Private keys

canopy-ros · Feb 16, 2016 · 5495677 · 5495677
1 parent 0f83551
commit 5495677
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Showing 6 changed files with 28 additions and 25 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(roscloud)
+project(roscloud_client)
 
 find_package(catkin REQUIRED COMPONENTS
   rospy

diff --git a/launch/example.launch b/launch/example.launch
@@ -1,35 +1,31 @@
 <?xml version="1.0"?>
 <launch>
-    <node pkg="roscloud" type="client_node.py" name="foo_client_node" output="screen">
+    <node pkg="roscloud_client" 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"/> -->
         <param name="host" value="wallar.me"/>
         <param name="port" value="8080"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
     </node>
 
-    <node pkg="roscloud" type="client_node.py" name="bar_client_node" output="screen">
+    <node pkg="roscloud_client" 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"/> -->
         <param name="host" value="wallar.me"/>
         <param name="port" value="8080"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
     </node>
 
-    <node pkg="roscloud" type="client_node.py" name="baz_client_node" output="screen">
+    <node pkg="roscloud_client" type="client_node.py" name="baz_client_node" output="screen">
         <param name="name" value="baz"/>
-        <!-- <param name="host" value="localhost"/> -->
-        <!-- <param name="port" value="9000"/> -->
         <param name="host" value="wallar.me"/>
         <param name="port" value="8080"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
     </node>
 
-    <node pkg="roscloud" type="client_node.py" name="qux_client_node" output="screen">
+    <node pkg="roscloud_client" type="client_node.py" name="qux_client_node" output="screen">
         <param name="name" value="qux"/>
-        <!-- <param name="host" value="localhost"/> -->
-        <!-- <param name="port" value="9000"/> -->
         <param name="host" value="wallar.me"/>
         <param name="port" value="8080"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
         <rosparam>
             publishing:
                 - /state

diff --git a/launch/video_chat_demo.launch b/launch/video_chat_demo.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-    <node pkg="roscloud" type="client_node.py" name="alex_client_node" output="screen">
-        <param name="name" value="alex"/>
+    <node pkg="roscloud" type="client_node.py" name="raphael_client_node" output="screen">
+        <param name="name" value="raphael"/>
         <param name="host" value="wallar.me"/>
         <param name="port" value="8080"/>
         <rosparam>
@@ -10,7 +10,7 @@
             types:
                 - sensor_msgs/CompressedImage
             trusted:
-                - raphael
+                - alex
         </rosparam>
 
     </node>

diff --git a/package.xml b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>roscloud</name>
+  <name>roscloud_client</name>
   <version>0.0.1</version>
   <description>ROS Cloud Robotics Framework</description>
   <maintainer email="[email protected]">Alex Wallar</maintainer>

diff --git a/src/client_node.py b/src/client_node.py
@@ -12,14 +12,15 @@
 
 class ROSCloudNode(object):
 
-    def __init__(self, host, port, name, broadcasting):
+    def __init__(self, host, port, name, broadcasting, private_key):
         self.host = host
         self.port = port
         self.name = name
         self.conn = dict()
         self.receiver = None
         self.subs = dict()
         self.broadcasting = broadcasting
+        self.private_key = private_key
         self.pub_man = pm.PublisherManager()
 
     def run(self):
@@ -30,10 +31,10 @@ def run(self):
                     self.name))
                 continue
             self.conn[topic] = Connection(host, port, "{}{}".format(
-                self.name, topic))
+                self.name, topic), private_key)
             self.conn[topic].start()
         self.receiver = Connection(host, port, "{}{}".format(
-            self.name, "/receiving"))
+            self.name, "/receiving"), private_key)
         self.receiver.start()
         while not rospy.is_shutdown():
             #for key, conn in self.conn.iteritems():
@@ -61,6 +62,7 @@ def callback(msg):
             data["Topic"] = "/{}{}".format(self.name, topic)
             data["Type"] = msg_type
             data["Stamp"] = time.time()
+            data["Private_key"] = self.private_key
             data["Msg"] = mc.convert_ros_message_to_dictionary(msg)
             self.conn[topic].send_message(data)
         return callback
@@ -74,6 +76,7 @@ def callback(msg):
     trusted = rospy.get_param("~trusted", [])
     host = rospy.get_param("~host")
     port = rospy.get_param("~port")
+    private_key = rospy.get_param("~private_key")
     broadcasting = zip(topics, types, trusted)
-    rcn = ROSCloudNode(host, port, name, broadcasting)
+    rcn = ROSCloudNode(host, port, name, broadcasting, private_key)
     rcn.run()
diff --git a/src/connection.py b/src/connection.py
@@ -14,12 +14,12 @@
 
 class Connection(threading.Thread):
 
-    def __init__(self, host, port, name):
+    def __init__(self, host, port, name, private_key):
         super(Connection, self).__init__()
         self.host = host
         self.port = port
         self.name = name
-        self.url = "ws://{}:{}/{}".format(host, port, name)
+        self.url = "ws://{}:{}/{}/{}".format(host, port, private_key, name)
         self.ioloop = None
         self.connection = None
         self.values = dict()
@@ -60,7 +60,8 @@ def send_message_cb(self, data):
                 self.timer.start()
 
     def send_message(self, data):
-        self.ioloop.add_callback(self.send_message_cb, data)
+	if not self.ioloop is None:
+        	self.ioloop.add_callback(self.send_message_cb, data)
 
     def updates(self):
         payloads = copy.copy(self.values)
@@ -88,7 +89,10 @@ def on_connected(self, res):
     def on_message(self, payload):
         if len(payload) == 1:
             self.acknowledged = True
-            self.timer.cancel()
+            try:
+                self.timer.cancel()
+            except:
+                pass
         else:
             decompressed = zlib.decompress(payload)
             size = struct.unpack('=I', decompressed[:4])