Trying to make the bloody thing faster

launch/example.launch

@@ -1,6 +1,11 @@
 <?xml version="1.0"?>
 <launch>
-    <node pkg="jammi" type="client_node.py" name="foo_node" output="screen">
+    <node pkg="jammi" type="server_node.py" name="jammi_server" output="screen">
+        <param name="host" value="localhost"/>
+        <param name="port" value="9000"/>
+    </node>
+
+    <node pkg="jammi" type="client_node.py" name="foo_client_node" output="screen">
         <param name="name" value="foo"/>
         <param name="host" value="localhost"/>
         <param name="port" value="9000"/>
@@ -12,7 +17,7 @@
         </rosparam>
     </node>
 
-    <node pkg="jammi" type="client_node.py" name="bar_node" output="screen">
+    <node pkg="jammi" type="client_node.py" name="bar_client_node" output="screen">
         <param name="name" value="bar"/>
         <param name="host" value="localhost"/>
         <param name="port" value="9000"/>
@@ -24,11 +29,6 @@
         </rosparam>
     </node>
 
-    <node pkg="jammi" type="server_node.py" name="jammi_server" output="screen">
-        <param name="host" value="localhost"/>
-        <param name="port" value="9000"/>
-    </node>
-
     <node pkg="rostopic" type="rostopic" name="state_pub"
         args="pub -r 100 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
 </launch>

src/client/client_node.py

@@ -3,7 +3,6 @@
 import rospy
 import time
 import publishermanager as pm
-import json
 from rospy_message_converter import message_converter as mc
 from connection import Connection
 
@@ -48,8 +47,7 @@ def callback(msg):
             data["type"] = msg_type
             data["stamp"] = time.time()
             data["msg"] = mc.convert_ros_message_to_dictionary(msg)
-            payload = json.dumps(data)
-            self.conn.send_message(payload)
+            self.conn.send_message(data)
         return callback
 
 

src/client/connection.py

@@ -1,7 +1,6 @@
 
+# import zlib
 import threading
-import string
-import sys
 import json
 import copy
 from twisted.internet import reactor
@@ -20,7 +19,7 @@ def onConnect(self, reponse):
     def onMessage(self, payload, is_binary):
         if not is_binary:
             data = json.loads(payload)
-            MMClient.updates[data["topic"]] = payload
+            MMClient.updates[data["topic"]] = data
 
     @staticmethod
     def send_message(payload):
@@ -46,7 +45,8 @@ def run(self):
     def stop(self):
         reactor.stop()
 
-    def send_message(self, payload):
+    def send_message(self, data):
+        payload = json.dumps(data)
         return MMClient.send_message(payload)
 
     def updates(self):

src/client/publishermanager.py

@@ -1,5 +1,5 @@
+
 import rospy
-import json
 from rospy_message_converter import message_converter
 
 
@@ -16,8 +16,7 @@ def create_msg(self, msg_dict, msg_type):
             msg_type, msg_dict)
         return msg, msg_cls
 
-    def publish(self, payload):
-        data = json.loads(payload)
+    def publish(self, data):
         msg, msg_cls = self.create_msg(data["msg"], data["type"])
         topic = data["topic"]
         if not topic in self.pubs.keys():

src/server/server_node.py

@@ -23,6 +23,6 @@ def run_server(host, port):
 
 if __name__ == "__main__":
     rospy.init_node(NODE_NAME, anonymous=False)
-    host = rospy.get_param("~host")
-    port = rospy.get_param("~port")
+    host = rospy.get_param("~host", "localhost")
+    port = rospy.get_param("~port", 9000)
     run_server(host, port)

src/server/ws.py

@@ -1,4 +1,5 @@
 
+# import zlib
 import json
 import common
 from autobahn.twisted.websocket import WebSocketServerProtocol