Fixes: receiving multiple messages at once, added rospy init

Drone/copter_client.py

@@ -37,7 +37,8 @@ class CopterClient(client.Client):
 
 @messaging.request_callback("selfcheck")
 def _response_selfcheck():
-    return FlightLib.selfcheck()
+    check = FlightLib.selfcheck()
+    return check if check else "OK"
 
 
 @messaging.request_callback("batt_voltage")
@@ -71,5 +72,6 @@ def _command_takeoff(*args, **kwargs):
 
 
 if __name__ == "__main__":
+    rospy.init_node('Swarm_client', anonymous=True)
     copter_client = CopterClient()
     copter_client.start()

Server/server_qt.py

@@ -64,7 +64,7 @@ class MainWindow(QtWidgets.QMainWindow):
             model.setData(model.index(row, col), "{} %".format(round(batt_percent, 3)))
         elif col == 4:
             if value != "OK":
-                model.setData(model.index(row, col), str(value))
+                model.setData(model.index(row, col), str(value))  # TODO different handling
             else:
                 model.setData(model.index(row, col), str(value))
 

messaging_lib.py

@@ -229,7 +229,7 @@ class ConnectionManager(object):
 
     def read(self):
         self._read()
-        if self._recv_buffer:
+        while self._recv_buffer:
             if not self._received_queue or (self._received_queue[0].content is not None):
                 self._received_queue.appendleft(MessageManager())
 
@@ -242,9 +242,9 @@ class ConnectionManager(object):
                 self._recv_buffer = self._received_queue[0].income_raw + self._recv_buffer
                 self._received_queue[0].income_raw = b''
 
-        if self._received_queue:
-            if self._received_queue[-1].content:
-                self.process_received()
+            if self._received_queue:
+                if self._received_queue[-1].content:
+                    self.process_received(self._received_queue.popleft())
 
     def _read(self):
         try:
@@ -263,8 +263,7 @@ class ConnectionManager(object):
 
                 raise RuntimeError("Peer closed.")
 
-    def process_received(self):
-        income_message = self._received_queue.pop()
+    def process_received(self, income_message):
         message_type = income_message.jsonheader["message-type"]
         logging.debug("Received message! Header: {}, content: {}".format(
             income_message.jsonheader, income_message.content))