From e73ad46348bae50686bbb08b93aaa5c7071261dd Mon Sep 17 00:00:00 2001
From: Alex Wallar <aw204@st-andrews.ac.uk>
Date: Wed, 16 Sep 2015 15:58:09 -0400
Subject: [PATCH] Multicast heartbeat working

---
 .gitignore            | 75 +++++++++++++++++++++++++++++++++++++++++++
 src/jammi/__init__.py |  4 +++
 src/jammi/heart.py    | 45 ++++++++++++++++++++++++++
 tests/heart_test.py   | 33 +++++++++++++++++++
 4 files changed, 157 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 src/jammi/heart.py
 create mode 100644 tests/heart_test.py

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..54207e5
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,75 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+
+tags
+
+# C extensions
+*.so
+*.c
+
+# Distribution / packaging
+.Python
+env/
+bin/
+build/
+develop-eggs/
+dist/
+eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.cache
+nosetests.xml
+coverage.xml
+
+# Translations
+*.mo
+
+# Mr Developer
+.mr.developer.cfg
+.project
+.pydevproject
+
+# Rope
+.ropeproject
+
+# Django stuff:
+*.log
+*.pot
+
+# Sphinx documentation
+docs/_build/
+
+# Tex
+*.bak
+*.log
+*.aux
+
+# Ctags
+tags
+
+#Chutsu stuff
+run.sh
+
+scenes/*.out
+*.out
+scenes/
+octave-workspace
+sandbox/
+videos
+bags/
diff --git a/src/jammi/__init__.py b/src/jammi/__init__.py
index e69de29..3456c0b 100644
--- a/src/jammi/__init__.py
+++ b/src/jammi/__init__.py
@@ -0,0 +1,4 @@
+
+__all__ = ["Heart"]
+
+from heart import Heart
diff --git a/src/jammi/heart.py b/src/jammi/heart.py
new file mode 100644
index 0000000..21fb15b
--- /dev/null
+++ b/src/jammi/heart.py
@@ -0,0 +1,45 @@
+
+import socket
+import json
+import zlib
+import rospy
+import threading
+
+
+class Heart(object):
+
+    def __init__(self, host, port, rate):
+        self.host = host
+        self.port = port
+        self.rate = rate
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.data = {}
+        self.running = False
+
+    def set_data(self, data):
+        self.data = data
+        return self
+
+    def beat(self):
+        json_str = json.dumps(self.data)
+        zip_str = zlib.compress(json_str)
+        self.sock.sendto(zip_str, (self.host, self.port))
+        return self
+
+    def kill(self):
+        self.running = False
+        return self
+
+    def start(self):
+        if self.running:
+            raise RuntimeWarning("Heart already running")
+        else:
+            def __thread():
+                rate = rospy.Rate(self.rate)
+                while self.running:
+                    self.beat()
+                    rate.sleep()
+            self.running = True
+            self.thread = threading.Thread(target=__thread)
+            self.thread.daemon = True
+            self.thread.start()
diff --git a/tests/heart_test.py b/tests/heart_test.py
new file mode 100644
index 0000000..c2c0580
--- /dev/null
+++ b/tests/heart_test.py
@@ -0,0 +1,33 @@
+
+import os
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(__file__), "../src"))
+
+import jammi
+import socket
+import rospy
+import zlib
+
+
+def test_start():
+    rospy.init_node("jammi_test", anonymous=False)
+    host, port = "localhost", 5005
+    rate = 20
+    heart = jammi.Heart(host, port, rate)
+    heart.data["name"] = "test"
+    heart.start()
+
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sock.bind((host, port))
+    i = 0
+    while i < 20:
+        i += 1
+        data_zip, addr = sock.recvfrom(1024)
+        data = zlib.decompress(data_zip)
+        print i, data, addr
+    heart.kill()
+
+
+if __name__ == "__main__":
+    test_start()