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add timeout

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Sem van der Hoeven
2023-06-08 12:36:59 +02:00
parent a7c22aa362
commit ba0fdc7863
2 changed files with 16 additions and 10 deletions
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5
src/api_communication/api_communication/api_listener.py
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@@ -42,6 +42,7 @@ class RequestCommand(Enum):
MOVE_DIRECTION = 3
TAKE_PICTURE = 5
EMERGENCY_STOP = 6
API_HEARTBEAT = 7
class ResponseMessage(Enum):
@@ -53,6 +54,7 @@ class ResponseMessage(Enum):
IMAGE = 1
MOVE_DIRECTION_RESULT = 2
FAILSAFE = 3
API_HEARTBEAT = 4
class ApiListener(Node):
@@ -442,6 +444,9 @@ class ApiListener(Node):
elif message_json['command'] == RequestCommand.EMERGENCY_STOP.value:
self.get_logger().info('Emergency stop command received')
self.emergency_stop()
elif message_json['command'] == RequestCommand.API_HEARTBEAT.value:
self.get_logger().info('API heartbeat received')
self.message_queue.append(json.dumps({"type": ResponseMessage.API_HEARTBEAT.name}))
else:
self.get_logger().error('Received unknown command ' +
str(message_json['command']))