Dispatcher only use websockets when dispatch fails #355
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Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
aaronchongth
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arjo129
reviewed
May 14, 2024
Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
arjo129
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May 17, 2024
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Bug fix
Fixed bug
This is not technically a bug, but rather a bit of a workaround due to tortoise/tortoise-orm#792
Due to this issue upstream (a fix for a newer version is on the way), there are occasions where the API server receives responses from the dispatcher via ROS 2 api response and websocket responses in quick succession where the DB still has no entry to the task ID yet.
Even with a mutex for this state save, it still doesn't resolve it.
This workaround only sends out a state update via websocket (if server URI is provided), when the task dispatch fails
This way, when a task dispatch succeeds, the API server will only hear from a single source, the ROS 2 API responses.