From cf80107450bc9c1b785d962dc8650f13bb09bd6c Mon Sep 17 00:00:00 2001
From: Alex Wallar <alex@wallar.me>
Date: Mon, 25 Sep 2017 14:16:15 -0700
Subject: [PATCH] trying to deploy leaflets from client_node

---
 launch/example_paas.launch | 28 ++++++++++++++++++++++++++++
 src/client_node.py         | 33 +++++++++++++++++++++++----------
 2 files changed, 51 insertions(+), 10 deletions(-)
 create mode 100644 launch/example_paas.launch

diff --git a/launch/example_paas.launch b/launch/example_paas.launch
new file mode 100644
index 0000000..285e417
--- /dev/null
+++ b/launch/example_paas.launch
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="host" default="raphaelchang.com" />
+    <arg name="port" default="8080"/>
+    <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)"/>
+        <param name="private_key" value="PsFXjmWpszr6acSKL" />
+        <param name="description" value="qux robot" />
+        <rosparam>
+            publishing:
+                - /state
+                - /filtered_state
+                - /test_string
+            types:
+                - geometry_msgs/Point
+                - geometry_msgs/Point
+                - std_msgs/String
+            trusted:
+                - ".*"
+                - foo bar
+                - "ba[a-z]"
+            leaflets:
+                - https://github.com/canopy-ros/canopy_paas_demo
+        </rosparam>
+    </node>
+</launch>
diff --git a/src/client_node.py b/src/client_node.py
index 6136684..aa5973b 100755
--- a/src/client_node.py
+++ b/src/client_node.py
@@ -3,6 +3,7 @@
 
 import rospy
 import time
+import requests
 import publishermanager as pm
 from rospy_message_converter import message_converter as mc
 from connection import Connection
@@ -11,13 +12,15 @@
 
 NODE_NAME = "canopy_client"
 
-# The ROS node object for the Canopy client.
-# Manages all connections and subscribing.
-# One instance per client node.
-class CanopyClientNode(object):
 
+class CanopyClientNode(object):
+    """
+    The ROS node object for the Canopy client.
+    Manages all connections and subscribing.
+    One instance per client node.
+    """
     def __init__(self, host, port, name, broadcasting, private_key,
-        description, global_frames):
+                 description, global_frames, leaflets):
         self.host = host
         self.port = port
         self.name = name.replace(" ", "").replace("/", "")
@@ -29,9 +32,17 @@ def __init__(self, host, port, name, broadcasting, private_key,
         self.private_key = private_key
         self.description = description
         self.global_frames = global_frames
+        self.leaflets = leaflets
         self.pub_man = pm.PublisherManager()
         self.timer = threading.Timer(0.1, self.descriptionSend)
 
+    def post_leaflet_urls(self):
+        payload = {"urls": self.leaflets}
+        post_url = "http://{}:{}/{}/leaflets".format(
+            self.host, self.port, self.private_key)
+        r = requests.post(post_url, data=payload)
+        return r
+
     # Creates all connections and subscribers and starts them.
     # Runs a loop that checks for received messages.
     def run(self):
@@ -53,6 +64,7 @@ def run(self):
         self.receiver.start()
         self.descriptionConn.start()
         self.timer.start()
+        self.post_leaflet_urls()
         while not rospy.is_shutdown():
             #for key, conn in self.conn.iteritems():
             #    updates = conn.updates()
@@ -61,7 +73,7 @@ def run(self):
                 self.pub_man.publish(v)
         for key, conn in self.conn.iteritems():
             conn.stop()
-	self.receiver.stop()
+        self.receiver.stop()
         self.timer.cancel()
         self.descriptionConn.stop()
 
@@ -108,7 +120,7 @@ def modify_stamped_message(self, message):
                 if message.child_frame_id[0] != "/":
                     message.child_frame_id = "/" + message.child_frame_id
                 message.child_frame_id = "{}{}".format(self.name,
-                        message.child_frame_id)
+                                                       message.child_frame_id)
         if hasattr(message, 'header'):
             if ((not hasattr(message, 'child_frame_id')) and
                     message.header.frame_id.find("/") > 0 and
@@ -120,8 +132,8 @@ def modify_stamped_message(self, message):
                         message.header.frame_id.count("/") <= 1):
                     if message.header.frame_id[0] != "/":
                         message.header.frame_id = "/" + message.header.frame_id
-                    message.header.frame_id = "{}{}".format(self.name,
-                            message.header.frame_id)
+                    message.header.frame_id = "{}{}".format(
+                        self.name, message.header.frame_id)
         return message
 
     # Periodic function to send the client description.
@@ -147,11 +159,12 @@ def descriptionSend(self):
     types = rospy.get_param("~types", [])
     trusted = rospy.get_param("~trusted", [])
     global_frames = rospy.get_param("~global_frames", [])
+    leaflets = rospy.get_param("leaflets", [])
     host = rospy.get_param("~host")
     port = rospy.get_param("~port")
     private_key = rospy.get_param("~private_key")
     description = rospy.get_param("~description")
     broadcasting = zip(topics, types, trusted)
     rcn = CanopyClientNode(host, port, name, broadcasting, private_key,
-        description, global_frames)
+                           description, global_frames, leaflets)
     rcn.run()