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Take offboard_and_arm out of the handle_lock + error if no FCU connection

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This commit is contained in:
Oleg Kalachev
2017-11-26 03:26:58 +03:00
parent bb081f9d85
commit 53f2fcd678
1 changed files with 16 additions and 12 deletions
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28
clever/src/simple_offboard.py
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@@ -236,21 +236,25 @@ handle_lock = Lock()
def handle(req):
global current_pub, current_msg, current_req
with handle_lock:
try:
stamp = rospy.get_rostime()
current_pub, current_msg = get_publisher_and_message(req, stamp)
rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
current_msg.header.stamp = stamp
current_pub.publish(current_msg)
if not state.connected:
return {'message': 'No connection to the FCU'}
offboard_and_arm()
return {'success': True}
try:
with handle_lock:
stamp = rospy.get_rostime()
current_pub, current_msg = get_publisher_and_message(req, stamp)
rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
except Exception as e:
rospy.logerr(str(e))
return {'success': False, 'message': str(e)}
current_msg.header.stamp = stamp
current_pub.publish(current_msg)
offboard_and_arm()
return {'success': True}
except Exception as e:
rospy.logerr(str(e))
return {'success': False, 'message': str(e)}
def release(req):