Client acknowledgement

canopy-ros · Feb 7, 2016 · 9eadc78 · 9eadc78
1 parent 0393e29
commit 9eadc78
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Showing 3 changed files with 38 additions and 24 deletions.
diff --git a/launch/example.launch b/launch/example.launch
@@ -1,32 +1,27 @@
 <?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>
-
     <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"/>
+        <param name="host" value="wallar.me"/>
+        <param name="port" value="8080"/>
     </node>
 
     <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"/>
+        <param name="host" value="wallar.me"/>
+        <param name="port" value="8080"/>
     </node>
 
     <node pkg="jammi" 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"/>
     </node>
 
     <node pkg="jammi" 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"/>
         <rosparam>
             publishing:
                 - /state
@@ -35,7 +30,7 @@
                 - geometry_msgs/Point
                 - geometry_msgs/Point
             trusted:
-                - foo bar baz
+                - "*"
                 - foo bar
         </rosparam>
 

diff --git a/src/client/client_node.py b/src/client/client_node.py
@@ -35,7 +35,7 @@ def create_subscriber(self, topic, msg_type, trusted):
         mod = __import__(namespace + ".msg")
         msg_cls = getattr(mod.msg, msg_name)
         cb = self.create_callback(topic, msg_type, trusted)
-        self.subs[topic] = rospy.Subscriber(topic, msg_cls, cb)
+        self.subs[topic] = rospy.Subscriber(topic, msg_cls, cb, None, 1)
         return self
 
     def create_callback(self, topic, msg_type, trusted):

diff --git a/src/client/connection.py b/src/client/connection.py
@@ -7,33 +7,52 @@
 from twisted.internet import reactor
 from autobahn.twisted.websocket import WebSocketClientProtocol
 from autobahn.twisted.websocket import WebSocketClientFactory
-
+import rospy
 
 class MMClient(WebSocketClientProtocol):
 
     client = None
     updates = dict()
+    acknowledged = True
+    timer = threading.Timer
 
     def onConnect(self, reponse):
         MMClient.client = self
+        MMClient.acknowledged = True
+        MMClient.timer = threading.Timer
 
     def onMessage(self, payload, is_binary):
         if not is_binary:
             data = json.loads(payload)
             MMClient.updates[data["topic"]] = data
         else:
-            decompressed = zlib.decompress(payload)
-            size = struct.unpack('=I', decompressed[:4])
-            frmt = "%ds" % size[0]
-            unpacked = struct.unpack('=I' + frmt, decompressed)
-            data = json.loads(unpacked[1])
-            MMClient.updates[data["topic"]] = data
+            if len(payload) == 1:
+                MMClient.acknowledged = True
+                MMClient.timer.cancel()
+            else:
+                decompressed = zlib.decompress(payload)
+                size = struct.unpack('=I', decompressed[:4])
+                frmt = "%ds" % size[0]
+               	unpacked = struct.unpack('=I' + frmt, decompressed)
+                data = json.loads(unpacked[1])
+                MMClient.updates[data["topic"]] = data
+
+    def onClose(self, wasClean, code, reason):
+        rospy.logwarn("WebSocket connection closed: {0}".format(reason))
+
+    @staticmethod
+    def timeout():
+        MMClient.acknowledged = True
 
     @staticmethod
     def send_message(payload, is_binary):
         if not MMClient.client is None:
-            MMClient.client.sendMessage(payload, is_binary)
-
+            rospy.loginfo(MMClient.acknowledged)
+            if MMClient.acknowledged:
+                MMClient.acknowledged = False
+                MMClient.client.sendMessage(payload, is_binary)
+                MMClient.timer = threading.Timer(1, MMClient.timeout)
+                MMClient.timer.start()
 
 class Connection(threading.Thread):
     def __init__(self, host, port, name):