From 569d1a507aaf458ad9560b43d74811713c8aa259 Mon Sep 17 00:00:00 2001
From: Brandon A <br.araki@gmail.com>
Date: Mon, 12 Feb 2018 17:23:21 -0500
Subject: [PATCH] update client code. for some reason foo is receiving faster.
 :poop:

---
 launch/bar.launch  | 26 +++-----------------------
 src/client_node.py |  5 ++---
 src/connection.py  |  5 ++++-
 3 files changed, 9 insertions(+), 27 deletions(-)

diff --git a/launch/bar.launch b/launch/bar.launch
index 9ee7659..09b0ec6 100644
--- a/launch/bar.launch
+++ b/launch/bar.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="host" default="192.168.1.110"/>
+    <arg name="host" default="wallar.csail.mit.edu"/>
     <arg name="port" default="8080"/>
     <node pkg="canopy_client" type="client_node.py" name="bar_client_node" output="screen">
         <param name="name" value="bar"/>
@@ -10,36 +10,16 @@
         <param name="description" value="bar robot" />
         <rosparam>
             publishing:
-                - /state
                 - /filtered_state
-                - /test_string
-                - /test_string2
-                - /test_string3
             types:
-                - geometry_msgs/Point
                 - geometry_msgs/PointStamped
-                - std_msgs/String
-                - std_msgs/String
-                - std_msgs/String
             trusted:
-                - ".*"
-                - ".*"
-                - ".*"
-                - ".*"
-                - ".*"
+                - foo
         </rosparam>
     </node>
 
-    <node pkg="rostopic" type="rostopic" name="state_pub"
-        args="pub -r 20 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
     <node pkg="rostopic" type="rostopic" name="filtered_state_pub"
-        args="pub -sr 20 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" />
-    <node pkg="rostopic" type="rostopic" name="string_pub"
-        args="pub -r 20 /test_string std_msgs/String 'test'" />
-    <node pkg="rostopic" type="rostopic" name="string_pub2"
-        args="pub -r 20 /test_string2 std_msgs/String 'test2'" />
-    <node pkg="rostopic" type="rostopic" name="string_pub3"
-        args="pub -r 20 /test_string3 std_msgs/String 'test3'" />
+        args="pub -sr 40 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" />
     <!--<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="640" />
diff --git a/src/client_node.py b/src/client_node.py
index f5b19ed..16bb683 100755
--- a/src/client_node.py
+++ b/src/client_node.py
@@ -66,13 +66,12 @@ def run(self):
         self.receiver.start()
         self.descriptionConn.start()
         self.timer.start()
-        self.post_leaflet_urls()
+        #self.post_leaflet_urls()
         while not rospy.is_shutdown():
-            #for key, conn in self.conn.iteritems():
-            #    updates = conn.updates()
             updates = self.receiver.updates()
             for v in updates.values():
                 self.pub_man.publish(v)
+        
         for key, conn in self.conn.iteritems():
             conn.stop()
         self.receiver.stop()
diff --git a/src/connection.py b/src/connection.py
index c12b75d..5df07e9 100644
--- a/src/connection.py
+++ b/src/connection.py
@@ -12,7 +12,6 @@
 import tornado.httpserver
 import tornado.ioloop
 from std_msgs.msg import Float32
-
 # Represents a threaded websocket connection to the server.
 class Connection(threading.Thread):
 
@@ -63,9 +62,13 @@ def send_message_cb(self, data):
         if not self.connection is None:
             if self.acknowledged:
                 self.acknowledged = False
+                start = time.time()
                 self.connection.write_message(compressed, True)
+                end = time.time()
+                print "Write time: {}".format(end - start)
                 self.timer = threading.Timer(1, self.timeout)
                 self.timer.start()
+        
     
     # Creates callback to send message in IOLoop.
     def send_message(self, data):