 +++++++++++--------
 3 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/api/index.js b/api/index.js
index 8d788d80..cf7d9ffd 100644
--- a/api/index.js
+++ b/api/index.js
@@ -53,6 +53,7 @@ app.get("/image", function (req, res) {
   var request = JSON.stringify({
     command: 5
   });
+  console.log("sending picture request")
   ws.send(request);
   while (received_picture == false) { }
   res.status(200).send(last_image);
diff --git a/api/views/index.ejs b/api/views/index.ejs
index 3590638d..6269bfce 100644
--- a/api/views/index.ejs
+++ b/api/views/index.ejs
@@ -135,6 +135,7 @@
             const img = req.response;
             document.getElementById("picture").src = "data:image/png;base64," + img;
         }
+        console.log("sending picture request")
         xhr.send();
     }
 
diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
index fe23a81b..0d98ebcb 100644
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -137,18 +137,22 @@ class ApiListener(Node):
         self.get_logger().info(f'Calling move position service with request: {str(self.move_position_request)}')
 
 
-        self.future = self.move_position_client.call_async(self.move_position_request)
-        rclpy.spin_until_future_complete(self, self.future)
-        result = self.future.result()
-        message_result = {}
-        message_result['type'] = ResponseMessage.MOVE_DIRECTION_RESULT.name
-        if result.success == True:
-            self.get_logger().info('Move position service call success')
-            message_result['success'] = True
-        else:
-            self.get_logger().error('Move position service call failed')
-            message_result['success'] = False
-        self.message_queue.append(json.dumps(message_result))
+        try:
+            self.future = self.move_position_client.call_async(self.move_position_request)
+            rclpy.spin_until_future_complete(self, self.future)
+            result = self.future.result()
+            message_result = {}
+            message_result['type'] = ResponseMessage.MOVE_DIRECTION_RESULT.name
+            if result.success == True:
+                self.get_logger().info('Move position service call success')
+                message_result['success'] = True
+            else:
+                self.get_logger().error('Move position service call failed')
+                message_result['success'] = False
+            self.message_queue.append(json.dumps(message_result))
+        except Exception as e:
+            self.get_logger().error('Something went wrong while sending a move position request!\n' + str(e))
+
 
 
     def consume_message(self, message):