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add ready drone to api listener

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Sem van der Hoeven
2023-06-06 16:42:22 +02:00
parent 41209ceab0
commit b9270f7745
2 changed files with 20 additions and 4 deletions
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22
src/api_communication/api_communication/api_listener.py
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@@ -8,7 +8,7 @@ from drone_services.srv import MovePosition
from drone_services.srv import EnableFailsafe
from drone_services.srv import ArmDrone
from drone_services.srv import DisarmDrone
from drone_services.srv import SetAttitude
from drone_services.srv import ReadyDrone
import asyncio
import websockets.server
@@ -94,6 +94,10 @@ class ApiListener(Node):
self.wait_for_service(self.disarm_drone_client, "Disarm drone")
self.disarm_drone_request = DisarmDrone.Request()
self.ready_drone_client = self.create_client(ReadyDrone, "/drone/ready")
self.wait_for_service(self.ready_drone_client, "Ready drone")
self.ready_drone_request = ReadyDrone.Request()
self.status_data = {}
self.status_data_received = False
self.last_message = ""
@@ -365,8 +369,20 @@ class ApiListener(Node):
future.add_done_callback(partial(self.disarm_service_callback))
else:
self.get_logger().info('Arm command received')
future = self.arm_drone_client.call_async(self.arm_drone_request)
future.add_done_callback(partial(self.arm_service_callback))
future = self.ready_drone_client.call_async(
self.ready_drone_request)
future.add_done_callback(partial(self.ready_drone_callback))
def ready_drone_callback(self, future):
try:
result = future.result()
if result.success:
self.get_logger().info('Ready service call success')
else:
self.get_logger().error('Ready service call failed')
except Exception as e:
self.get_logger().error(
'Something went wrong while calling the ready service!\n' + str(e))
def arm_service_callback(self, future):
try: