fetch_blueOS_dvl_a50.py

import asyncio
import aiohttp
import json
import sys
import signal

async def get_vision_position_delta(session, url):
    try:
        async with session.get(url) as response:
            response.raise_for_status()  # Raise exception for HTTP errors

            # Attempt to parse the response as JSON
            try:
                data = await response.json()
                print("VISION_POSITION_DELTA Data:")
                print(json.dumps(data, indent=4))
            except aiohttp.ContentTypeError:
                # If response is not JSON, handle accordingly
                text = await response.text()
                print("Received non-JSON response:")
                print(text)

    except aiohttp.ClientResponseError as http_err:
        print(f"HTTP error occurred: {http_err.status} {http_err.message}", file=sys.stderr)
    except aiohttp.ClientConnectionError as conn_err:
        print(f"Connection error occurred: {conn_err}", file=sys.stderr)
    except asyncio.TimeoutError:
        print("Timeout error occurred", file=sys.stderr)
    except aiohttp.ClientError as req_err:
        print(f"An error occurred: {req_err}", file=sys.stderr)

async def continuous_fetch(url, interval):
    timeout = aiohttp.ClientTimeout(total=10)  # 10 seconds timeout
    async with aiohttp.ClientSession(timeout=timeout) as session:
        while True:
            await get_vision_position_delta(session, url)
            await asyncio.sleep(interval)

def main():
    url = "http://192.168.2.2:6040/v1/mavlink/vehicles/255/components/0/messages/VISION_POSITION_DELTA"
    
    fetch_interval = 0.005  # Interval in seconds between requests
    
    loop = asyncio.get_event_loop()

    # Handle graceful shutdown on SIGINT and SIGTERM
    for signame in ('SIGINT', 'SIGTERM'):
        loop.add_signal_handler(getattr(signal, signame), loop.stop)

    try:
        print(f"Starting continuous data fetch every {fetch_interval} seconds...")
        loop.create_task(continuous_fetch(url, fetch_interval))
        loop.run_forever()
    except KeyboardInterrupt:
        print("\nReceived exit signal. Shutting down...")
    finally:
        loop.close()
        print("Shutdown complete.")

if __name__ == "__main__":
    main()