使用 Node js 服务器从 PX4 自动驾驶仪进行实时流遥测

问题描述

我想使用下面给出的节点服务器从 PX4-Autopilot (make px4_sitl_default jmavsim) 流式传输实时遥测数据。但是打印一些数据后，服务器崩溃并给出以下异常。

问题是什么以及如何解决这个问题？

例外：

http_outgoing.js:470
    throw new ERR_HTTP_HEADERS_SENT('set');
    ^

Error [ERR_HTTP_HEADERS_SENT]: Cannot set headers after they are sent to the client

start.js

var express = require('express'); 
var app = express(); 
 
app.listen(3000,function() { 
    console.log('server running on port 3000'); 
} ) 


app.get('/param',callName); 
  
function callName(req,res) { 
  
    var spawn = require("child_process").spawn; 
    var process = spawn('python3',["./getparam.py",] ); 
     process.stdout.on('data',function(data) { 
        res.send(data.toString()); 
    } ) 
} 

./getparam.py

import asyncio
from mavsdk import System


async def run():
    # Init the drone
    drone = System()
    await drone.connect(system_address="udp://:14540")

    # Start the tasks
    asyncio.ensure_future(print_battery(drone))
    asyncio.ensure_future(print_gps_info(drone))
    asyncio.ensure_future(print_in_air(drone))
    asyncio.ensure_future(print_position(drone))

async def print_battery(drone):
    async for battery in drone.telemetry.battery():
        print(f"Battery: {battery.remaining_percent}")


async def print_gps_info(drone):
    async for gps_info in drone.telemetry.gps_info():
        print(f"GPS info: {gps_info}")


async def print_in_air(drone):
    async for in_air in drone.telemetry.in_air():
        print(f"In air: {in_air}")


async def print_position(drone):
    async for position in drone.telemetry.position():
        print(position)


if __name__ == "__main__":
    # Start the main function
    asyncio.ensure_future(run())

    # Runs the event loop until the program is canceled with e.g. CTRL-C
    asyncio.get_event_loop().run_forever()

解决方法

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