Merge branch 'dev' of https://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-cb into feat/recieve-programs-ui

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

@@ -1,20 +0,0 @@
-import logging
-
-from fastapi import APIRouter, Request
-
-from control_backend.schemas.ri_message import SpeechCommand
-
-logger = logging.getLogger(__name__)
-
-router = APIRouter()
-
-
-@router.post("/command", status_code=202)
-async def receive_command(command: SpeechCommand, request: Request):
-    # Validate and retrieve data.
-    SpeechCommand.model_validate(command)
-    topic = b"command"
-    pub_socket = request.app.state.endpoints_pub_socket
-    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
-
-    return {"status": "Command received"}

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

@@ -0,0 +1,71 @@
+import asyncio
+import json
+import logging
+
+import zmq.asyncio
+from fastapi import APIRouter, Request
+from fastapi.responses import StreamingResponse
+from zmq.asyncio import Context, Socket
+
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import SpeechCommand
+
+logger = logging.getLogger(__name__)
+
+router = APIRouter()
+
+
+@router.post("/command", status_code=202)
+async def receive_command(command: SpeechCommand, request: Request):
+    # Validate and retrieve data.
+    SpeechCommand.model_validate(command)
+    topic = b"command"
+
+    pub_socket: Socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
+
+    return {"status": "Command received"}
+
+
+@router.get("/ping_check")
+async def ping(request: Request):
+    pass
+
+
+@router.get("/ping_stream")
+async def ping_stream(request: Request):
+    """Stream live updates whenever the device state changes."""
+
+    async def event_stream():
+        # Set up internal socket to receive ping updates
+
+        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
+
+        ping_frequency = 2
+
+        # Even though its most likely the updates should alternate
+        # (So, True - False - True - False for connectivity),
+        # let's still check.
+        while True:
+            try:
+                topic, body = await asyncio.wait_for(
+                    sub_socket.recv_multipart(), timeout=ping_frequency
+                )
+                connected = json.loads(body)
+            except TimeoutError:
+                logger.debug("got timeout error in ping loop in ping router")
+                connected = False
+
+            # Stop if client disconnected
+            if await request.is_disconnected():
+                logger.info("Client disconnected from SSE")
+                break
+
+            logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
+            connectedJson = json.dumps(connected)
+            yield (f"data: {connectedJson}\n\n")
+
+    return StreamingResponse(event_stream(), media_type="text/event-stream")