From b83a362abe7c7247a1be2a4b3135b0f219237d6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= <b.r.c.otgaar@students.uu.nl>
Date: Wed, 29 Oct 2025 13:31:24 +0100
Subject: [PATCH] fix: wait for req socket send to make sure we dont stay stuck
 - if there's no REP this would be awaited forever.

ref: N25B-205
---
 .../agents/ri_communication_agent.py          | 29 ++++++++++++++++---
 .../api/v1/endpoints/command.py               |  1 -
 2 files changed, 25 insertions(+), 5 deletions(-)

diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py
index 504c707..2b92989 100644
--- a/src/control_backend/agents/ri_communication_agent.py
+++ b/src/control_backend/agents/ri_communication_agent.py
@@ -17,6 +17,7 @@ class RICommunicationAgent(Agent):
     req_socket: zmq.Socket
     _address = ""
     _bind = True
+    connected = False
 
     def __init__(
         self,
@@ -40,17 +41,34 @@ class RICommunicationAgent(Agent):
 
             # We need to listen and sent pings.
             message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
-            await self.agent.req_socket.send_json(message)
+            seconds_to_wait_total = 4.0
+            try:
+                await asyncio.wait_for(
+                    self.agent.req_socket.send_json(message), timeout=seconds_to_wait_total / 2
+                )
+            except TimeoutError as e:
+                logger.debug(
+                    f"Waited too long to send message - we probably dont have any receivers... but let's check!"
+                )
 
             # Wait up to three seconds for a reply:)
             try:
-                message = await asyncio.wait_for(self.agent.req_socket.recv_json(), timeout=3.0)
+                logger.debug(f"waiting for message for {seconds_to_wait_total / 2} seconds.")
+                message = await asyncio.wait_for(
+                    self.agent.req_socket.recv_json(), timeout=seconds_to_wait_total / 2
+                )
 
             # We didnt get a reply :(
-            except asyncio.TimeoutError as e:
-                logger.info("No ping retrieved in 3 seconds, killing myself.")
+            except TimeoutError as e:
+                logger.info(f"No ping back retrieved in {seconds_to_wait_total/2} seconds totalling {seconds_to_wait_total} of time, killing myself.")
+                self.agent.connected = False
+                # TODO: Send event to UI letting know that we've lost connection
+
                 self.kill()
 
+            except Exception as e:
+                logger.debug(f"Differennt exception: {e}")
+
             logger.debug('Received message "%s"', message)
             if "endpoint" not in message:
                 logger.error("No received endpoint in message, excepted ping endpoint.")
@@ -162,4 +180,7 @@ class RICommunicationAgent(Agent):
         # Set up ping behaviour
         listen_behaviour = self.ListenBehaviour()
         self.add_behaviour(listen_behaviour)
+
+        # TODO: Let UI know that we're connected >:)
+        self.connected = True
         logger.info("Finished setting up %s", self.jid)
diff --git a/src/control_backend/api/v1/endpoints/command.py b/src/control_backend/api/v1/endpoints/command.py
index badaf90..e7fef60 100644
--- a/src/control_backend/api/v1/endpoints/command.py
+++ b/src/control_backend/api/v1/endpoints/command.py
@@ -17,6 +17,5 @@ async def receive_command(command: SpeechCommand, request: Request):
     topic = b"command"
     pub_socket: Socket = request.app.state.internal_comm_socket
     pub_socket.send_multipart([topic, command.model_dump_json().encode()])
-    
 
     return {"status": "Command received"}