From 4b048aeaea720b5f41cb9dcc86bd01ac5a6322ca Mon Sep 17 00:00:00 2001
From: Raphael Chang <raphaelchang1227@gmail.com>
Date: Sat, 13 Feb 2016 16:14:52 -0500
Subject: [PATCH] Image sending tests

---
 launch/example.launch    | 24 ++++++++++++++++++++----
 launch/server.launch     |  2 +-
 requirements.txt         |  3 +--
 src/client/connection.py |  5 +++++
 4 files changed, 27 insertions(+), 7 deletions(-)

diff --git a/launch/example.launch b/launch/example.launch
index b7e764e..9fcce05 100644
--- a/launch/example.launch
+++ b/launch/example.launch
@@ -3,35 +3,38 @@
     <node pkg="jammi" type="client_node.py" name="foo_client_node" output="screen">
         <param name="name" value="foo"/>
         <param name="host" value="wallar.me"/>
-        <param name="port" value="50000"/>
+        <param name="port" value="9000"/>
     </node>
 
     <node pkg="jammi" type="client_node.py" name="bar_client_node" output="screen">
         <param name="name" value="bar"/>
         <param name="host" value="wallar.me"/>
-        <param name="port" value="50000"/>
+        <param name="port" value="9000"/>
     </node>
 
     <node pkg="jammi" type="client_node.py" name="baz_client_node" output="screen">
         <param name="name" value="baz"/>
         <param name="host" value="wallar.me"/>
-        <param name="port" value="50000"/>
+        <param name="port" value="9000"/>
     </node>
 
     <node pkg="jammi" type="client_node.py" name="qux_client_node" output="screen">
         <param name="name" value="qux"/>
         <param name="host" value="wallar.me"/>
-        <param name="port" value="50000"/>
+        <param name="port" value="9000"/>
         <rosparam>
             publishing:
                 - /state
                 - /filtered_state
+                - /usb_cam/image_raw/compressed
             types:
                 - geometry_msgs/Point
                 - geometry_msgs/Point
+                - sensor_msgs/CompressedImage
             trusted:
                 - "*"
                 - foo bar
+                - foo
         </rosparam>
 
     </node>
@@ -40,4 +43,17 @@
         args="pub -r 100 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
     <node pkg="rostopic" type="rostopic" name="filtered_state_pub"
         args="pub -r 100 /filtered_state geometry_msgs/Point '{x: 2, y: 1, z: 1}'" />
+    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+        <param name="video_device" value="/dev/video0" />
+        <param name="image_width" value="320" />
+        <param name="image_height" value="240" />
+        <param name="pixel_format" value="yuyv" />
+        <param name="camera_frame_id" value="usb_cam" />
+        <param name="io_method" value="mmap"/>
+    </node>
+    <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
+        <remap from="image" to="/usb_cam/image_raw"/>
+        <param name="autosize" value="true" />
+    </node>
+
 </launch>
diff --git a/launch/server.launch b/launch/server.launch
index 5c81f73..40808dc 100644
--- a/launch/server.launch
+++ b/launch/server.launch
@@ -2,7 +2,7 @@
 <launch>
     <node pkg="jammi" type="server_node.py" name="jammi_server" output="screen">
         <param name="host" value="wallar.me"/>
-        <param name="port" value="8080"/>
+        <param name="port" value="9000"/>
     </node>
 
 </launch>
diff --git a/requirements.txt b/requirements.txt
index a70c577..c3368df 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,2 +1 @@
-twisted
-autobahn
+tornado
diff --git a/src/client/connection.py b/src/client/connection.py
index cc24f7a..5ee68ca 100644
--- a/src/client/connection.py
+++ b/src/client/connection.py
@@ -5,10 +5,12 @@
 import copy
 import struct
 import rospy
+import time
 import tornado.web
 import tornado.websocket
 import tornado.httpserver
 import tornado.ioloop
+from std_msgs.msg import Float32
 
 class Connection(threading.Thread):
     def __init__(self, host, port, name):
@@ -22,6 +24,7 @@ def __init__(self, host, port, name):
         self.values = dict()
         self.acknowledged = True
         self.timer = threading.Timer
+        self.freqPub = rospy.Publisher("/{}/ping".format(name), Float32, queue_size=0)
 
     def run(self):
         tornado.websocket.websocket_connect(
@@ -45,6 +48,8 @@ def send_message_cb(self, data):
             # rospy.loginfo(self.acknowledged)
             if self.acknowledged:
                 self.acknowledged = False
+                if binLen > 1000:
+                    self.freqPub.publish(0.0)
                 self.connection.write_message(compressed, True)
                 self.timer = threading.Timer(1, self.timeout)
                 self.timer.start()