(fix) Fixes deserialization of external processors and handling of pr…

…ocessor result in launcher

ros_sugar/core/component.py

@@ -775,9 +775,9 @@ def _external_processors_json(self, processors_serialized: Union[str, bytes]):
         :param processors_serialized: Serialized Processors Dict
         :type processors_serialized: Union[str, bytes]
         """
-        processors_data = json.loads(processors_serialized)
+        self._external_processors = json.loads(processors_serialized)
         # Create sockets out of function names and connect them
-        for key, processor_data in processors_data.items():
+        for key, processor_data in self._external_processors.items():
             for idx, func_name in enumerate(processor_data[0]):
                 sock_file = f"/tmp/{self.node_name}_{key}_{func_name}.socket"
                 if not os.path.exists(sock_file):
@@ -1285,6 +1285,7 @@ def _attach_external_processors(self):
         """
         Attach external processors
         """
+        self.get_logger().info('ATTACHING EXTERNAL PROCESSORS')
         for topic_name, (
             processors,
             processor_type,

ros_sugar/launch/launcher.py

@@ -521,8 +521,8 @@ def __listen_for_external_processing(self, sock: socket.socket, func: Callable):
         import msgpack
 
         # Block to accept connections
-        conn, addr = sock.accept()
-        logger.info(f"Processor connected from {addr}")
+        conn, _ = sock.accept()
+        logger.info(f"EXTERNAL PROCESSOR CONNECTED ON {conn}")
         while True:
             # TODO: Make the buffer size a parameter
             # Block to receive data
@@ -532,8 +532,9 @@ def __listen_for_external_processing(self, sock: socket.socket, func: Callable):
             # TODO: Retreive errors
             data = msgpack.unpackb(data)
             result = func(data)
+            logger.debug(f"Got result from external processor: {result}")
             result = msgpack.packb(result)
-            conn.sendall(data)
+            conn.sendall(result)
 
     def _setup_external_processors(self, component: BaseComponent) -> None:
         if not component._external_processors: