From cba1967621f5599ca6070b9862975d0110bf720a Mon Sep 17 00:00:00 2001
From: Raphael Chang <raphaelchang1227@gmail.com>
Date: Thu, 10 Mar 2016 01:24:54 +0000
Subject: [PATCH] Renaming

---
 CMakeLists.txt                |  2 +-
 launch/example.launch         | 12 ++++++------
 launch/video_chat_demo.launch |  2 +-
 package.xml                   |  6 +++---
 src/client_node.py            | 16 ++++++++++------
 5 files changed, 21 insertions(+), 17 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c1783b..d5cff78 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(roscloud_client)
+project(canopy_client)
 
 find_package(catkin REQUIRED COMPONENTS
   rospy
diff --git a/launch/example.launch b/launch/example.launch
index 4ca18e5..dc3fb7c 100644
--- a/launch/example.launch
+++ b/launch/example.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="host" default="localhost" />
-    <arg name="port" default="50000"/>
-    <node pkg="roscloud_client" type="client_node.py" name="foo_client_node" output="screen">
+    <arg name="host" default="raphaelchang.com" />
+    <arg name="port" default="8080"/>
+    <node pkg="canopy_client" type="client_node.py" name="foo_client_node" output="screen">
         <param name="name" value="foo"/>
         <param name="host" value="$(arg host)"/>
         <param name="port" value="$(arg port)"/>
@@ -10,7 +10,7 @@
         <param name="description" value="foo robot" />
     </node>
 
-    <node pkg="roscloud_client" type="client_node.py" name="bar_client_node" output="screen">
+    <node pkg="canopy_client" type="client_node.py" name="bar_client_node" output="screen">
         <param name="name" value="bar"/>
         <param name="host" value="$(arg host)"/>
         <param name="port" value="$(arg port)"/>
@@ -18,7 +18,7 @@
         <param name="description" value="bar robot" />
     </node>
 
-    <node pkg="roscloud_client" type="client_node.py" name="baz_client_node" output="screen">
+    <node pkg="canopy_client" type="client_node.py" name="baz_client_node" output="screen">
         <param name="name" value="baz"/>
         <param name="host" value="$(arg host)"/>
         <param name="port" value="$(arg port)"/>
@@ -26,7 +26,7 @@
         <param name="description" value="baz robot" />
     </node>
 
-    <node pkg="roscloud_client" type="client_node.py" name="qux_client_node" output="screen">
+    <node pkg="canopy_client" type="client_node.py" name="qux_client_node" output="screen">
         <param name="name" value="qux"/>
         <param name="host" value="$(arg host)"/>
         <param name="port" value="$(arg port)"/>
diff --git a/launch/video_chat_demo.launch b/launch/video_chat_demo.launch
index 9e91ada..367ca2f 100644
--- a/launch/video_chat_demo.launch
+++ b/launch/video_chat_demo.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <node pkg="roscloud_client" type="client_node.py" name="raphael_client_node" output="screen">
+    <node pkg="canopy_client" 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"/>
diff --git a/package.xml b/package.xml
index 0edf80b..671656f 100644
--- a/package.xml
+++ b/package.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <package>
-  <name>roscloud_client</name>
+  <name>canopy_client</name>
   <version>0.0.1</version>
-  <description>ROS Cloud Robotics Framework</description>
+  <description>Canopy - The ROS Cloud Robotics Framework</description>
   <maintainer email="wallar@mit.edu">Alex Wallar</maintainer>
   <license>GPLv3</license>
-  <url type="website">http://github.com/roscloud/roscloud_client</url>
+  <url type="website">http://github.com/canopy-ros/canopy_client</url>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
diff --git a/src/client_node.py b/src/client_node.py
index 0d1b551..39c28e4 100755
--- a/src/client_node.py
+++ b/src/client_node.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-# Defines the ROSCloudNode class.
+# Defines the CanopyClientNode class.
 
 import rospy
 import time
@@ -9,12 +9,12 @@
 import threading
 
 
-NODE_NAME = "roscloud_client"
+NODE_NAME = "canopy_client"
 
-# The ROS node object for the ROSCloud client.
+# The ROS node object for the Canopy client.
 # Manages all connections and subscribing.
 # One instance per client node.
-class ROSCloudNode(object):
+class CanopyClientNode(object):
 
     def __init__(self, host, port, name, broadcasting, private_key, description):
         self.host = host
@@ -33,12 +33,16 @@ def __init__(self, host, port, name, broadcasting, private_key, description):
     # Creates all connections and subscribers and starts them.
     # Runs a loop that checks for received messages.
     def run(self):
+        if self.name.startswith("canopy_leaflet_"):
+            rospy.logerr("{}: names starting with 'canopy_leaflet_'"
+            " are reserved".format(self.name))
+            return
         for topic, msg_type, trusted in self.broadcasting:
             if topic[0] != "/":
                 topic = "/" + topic
             self.create_subscriber(topic, msg_type, trusted)
             if topic == "/receiving":
-                rospy.logerror("{}: topic name 'receiving' is reserved".format(
+                rospy.logerr("{}: topic name 'receiving' is reserved".format(
                     self.name))
                 continue
             self.conn[topic] = Connection(host, port, "{}{}".format(
@@ -114,6 +118,6 @@ def descriptionSend(self):
     private_key = rospy.get_param("~private_key")
     description = rospy.get_param("~description")
     broadcasting = zip(topics, types, trusted)
-    rcn = ROSCloudNode(host, port, name, broadcasting, private_key,
+    rcn = CanopyClientNode(host, port, name, broadcasting, private_key,
         description)
     rcn.run()