From f98b44917c9c913c03eb220a17493ee0c62fb1a8 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 29 May 2023 14:14:55 +0200 Subject: [PATCH] add more websocket connected checks --- src/api_communication/api_communication/api_listener.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py index 13e26fa3..c0896e99 100644 --- a/src/api_communication/api_communication/api_listener.py +++ b/src/api_communication/api_communication/api_listener.py @@ -73,7 +73,10 @@ class ApiListener(Node): def publish_message(self, message): self.get_logger().info(f'Publishing message: {message}') - asyncio.run(self.websocket.send(message)) + if self.websocket is not None: + asyncio.run(self.websocket.send(message)) + else: + self.get_logger().error('Trying to publish message but no websocket connection') def publish_status(self): if self.status_data_received: @@ -84,7 +87,7 @@ class ApiListener(Node): def handle_responses(self): while True: - if len(self.message_queue) > 0: + if len(self.message_queue) > 0 and self.websocket is not None: self.get_logger().info("sending message") self.publish_message(self.message_queue.pop(0))