From 6936d35b50b2ecc540d8437d02d0894a093c8130 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 3 Jan 2015 12:31:56 +0100
Subject: [PATCH] json_client now in pyshared

---
 .gitmodules             |  3 ++
 scripts/arm_ros_conn.py |  2 +-
 scripts/json_client.py  | 61 -----------------------------------------
 scripts/pyshared        |  1 +
 4 files changed, 5 insertions(+), 62 deletions(-)
 create mode 100644 .gitmodules
 delete mode 100755 scripts/json_client.py
 create mode 160000 scripts/pyshared

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..cd8f6f2
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "scripts/pyshared"]
+	path = scripts/pyshared
+	url = ssh://erik@vontaene/home/erik_alt/git/pyshared.git
diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 29462c8..67561b3 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -6,7 +6,7 @@ import tf
 import prctl
 #import cProfile
 import threading
-from json_client import JsonClient
+from pyshared.json_client import JsonClient
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 
diff --git a/scripts/json_client.py b/scripts/json_client.py
deleted file mode 100755
index 4e2208e..0000000
--- a/scripts/json_client.py
+++ /dev/null
@@ -1,61 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: iso-8859-15 -*-
-
-import sys
-import socket
-import json
-
-def set_keepalive(sock, after_idle_sec=1, interval_sec=3, max_fails=5):
-	"""Set TCP keepalive on an open socket.
-
-	It activates after 1 second (after_idle_sec) of idleness,
-	then sends a keepalive ping once every 3 seconds (interval_sec),
-	and closes the connection after 5 failed ping (max_fails), or 15 seconds
-	"""
-	sock.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
-	sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, after_idle_sec)
-	sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, interval_sec)
-	sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, max_fails)
-if not hasattr(socket, "set_keepalive"):
-	socket.set_keepalive = set_keepalive
-
-class JsonClient:
-	def __init__(self, addr = ("arm", 10002)):
-		self.pSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-		self.pSocket.settimeout(1)
-		socket.set_keepalive(self.pSocket)
-		self.pSocket.connect(addr)
-		self.lMsgs = []
-
-	def write(self, cmd):
-		data = {'command': cmd}
-		num = self.pSocket.sendall(json.dumps(data))
-		while True:
-			msg = json.loads(self.pSocket.recv(4096))
-			if msg.has_key("return"): return msg["return"]
-			elif msg.has_key("error"): return msg["error"]
-			self.lMsgs.insert(0, msg)
-
-	def read(self):
-		if len(self.lMsgs) > 0:
-			return self.lMsgs.pop()
-		self.pSocket.setblocking(False)
-		try:
-			return json.loads(self.pSocket.recv(4096))
-		except socket.error:
-			pass
-		finally:
-			self.pSocket.setblocking(True)
-
-if __name__ == "__main__":
-	print JsonClient().write(sys.argv[1])
-
-	#from datetime import datetime
-	#from time import sleep
-	#pClient = JsonClient()
-	#while True:
-	#	msg = pClient.read()
-	#	if msg:
-	#		print "Got async", msg
-	#	print datetime.now(), float(pClient.write("get distance forward lower"))
-	#	sleep(0.1)
diff --git a/scripts/pyshared b/scripts/pyshared
new file mode 160000
index 0000000..d73e753
--- /dev/null
+++ b/scripts/pyshared
@@ -0,0 +1 @@
+Subproject commit d73e753a4c2c8a9bb79ada177d1cb122a08cabeb
-- 
2.39.2