added buffer to parse chopped off messages

python/ur_simple_control/networking/client.py

@@ -4,6 +4,7 @@ from google.protobuf.internal.encoder import _VarintBytes
 from google.protobuf.internal.decoder import _DecodeVarint32
 from ur_simple_control.networking.util import DictPb2EncoderDecoder
 import pickle
+import time
 
 
 def client(args, init_command, shm_name, lock):
@@ -24,7 +25,7 @@ def client(args, init_command, shm_name, lock):
     ex. host_port = 7777
     """
 
-    def parse_message(msg_raw):
+    def parse_message(buffer):
         """
         parse_message
         -------------
@@ -36,21 +37,22 @@ def client(args, init_command, shm_name, lock):
               a sensor or something similar, not files or whatever else needs to be whole
         """
         pos, next_pos = 0, 0
-        msg_len = len(msg_raw)
+        buffer_len = len(buffer)
         msg_in_bytes = b""
+        len_size_offset = 0
         while True:
-            next_pos, pos = _DecodeVarint32(msg_raw, pos)
+            next_pos, pos = _DecodeVarint32(buffer, pos)
             # TODO: either save the message chunk, or save how many initial bytes to ignore in the next message
-            if pos + next_pos > msg_len:
-                print("NETWORKING CLIENT: BUFFER OVERFLOW, DROPPING MSG!")
-                break
-            msg_in_bytes = _VarintBytes(pos + next_pos) + msg_raw[pos : pos + next_pos]
+            if pos + next_pos > buffer_len:
+                # print("NETWORKING CLIENT: BUFFER OVERFLOW, DROPPING MSG!")
+                return msg_in_bytes, pos - len_size_offset
+            msg_in_bytes = _VarintBytes(pos + next_pos) + buffer[pos : pos + next_pos]
+            len_size_offset = len(_VarintBytes(pos + next_pos))
             pos += next_pos
-            if pos >= msg_len:
-                break
-        return msg_in_bytes
+            if pos >= buffer_len:
+                return msg_in_bytes, pos
 
-    # TODO: deltte
+    buffer = b""
     encoder_decoder = DictPb2EncoderDecoder()
     msg_code = encoder_decoder.dictToMsgCode(init_command)
 
@@ -64,7 +66,9 @@ def client(args, init_command, shm_name, lock):
     try:
         while True:
             msg_raw = s.recv(1024)
-            msg_in_bytes = parse_message(msg_raw)
+            buffer += msg_raw
+            msg_in_bytes, pos = parse_message(buffer)
+            buffer = buffer[pos:]
             dict_msg = encoder_decoder.serializedPb2MsgToDict(msg_in_bytes, msg_code)
 
             # print(