From 8d9948592c4bba60edae1cf7f0c7aabc2016b3ab Mon Sep 17 00:00:00 2001
From: Raphael Chang <raphaelchang1227@gmail.com>
Date: Sat, 6 Feb 2016 16:44:45 -0500
Subject: [PATCH] Changed trusted name formatting

---
 launch/bar.launch         |  9 +++++++++
 launch/example.launch     | 15 ++++++---------
 launch/foo.launch         | 19 +++++++++++++++++++
 launch/server.launch      |  8 ++++++++
 src/client/client_node.py |  2 +-
 src/server/ws.py          |  9 ++++-----
 6 files changed, 47 insertions(+), 15 deletions(-)
 create mode 100644 launch/bar.launch
 create mode 100644 launch/foo.launch
 create mode 100644 launch/server.launch

diff --git a/launch/bar.launch b/launch/bar.launch
new file mode 100644
index 0000000..1773872
--- /dev/null
+++ b/launch/bar.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+    <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"/>
+    </node>
+
+</launch>
diff --git a/launch/example.launch b/launch/example.launch
index f86233f..4f9999c 100644
--- a/launch/example.launch
+++ b/launch/example.launch
@@ -9,14 +9,6 @@
         <param name="name" value="foo"/>
         <param name="host" value="localhost"/>
         <param name="port" value="9000"/>
-        <rosparam>
-            publishing: 
-                - /state
-            types:
-                - geometry_msgs/Point
-            trusted:
-                - /bar /baz
-        </rosparam>
     </node>
 
     <node pkg="jammi" type="client_node.py" name="bar_client_node" output="screen">
@@ -38,14 +30,19 @@
         <rosparam>
             publishing:
                 - /state
+                - /filtered_state
             types:
                 - geometry_msgs/Point
+                - geometry_msgs/Point
             trusted:
-                - /foo
+                - foo bar baz
+                - foo bar
         </rosparam>
 
     </node>
 
     <node pkg="rostopic" type="rostopic" name="state_pub"
         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}'" />
 </launch>
diff --git a/launch/foo.launch b/launch/foo.launch
new file mode 100644
index 0000000..e2e6a47
--- /dev/null
+++ b/launch/foo.launch
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<launch>
+    <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"/>
+        <rosparam>
+            publishing: 
+                - /state
+            types:
+                - geometry_msgs/Point
+            trusted:
+                - /bar /baz
+        </rosparam>
+    </node>
+
+    <node pkg="rostopic" type="rostopic" name="state_pub"
+        args="pub -r 100 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
+</launch>
diff --git a/launch/server.launch b/launch/server.launch
new file mode 100644
index 0000000..7a2db1f
--- /dev/null
+++ b/launch/server.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="jammi" type="server_node.py" name="jammi_server" output="screen">
+        <param name="host" value="localhost"/>
+        <param name="port" value="9000"/>
+    </node>
+
+</launch>
diff --git a/src/client/client_node.py b/src/client/client_node.py
index 71c9009..970eb12 100755
--- a/src/client/client_node.py
+++ b/src/client/client_node.py
@@ -41,7 +41,7 @@ def create_subscriber(self, topic, msg_type, trusted):
     def create_callback(self, topic, msg_type, trusted):
         def callback(msg):
             data = dict()
-            data["to"] = trusted
+            data["to"] = trusted.split(' ')
             data["from"] = self.name
             data["topic"] = "/{}{}".format(self.name, topic)
             data["type"] = msg_type
diff --git a/src/server/ws.py b/src/server/ws.py
index 827e506..749bce4 100644
--- a/src/server/ws.py
+++ b/src/server/ws.py
@@ -15,10 +15,10 @@ def __init__(self):
         self.lat_pubs = dict()
 
     def onConnect(self, request):
-        name = request.path[0:]
+        name = request.path[1:]
         common.add_client(name, self)
         self.name_of_client = name
-        self.lat_pubs[name[1:]] = rospy.Publisher("/jammi" + name + "/latency", Float32, queue_size=2)
+        self.lat_pubs[name] = rospy.Publisher("/jammi/" + name + "/latency", Float32, queue_size=2)
 
     def onMessage(self, payload, is_binary):
         if is_binary:
@@ -32,13 +32,12 @@ def onMessage(self, payload, is_binary):
                 latency = Float32()
                 latency.data = received_time - msg["stamp"]
                 self.lat_pubs[msg["from"]].publish(latency)
-                if msg["to"] == "*":
+                if msg["to"][0] == "*":
                     for name in common.clients.keys():
                         if name != msg["from"]:
                             common.get_client(name).sendMessage(payload, True)
                 else:
-                    recipients = msg["to"].split(' ')
-                    for name in recipients:
+                    for name in msg["to"]:
                         common.get_client(name).sendMessage(payload, True)
             except KeyError:
                 pass