PEP-8ing it

canopy-ros · Feb 6, 2016 · ef62625 · ef62625
2 parents 98838d6 + 55fd8db
commit ef62625
Show file tree

Hide file tree

Showing 3 changed files with 27 additions and 12 deletions.
diff --git a/src/client/connection.py b/src/client/connection.py
@@ -1,8 +1,9 @@
 
-# import zlib
+import zlib
 import threading
 import json
 import copy
+import struct
 from twisted.internet import reactor
 from autobahn.twisted.websocket import WebSocketClientProtocol
 from autobahn.twisted.websocket import WebSocketClientFactory
@@ -20,6 +21,13 @@ 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
 
     @staticmethod
     def send_message(payload, is_binary):
@@ -47,8 +55,12 @@ def stop(self):
 
     def send_message(self, data):
         payload = json.dumps(data)
-        is_binary = False
-        return MMClient.send_message(payload, is_binary)
+        frmt = "%ds" % len(payload)
+        binary = struct.pack(frmt, payload)
+        binLen = len(binary)
+        binary = struct.pack('=I' + frmt, binLen, payload)
+        compressed = zlib.compress(binary)
+        return MMClient.send_message(compressed, True)
 
     def updates(self):
         payloads = copy.copy(MMClient.updates)

diff --git a/src/server/server_node.py b/src/server/server_node.py
@@ -1,9 +1,7 @@
 #!/usr/bin/env python
 
-# import sys
 import ws
 import rospy
-# from twisted.python import log
 from twisted.internet import reactor
 from autobahn.twisted.websocket import WebSocketServerFactory
 
@@ -12,7 +10,6 @@
 
 
 def run_server(host, port):
-    # log.startLogging(sys.stdout)
     url = "ws://{}:{}".format(host, port)
     factory = WebSocketServerFactory(url, debug=True)
     factory.protocol = ws.MMServerProtocol

diff --git a/src/server/ws.py b/src/server/ws.py
@@ -1,9 +1,10 @@
 
-# import zlib
+import zlib
 import json
 import rospy
 import time
 import common
+import struct
 from std_msgs.msg import Float32
 from autobahn.twisted.websocket import WebSocketServerProtocol
 
@@ -17,18 +18,23 @@ def onConnect(self, request):
         self.lat_pub = rospy.Publisher("/jammi/latency", Float32, queue_size=2)
 
     def onMessage(self, payload, is_binary):
-        if not is_binary:
+        if is_binary:
             try:
-                msg = json.loads(payload)
+                received_time = time.time()
+                decompressed = zlib.decompress(payload)
+                size = struct.unpack('=I', decompressed[:4])
+                frmt = "%ds" % size[0]
+                unpacked = struct.unpack('=I' + frmt, decompressed)
+                msg = json.loads(unpacked[1])
                 latency = Float32()
-                latency.data = time.time() - msg["stamp"]
+                latency.data = received_time - msg["stamp"]
                 self.lat_pub.publish(latency)
                 if msg["to"] == "*":
                     for name in common.clients.keys():
                         if name != msg["from"]:
-                            common.get_client(name).sendMessage(payload)
+                            common.get_client(name).sendMessage(payload, True)
                 else:
-                    common.get_client(msg["to"]).sendMessage(payload)
+                    common.get_client(msg["to"]).sendMessage(payload, True)
             except KeyError:
                 pass