fix: merge refactor/zmq-internal-socket-behaviour into feat/cb2ui-robot-connections. (And fixed all ruff/ test issues to commit)

ref: None

src/control_backend/api/v1/endpoints/message.py

@@ -1,7 +1,6 @@
 import logging
 
 from fastapi import APIRouter, Request
-from zmq import Socket
 
 from control_backend.schemas.message import Message
 
@@ -17,8 +16,7 @@ async def receive_message(message: Message, request: Request):
     topic = b"message"
     body = message.model_dump_json().encode("utf-8")
 
-    pub_socket: Socket = request.app.state.internal_comm_socket
-
-    pub_socket.send_multipart([topic, body])
+    pub_socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, body])
 
     return {"status": "Message received"}

src/control_backend/api/v1/endpoints/robot.py

@@ -5,10 +5,9 @@ import logging
 import zmq.asyncio
 from fastapi import APIRouter, Request
 from fastapi.responses import StreamingResponse
-from zmq.asyncio import Socket
+from zmq.asyncio import Context, Socket
 
 from control_backend.core.config import settings
-from control_backend.core.zmq_context import context
 from control_backend.schemas.ri_message import SpeechCommand
 
 logger = logging.getLogger(__name__)
@@ -21,6 +20,8 @@ async def receive_command(command: SpeechCommand, request: Request):
     # Validate and retrieve data.
     SpeechCommand.model_validate(command)
     topic = b"command"
+
+    # TODO: Check with Kasper
     pub_socket: Socket = request.app.state.internal_comm_socket
     pub_socket.send_multipart([topic, command.model_dump_json().encode()])
 
@@ -40,8 +41,9 @@ async def ping_stream(request: Request):
         # Set up internal socket to receive ping updates
         logger.debug("Ping stream router event stream entered.")
 
-        sub_socket = context.socket(zmq.SUB)
-        sub_socket.connect(settings.zmq_settings.internal_comm_address)
+        # TODO: Check with Kasper
+        sub_socket = Context.instance().socket(zmq.SUB)
+        sub_socket.connect(settings.zmq_settings.internal_sub_address)
         sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
         connected = False