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Synchronous websocket write #385

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merged 1 commit into from Feb 1, 2019
Merged

Synchronous websocket write #385

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11 changes: 10 additions & 1 deletion rosbridge_server/src/rosbridge_server/websocket_handler.py
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Expand Up @@ -34,10 +34,12 @@

from rosauth.srv import Authentication

import threading
from functools import partial

from tornado.ioloop import IOLoop
from tornado.websocket import WebSocketHandler
from tornado.gen import coroutine

from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
from rosbridge_library.util import json, bson
Expand Down Expand Up @@ -72,6 +74,7 @@ def open(self):
self.protocol.outgoing = self.send_message
self.set_nodelay(True)
self.authenticated = False
self._write_lock = threading.RLock()
cls.client_id_seed += 1
cls.clients_connected += 1
if cls.client_count_pub:
Expand Down Expand Up @@ -130,7 +133,13 @@ def send_message(self, message):
else:
binary = False

IOLoop.instance().add_callback(partial(self.write_message, message, binary))
with self._write_lock:
IOLoop.instance().add_callback(partial(self.prewrite_message, message, binary))

@coroutine
def prewrite_message(self, message, binary):
with self._write_lock:
yield self.write_message(message, binary)

def check_origin(self, origin):
return True
Expand Down