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bigger try except and more logging

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Sem van der Hoeven
2023-05-25 16:40:25 +02:00
parent 650c9bbf6b
commit fe5132d05d
1 changed files with 26 additions and 24 deletions
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50
src/api_communication/api_communication/api_listener.py
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@@ -102,7 +102,7 @@ class ApiListener(Node):
{'type': ResponseMessage.IMAGE, 'image': image_data}))
def send_available_commands(self):
self.get_logger().info('Sending available commands')
print('Sending available commands')
result = {}
for command in RequestCommand:
result[command.name] = command.value
@@ -112,34 +112,36 @@ class ApiListener(Node):
{'type': ResponseMessage.ALL_REQUESTS_RESPONSES.name, 'data': result}))
def consume_message(self, message):
self.get_logger().info(f'Consuming message: {message}')
print(f'Consuming message: {message}')
try:
message_json = json.loads(message)
if not message_json['command']:
self.get_logger().error('Received message without command')
self.send_available_commands()
else:
self.get_logger().info(
f'Received command: {message_json["command"]}')
if message_json['command'] == RequestCommand.TAKEOFF:
self.get_logger().info('Takeoff command received')
elif message_json['command'] == RequestCommand.LAND:
self.get_logger().info('Land command received')
elif message_json['command'] == RequestCommand.MOVE_POSITION:
self.get_logger().info('Move position command received')
elif message_json['command'] == RequestCommand.MOVE_DIRECTION:
self.get_logger().info('Move direction command received')
elif message_json['command'] == RequestCommand.TAKE_PICTURE:
self.process_image_request(message_json)
elif message_json['command'] == RequestCommand.GET:
self.get_logger().info('Get command received')
self.send_available_commands()
else:
self.get_logger().error('Received unknown command')
self.send_available_commands()
except TypeError:
self.get_logger().error('Received unknown command')
self.send_available_commands()
if not message_json['command']:
self.get_logger().error('Received message without command')
self.send_available_commands()
else:
self.get_logger().info(
f'Received command: {message_json["command"]}')
if message_json['command'] == RequestCommand.TAKEOFF:
self.get_logger().info('Takeoff command received')
elif message_json['command'] == RequestCommand.LAND:
self.get_logger().info('Land command received')
elif message_json['command'] == RequestCommand.MOVE_POSITION:
self.get_logger().info('Move position command received')
elif message_json['command'] == RequestCommand.MOVE_DIRECTION:
self.get_logger().info('Move direction command received')
elif message_json['command'] == RequestCommand.TAKE_PICTURE:
self.process_image_request(message_json)
elif message_json['command'] == RequestCommand.GET:
self.get_logger().info('Get command received')
self.send_available_commands()
else:
self.get_logger().error('Received unknown command')
self.send_available_commands()
except Exception:
self.get_logger().error('Something went wrong!')
async def api_handler(self, websocket):
self.get_logger().info('New connection')