handle image

api/index.js

@@ -3,6 +3,8 @@ var app = express();
 const WebSocket = require("ws");
 
 var last_status = {};
+var last_image;
+var received_picture = false;
 
 app.use(express.static("public"));
 app.use(express.json());
@@ -19,6 +21,11 @@ ws.on("message", function message(message) {
   var msg = JSON.parse(message);
   if (msg.type == "STATUS") {
     last_status = msg.data;
+  } else if (msg.type == "IMAGE") {
+    console.log("got picture");
+    console.log(msg.image);
+    last_image = msg.image;
+    received_picture = true;
   }
 
   // console.log("got type: " + msg.type);
@@ -41,6 +48,16 @@ app.get("/status", function (req, res) {
   res.status(200).json(last_status);
 });
 
+app.get("/image", function (req, res) { 
+  console.log("got picture request");
+  var request = JSON.stringify({
+    command: 5
+  });
+  ws.send(request);
+  while (received_picture == false) { }
+  res.status(200).send(last_image);
+});
+
 app.post("/move", function (req, res) {
   console.log("got move request");
   var request = JSON.stringify({

api/views/index.ejs

@@ -127,6 +127,15 @@
 
     function take_picture() {
         console.log("take picture");
+        var xhr = new XMLHttpRequest();
+        xhr.open("GET", "/image", true);
+        xhr.overrideMimeType("text/plain; charset=utf-8");
+        xhr.onload = (e) => {
+            console.log("response image received");
+            const img = req.response;
+            document.getElementById("picture").src = "data:image/png;base64," + img;
+        }
+        xhr.send();
     }
 
     function arm_disarm() {

src/api_communication/api_communication/api_listener.py

@@ -129,10 +129,10 @@ class ApiListener(Node):
             {'type': ResponseMessage.ALL_REQUESTS_RESPONSES.name, 'data': result}))
         
     def handle_direction_message(self,message):
-        self.move_position_request.up_down = message['up_down']
-        self.move_position_request.left_right = message['left_right']
-        self.move_position_request.front_back = message['forward_backward']
-        self.move_position_request.angle = message['yaw']
+        self.move_position_request.up_down = float(message['up_down'])
+        self.move_position_request.left_right = float(message['left_right'])
+        self.move_position_request.front_back = float(message['forward_backward'])
+        self.move_position_request.angle = float(message['yaw'])
         self.get_logger().info(f'Calling move position service with request: {str(self.move_position_request)}')