Transport layer is wokring better now

src/client/__init__.py

@@ -1,5 +0,0 @@
-
-__all__ = ["Heart", "NameServer"]
-
-from heart import Heart
-from nameserver import NameServer

src/client/ws.py

@@ -0,0 +1,68 @@
+
+import threading
+import string
+import sys
+from twisted.internet import reactor
+from autobahn.twisted.websocket import WebSocketClientProtocol
+from autobahn.twisted.websocket import WebSocketClientFactory
+
+
+test_msg = """
+{"to": "$to",
+ "from": "$fr",
+ "topic": "/foo/state",
+ "type": "geometry_msgs/Point",
+ "msg": "{'x': 0, 'y': 0, 'z': 0}",
+ "stamp": $t}
+"""
+
+
+class MMClient(WebSocketClientProtocol):
+
+    client = None
+
+    def onConnect(self, reponse):
+        MMClient.client = self
+
+    def onMessage(self, payload, is_binary):
+        if not is_binary:
+            print payload
+
+    @staticmethod
+    def send_message(payload):
+        if not MMClient.client is None:
+            MMClient.client.sendMessage(payload)
+
+
+class Connection(threading.Thread):
+    def __init__(self, host, port, name):
+        super(Connection, self).__init__()
+        self.host = host
+        self.port = port
+        self.name = name
+        self.url = "ws://{}:{}/{}".format(host, port, name)
+        self.factory = WebSocketClientFactory(self.url, debug=True)
+
+    def run(self):
+        self.factory.protocol = MMClient
+        reactor.connectTCP(self.host, self.port, self.factory)
+        reactor.run(installSignalHandlers=0)
+
+    def stop(self):
+        reactor.stop()
+
+    def send_message(self, payload):
+        return MMClient.send_message(payload)
+
+
+if __name__ == "__main__":
+    import time
+    conn = Connection("localhost", 9000, sys.argv[1])
+    conn.daemon = True
+    conn.start()
+    msg_tmp = string.Template(test_msg)
+    while True:
+        msg = msg_tmp.substitute(
+            fr=sys.argv[1], to=sys.argv[2], t=time.time())
+        conn.send_message(msg)
+        time.sleep(0.1)

src/server/ws.py

@@ -16,12 +16,15 @@ def onOpen(self):
 
     def onMessage(self, payload, is_binary):
         if not is_binary:
-            msg = json.loads(payload)
-            if msg["to"] == "*":
-                for name in common.clients.keys():
+            try:
+                msg = json.loads(payload)
+                if msg["to"] == "*":
+                    for name in common.clients.keys():
+                        common.get_client(msg["to"]).sendMessage(payload)
+                else:
                     common.get_client(msg["to"]).sendMessage(payload)
-            else:
-                common.get_client(msg["to"]).sendMessage(payload)
+            except KeyError:
+                pass
 
     def onClose(self, was_clean, code, reason):
         common.remove_client(self.name_of_client)

tests/ws_test.py

@@ -63,9 +63,9 @@ def create_websocket():
 
 def test_ws_server():
     log.startLogging(sys.stdout)
-    create_websocket()
+    # create_websocket()
     factory = WebSocketServerFactory("ws://localhost:9000", debug=True)
     factory.protocol = server.MMServerProtocol
     reactor.listenTCP(9000, factory)
-    task.LoopingCall(print_conns).start(1.0)
+    # task.LoopingCall(print_conns).start(1.0)
     reactor.run()