sem/5g_drone_ROS2
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json dumps

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Sem van der Hoeven
2023-05-22 17:03:33 +02:00
parent 37dc3f093e
commit eead97f8fa
1 changed files with 4 additions and 5 deletions
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9
src/api_communication/api_communication/api_listener.py
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@@ -16,8 +16,7 @@ class ApiListener(Node):
self.drone_status_subscriber = self.create_subscription(DroneStatus, '/drone/status', self.drone_status_callback, 10) self.drone_status_subscriber = self.create_subscription(DroneStatus, '/drone/status', self.drone_status_callback, 10)
self.timer = self.create_timer(1, self.publish_status) self.timer = self.create_timer(1, self.publish_status)
self.last_battery_percentage = 0 self.status_data = []
self.last_cpu_usage = 0
self.last_message = "" self.last_message = ""
self.message_queue = [] self.message_queue = []
@@ -29,8 +28,8 @@ class ApiListener(Node):
self.server_thread.start() self.server_thread.start()
def drone_status_callback(self, msg): def drone_status_callback(self, msg):
self.last_battery_percentage = msg.battery_percentage self.status_data['battery_percentage'] = msg.battery_percentage
self.last_cpu_usage = msg.cpu_usage self.status_data['cpu_usage'] = msg.cpu_usage
def publish_message(self,message): def publish_message(self,message):
asyncio.run(self.websocket.send(message)) asyncio.run(self.websocket.send(message))
@@ -38,7 +37,7 @@ class ApiListener(Node):
def publish_status(self): def publish_status(self):
if self.websocket is not None: if self.websocket is not None:
self.get_logger().info(f"Publishing status: battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}") self.get_logger().info(f"Publishing status: battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}")
self.publish_message(json.loads(f"battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}")) self.publish_message(json.dumps(self.status_data))
def start_api_thread(self): def start_api_thread(self):
asyncio.run(self.handle_api()) asyncio.run(self.handle_api())