From 154719bf84718ffa3b1977b6780ead582a890c15 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 22 Oct 2025 10:32:41 +0200 Subject: [PATCH] chore: add extra function description --- src/control_backend/agents/ri_command_agent.py | 6 ++++++ src/control_backend/agents/ri_communication_agent.py | 6 ++++++ src/control_backend/main.py | 2 -- 3 files changed, 12 insertions(+), 2 deletions(-) diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py index 02de887..a5aeda3 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/ri_command_agent.py @@ -23,6 +23,9 @@ class RICommandAgent(Agent): class SendCommandsBehaviour(CyclicBehaviour): async def run(self): + """ + Run the command publishing loop indefinetely. + """ assert self.agent is not None # Get a message internally (with topic command) topic, body = await self.agent.subsocket.recv_multipart() @@ -39,6 +42,9 @@ class RICommandAgent(Agent): logger.error("Error processing message: %s", e) async def setup(self): + """ + Setup the command agent + """ logger.info("Setting up %s", self.jid) # To the robot diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index 0c63cc5..dbf243a 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -24,6 +24,9 @@ class RICommunicationAgent(Agent): class ListenBehaviour(CyclicBehaviour): async def run(self): + """ + Run the listening (ping) loop indefinetely. + """ assert self.agent is not None # We need to listen and sent pings. @@ -56,6 +59,9 @@ class RICommunicationAgent(Agent): async def setup(self, max_retries: int = 5): + """ + Try to setup the communication agent, we have 5 retries in case we dont have a response yet. + """ logger.info("Setting up %s", self.jid) retries = 0 diff --git a/src/control_backend/main.py b/src/control_backend/main.py index bb0f8d7..7623c09 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -27,8 +27,6 @@ async def lifespan(app: FastAPI): logger.info("Internal publishing socket bound to %s", internal_comm_socket) # Initiate agents - logger.info(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host) - logger.info(settings.agent_settings.ri_communication_agent_name) ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host, settings.agent_settings.ri_communication_agent_name, address="tcp://*:5555", bind=True)