Allowing creation of subscriber before publishes in python interface too

Bardo91 · Feb 4, 2019 · 7032c70 · 7032c70
1 parent 0b4e6b3
commit 7032c70
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Showing 4 changed files with 43 additions and 7 deletions.
diff --git a/python/fastcom/ImagePublisher.py b/python/fastcom/ImagePublisher.py
@@ -119,7 +119,13 @@ def __callbackListen(self):
             print("Waiting for connection")
             data, address = self.sock.recvfrom(1)
             print("Received new connection from: ", address)
+            self.sock.sendto(b'1', address)
             self.guard_list.acquire()
-            self.client_list.append(address)
+            addCon = True
+            for addr in self.client_list:
+                if addr == address:
+                    addCon = False
+            if addCon:
+                self.client_list.append(address)
             self.guard_list.release()
 
diff --git a/python/fastcom/ImageSubscriber.py b/python/fastcom/ImageSubscriber.py
@@ -44,8 +44,20 @@ def __init__(self, _host, _port):
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.server_address = (_host, _port)
 
-        # Send one byte to notify publisher
-        self.sock.sendto(b'1', self.server_address)
+        # Ensure connection
+        self.sock.setblocking(False)
+        self.sock.settimeout(0.2)
+        receivedConnection = False
+        while not receivedConnection:
+            try:
+                self.sock.sendto(b'1', self.server_address)
+                data, address = self.sock.recvfrom(1)
+                if(len(data) == 1):
+                    receivedConnection = True
+            except socket.timeout:
+                pass
+
+        self.sock.setblocking(True)
 
         # Start listening for publisher to call callbacks
         self.listen_thread = threading.Thread(target=self.__callbackListen)

diff --git a/python/fastcom/Publisher.py b/python/fastcom/Publisher.py
@@ -63,7 +63,13 @@ def __callbackListen(self):
             print("Waiting for connection")
             data, address = self.sock.recvfrom(1)
             print("Received new connection from: ", address)
+            self.sock.sendto(b'1', address)
             self.guard_list.acquire()
-            self.client_list.append(address)
+            addCon = True
+            for addr in self.client_list:
+                if addr == address:
+                    addCon = False
+            if addCon:
+                self.client_list.append(address)
             self.guard_list.release()
 
diff --git a/python/fastcom/Subscriber.py b/python/fastcom/Subscriber.py
@@ -38,9 +38,21 @@ def __init__(self, _host, _port):
         # Create socket
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.server_address = (_host, _port)
-
-        # Send one byte to notify publisher
-        self.sock.sendto(b'1', self.server_address)
+
+        # Ensure connection
+        self.sock.setblocking(False)
+        self.sock.settimeout(0.2)
+        receivedConnection = False
+        while not receivedConnection:
+            try:
+                self.sock.sendto(b'1', self.server_address)
+                data, address = self.sock.recvfrom(1)
+                if(len(data) == 1):
+                    receivedConnection = True
+            except socket.timeout:
+                pass
+
+        self.sock.setblocking(True)
 
         # Start listening for publisher to call callbacks
         self.listen_thread = threading.Thread(target=self.__callbackListen)