Transport layer and middleware are coming together

scripts/run_server.py

@@ -0,0 +1,22 @@
+
+import os
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(__file__), "../src"))
+
+import server
+from twisted.python import log
+from twisted.internet import reactor
+from autobahn.twisted.websocket import WebSocketServerFactory
+
+
+def run_server():
+    log.startLogging(sys.stdout)
+    factory = WebSocketServerFactory("ws://localhost:9000", debug=True)
+    factory.protocol = server.MMServerProtocol
+    reactor.listenTCP(9000, factory)
+    reactor.run()
+
+
+if __name__ == "__main__":
+    run_server()

src/client/connection.py

@@ -50,6 +50,6 @@ def send_message(self, payload):
         return MMClient.send_message(payload)
 
     def updates(self):
-        payloads = copy.deepcopy(MMClient.updates)
+        payloads = copy.copy(MMClient.updates)
         MMClient.updates = dict()
         return payloads

src/client/node.py

@@ -27,12 +27,10 @@ def __init__(self, host, port, name, topics):
     def run(self):
         for topic, msg_type in self.topics:
             self.create_subscriber(topic, msg_type)
-        r = rospy.Rate(30)
         while not rospy.is_shutdown():
             updates = self.conn.updates()
             for v in updates.values():
                 self.pub_man.publish(v)
-            r.sleep()
 
     def create_subscriber(self, topic, msg_type):
         namespace, msg_name = msg_type.split("/")