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fix: wait for req socket send to make sure we dont stay stuck - if there's no... #23

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9828273 merged 19 commits from feat/cb2ui-robot-connections into dev 2025-11-18 12:24:15 +00:00
Conversation 83 Commits 19 Files Changed 9 +454 -197
9828273 commented 2025-11-06 14:03:14 +00:00 (Migrated from git.science.uu.nl)
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Using a branch of UI which shows whether the robot is connected, we want to inform the UI of our connectivity using and show these on the UI.
This is done with the use of ri_communication_agent and the robot endpoint in the router.

In order to complete this merge, follow steps and mark the checklist:

  1. Switch to the feat/show-robot-connections on UI.
  2. Switch to this branch on CB.
  3. Make sure that all the agents that are based on the feat/cb2ui-robot-connections (based on dev) are correctly setup in your localhost certificate. (using sudo prodactl adduser {name@localhost} with password {name}.
  4. Make sure the environment is up to date using uv sync and npm i.
  5. Follow the checklist and see if everything is working:
  • This branch is up to date with dev
  • uv run --group integration-test pytest test/integration --cov=src --cov-report=term-missing show that all test pass and that /robot.py has 100% coverage, with the agents having 86 and 91% coverage respectively.
  • uv run --only-group test pytest test/unit show that all test pass
  • ruff check shows that 'All checks passed!'.
  • ruff format shows that all files have been left unchanged.
  • First starting the CB, then starting the RI to connect, and finally launching the UI, the Connected Robots page shows whether the robot is currently connected (should be true)
  • AFTER, disconnecting the RI (by Cntr+C or other ways) should result in the page showing the robot is disconnected.
  • Then, when reconnecting (using same ports) on RI, it should switch back to connected again.
  • The agent correctly starts up again after disconnecting on RI and reconnecting. This is also shows correctly in the logs of the CB.
  • The code changed by this merge follows the Code Style Guides.
  • The code changed by this merge is well documented.

Additional comments:
There is also a merge request for the UI side. Feel free to choose which one to merge first. Let me know if there is any additional changed needed to be made before this merge can be finalized.

Using a branch of UI which shows whether the robot is connected, we want to inform the UI of our connectivity using and show these on the UI. This is done with the use of ri_communication_agent and the robot endpoint in the router. In order to complete this merge, follow steps and mark the checklist: 1. Switch to the feat/show-robot-connections on UI. 2. Switch to this branch on CB. 3. Make sure that all the agents that are based on the feat/cb2ui-robot-connections (based on dev) are correctly setup in your localhost certificate. (using `sudo prodactl adduser {name@localhost}` with password {name}. 4. Make sure the environment is up to date using `uv sync` and `npm i`. 5. Follow the checklist and see if everything is working: - [x] This branch is up to date with dev - [x] `uv run --group integration-test pytest test/integration --cov=src --cov-report=term-missing` show that all test pass and that `/robot.py` has 100% coverage, with the agents having 86 and 91% coverage respectively. - [x] `uv run --only-group test pytest test/unit` show that all test pass - [x] `ruff check` shows that 'All checks passed!'. - [x] `ruff format` shows that all files have been left unchanged. - [x] First starting the CB, then starting the RI to connect, and finally launching the UI, the `Connected Robots` page shows whether the robot is currently connected (should be true) - [x] AFTER, disconnecting the RI (by Cntr+C or other ways) should result in the page showing the robot is disconnected. - [x] Then, when reconnecting (using same ports) on RI, it should switch back to connected again. - [x] The agent correctly starts up again after disconnecting on RI and reconnecting. This is also shows correctly in the logs of the CB. - [x] The code changed by this merge follows the `Code Style Guides`. - [x] The code changed by this merge is well documented. Additional comments: There is also a merge request for the UI side. Feel free to choose which one to merge first. Let me know if there is any additional changed needed to be made before this merge can be finalized.
9828273 commented 2025-11-06 14:03:29 +00:00 (Migrated from git.science.uu.nl)
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assigned to @9828273

assigned to @9828273
k.marinus commented 2025-11-07 09:49:20 +00:00 (Migrated from git.science.uu.nl)
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You say let's check, but it appears like you don't actually do anything with this timeout?

You say let's check, but it appears like you don't actually do anything with this timeout?
k.marinus commented 2025-11-07 09:49:20 +00:00 (Migrated from git.science.uu.nl)
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            # Wait up to {seconds_to_wait_total/2} seconds for a reply
```suggestion:-0+0 # Wait up to {seconds_to_wait_total/2} seconds for a reply ```
k.marinus commented 2025-11-07 09:49:20 +00:00 (Migrated from git.science.uu.nl)
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            # We didnt get a reply
```suggestion:-0+0 # We didnt get a reply ```
k.marinus commented 2025-11-07 09:49:20 +00:00 (Migrated from git.science.uu.nl)
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                    "sending UI disconnection event and attempting to restart."
```suggestion:-0+0 "sending UI disconnection event and attempting to restart." ```
k.marinus commented 2025-11-07 09:49:21 +00:00 (Migrated from git.science.uu.nl)
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                        "Communication agent pub socket not correctly initialized."
```suggestion:-0+0 "Communication agent pub socket not correctly initialized." ```
k.marinus commented 2025-11-07 09:49:21 +00:00 (Migrated from git.science.uu.nl)
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Is this really an error, or should it be a warning?

Is this really an `error`, or should it be a `warning`?
k.marinus commented 2025-11-07 09:49:21 +00:00 (Migrated from git.science.uu.nl)
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                self.agent.logger.error("No received endpoint in message, expected ping endpoint.")
```suggestion:-0+0 self.agent.logger.error("No received endpoint in message, expected ping endpoint.") ```
k.marinus commented 2025-11-07 09:49:21 +00:00 (Migrated from git.science.uu.nl)
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This should not be an error.

This should not be an `error`.
k.marinus commented 2025-11-07 09:49:21 +00:00 (Migrated from git.science.uu.nl)
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                    self.agent.logger.debug(
```suggestion:-0+0 self.agent.logger.debug( ```
k.marinus commented 2025-11-07 09:49:22 +00:00 (Migrated from git.science.uu.nl)
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Should you maybe sleep here for some time after each iteration? This loop will finish ridiculously fast.

Should you maybe sleep here for some time after each iteration? This loop will finish ridiculously fast.
k.marinus commented 2025-11-07 09:49:22 +00:00 (Migrated from git.science.uu.nl)
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            # Send our message and receive one back
```suggestion:-0+0 # Send our message and receive one back ```
k.marinus commented 2025-11-07 09:49:22 +00:00 (Migrated from git.science.uu.nl)
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This timeout is 1, but later you say no connection in 20 seconds. Maybe change the later appearance if you want this to be 1.

This `timeout` is 1, but later you say no connection in 20 seconds. Maybe change the later appearance if you want this to be 1.
k.marinus commented 2025-11-07 09:49:22 +00:00 (Migrated from git.science.uu.nl)
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                self.logger.warning("Unexpected error during negotiation: %s", e)
```suggestion:-0+0 self.logger.warning("Unexpected error during negotiation: %s", e) ```
k.marinus commented 2025-11-07 09:49:22 +00:00 (Migrated from git.science.uu.nl)
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                self.logger.warning(
```suggestion:-0+0 self.logger.warning( ```
k.marinus commented 2025-11-07 09:49:22 +00:00 (Migrated from git.science.uu.nl)
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                self.logger.warning("Error unpacking negotiation data: %s", e)
```suggestion:-0+0 self.logger.warning("Error unpacking negotiation data: %s", e) ```
k.marinus commented 2025-11-07 09:49:23 +00:00 (Migrated from git.science.uu.nl)
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            self.logger.error("Failed to set up %s after %d retries", self.__name__, max_retries)
```suggestion:-0+0 self.logger.error("Failed to set up %s after %d retries", self.__name__, max_retries) ```
k.marinus commented 2025-11-07 09:49:23 +00:00 (Migrated from git.science.uu.nl)
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        # Let UI know that we're connected
```suggestion:-0+0 # Let UI know that we're connected ```
k.marinus commented 2025-11-07 09:49:23 +00:00 (Migrated from git.science.uu.nl)
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            self.logger.error("Communication agent pub socket not correctly initialized.")
```suggestion:-0+0 self.logger.error("Communication agent pub socket not correctly initialized.") ```
k.marinus commented 2025-11-07 09:49:23 +00:00 (Migrated from git.science.uu.nl)
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A lot of these errors should be handled more gracefully. We shouldn't be crashing the program because the RICommunicationAgent failed to establish connection a couple of times

A lot of these errors should be handled more gracefully. We shouldn't be crashing the program because the RICommunicationAgent failed to establish connection a couple of times
k.marinus commented 2025-11-07 09:49:23 +00:00 (Migrated from git.science.uu.nl)
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I checked it, can remove the TODO :)

I checked it, can remove the TODO :)
k.marinus commented 2025-11-07 09:49:25 +00:00 (Migrated from git.science.uu.nl)
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You should probably make this endpoint /ping/stream, and make the above (not implemented yet) /ping. That way there is an intuitive way to either request the current ping with /ping, or request a stream of pings with /ping/stream

You should probably make this endpoint /ping/stream, and make the above (not implemented yet) /ping. That way there is an intuitive way to either request the current ping with /ping, or request a stream of pings with /ping/stream
k.marinus commented 2025-11-07 09:49:25 +00:00 (Migrated from git.science.uu.nl)
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        # (so, True - False - True - False for connectivity),
```suggestion:-0+0 # (so, True - False - True - False for connectivity), ```
k.marinus commented 2025-11-07 09:49:25 +00:00 (Migrated from git.science.uu.nl)
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        # let's still check.
```suggestion:-0+0 # let's still check. ```
k.marinus commented 2025-11-07 09:49:25 +00:00 (Migrated from git.science.uu.nl)
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This sleep is unnecessary

This sleep is unnecessary
k.marinus commented 2025-11-07 09:49:25 +00:00 (Migrated from git.science.uu.nl)
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                logger.info("Client disconnected from ping stream endpoint.")
```suggestion:-0+0 logger.info("Client disconnected from ping stream endpoint.") ```
k.marinus commented 2025-11-07 09:49:26 +00:00 (Migrated from git.science.uu.nl)
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I don't know if this log is necessary

I don't know if this log is necessary
k.marinus commented 2025-11-07 09:49:26 +00:00 (Migrated from git.science.uu.nl)
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Better not to test for log messages, only for program behavior.

Better not to test for log messages, only for program behavior.
k.marinus commented 2025-11-07 09:49:26 +00:00 (Migrated from git.science.uu.nl)
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requested changes

requested changes
k.marinus commented 2025-11-07 09:55:25 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item This branch is up to date with dev as completed

marked the checklist item **This branch is up to date with dev** as completed
k.marinus commented 2025-11-07 09:58:04 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item uv run --group integration-test pytest test/integration --cov=src --cov-report=term-missing show that all test pass and that /robot.py has 100% coverage, with the agents having 86 and 91% coverage respectively. as completed

marked the checklist item **`uv run --group integration-test pytest test/integration --cov=src --cov-report=term-missing` show that all test pass and that `/robot.py` has 100% coverage, with the agents having 86 and 91% coverage respectively.** as completed
k.marinus commented 2025-11-07 09:58:05 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item uv run --only-group test pytest test/unit show that all test pass as completed

marked the checklist item **`uv run --only-group test pytest test/unit` show that all test pass** as completed
k.marinus commented 2025-11-07 09:58:07 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item ruff check shows that 'All checks passed!'. as completed

marked the checklist item **`ruff check` shows that 'All checks passed!'.** as completed
k.marinus commented 2025-11-07 09:58:08 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item ruff format shows that all files have been left unchanged. as completed

marked the checklist item **`ruff format` shows that all files have been left unchanged.** as completed
9828273 commented 2025-11-07 10:03:43 +00:00 (Migrated from git.science.uu.nl)
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The timeout is just for debugging- due to REQ/REP behavior both sending and receiving on REQ would be blocked without any receiver. The 'real' check is the await_for, immediately after. You could remove this, but in edge cases where sockets are throttled this could help give insight:)

The timeout is just for debugging- due to REQ/REP behavior both sending and receiving on REQ would be blocked without any receiver. The 'real' check is the await_for, immediately after. You could remove this, but in edge cases where sockets are throttled this could help give insight:)
9828273 commented 2025-11-11 09:18:51 +00:00 (Migrated from git.science.uu.nl)
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9828273 commented 2025-11-11 09:18:56 +00:00 (Migrated from git.science.uu.nl)
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added 1 commit

  • debc87c0 - fix: Fix up merging request changes and make sure that there is no racing...

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added 1 commit <ul><li>debc87c0 - fix: Fix up merging request changes and make sure that there is no racing...</li></ul> [Compare with previous version](/ics/sp/2025/n25b/pepperplus-cb/-/merge_requests/23/diffs?diff_id=133490&start_sha=2d1a25e4ae4f97e262006c418cc9a594e47ed516)
0950726 commented 2025-11-11 10:32:03 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item First starting the CB, then starting the RI to connect, and finally launching the UI, the Connected Robots page shows whether the robot is currently connected (should be true) as completed

marked the checklist item **First starting the CB, then starting the RI to connect, and finally launching the UI, the `Connected Robots` page shows whether the robot is currently connected (should be true)** as completed
9828273 commented 2025-11-17 15:12:58 +00:00 (Migrated from git.science.uu.nl)
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added 1 commit

  • 41993a90 - chore: remove caplog from test cases

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added 1 commit <ul><li>41993a90 - chore: remove caplog from test cases</li></ul> [Compare with previous version](/ics/sp/2025/n25b/pepperplus-cb/-/merge_requests/23/diffs?diff_id=133669&start_sha=debc87c0bb4491a1d984fd476e86cb68e655325f)
9828273 commented 2025-11-17 15:13:15 +00:00 (Migrated from git.science.uu.nl)
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added 1 commit

  • 2eefcc45 - chore: fix error messages to be warnings.

Compare with previous version

added 1 commit <ul><li>2eefcc45 - chore: fix error messages to be warnings.</li></ul> [Compare with previous version](/ics/sp/2025/n25b/pepperplus-cb/-/merge_requests/23/diffs?diff_id=133671&start_sha=41993a902b19dea4e899f6b6194f31b4cf02d4f5)
9828273 commented 2025-11-18 11:18:48 +00:00 (Migrated from git.science.uu.nl)
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Will be for later- not needed yet, as there's no need for a 'one time request ping' as of right now.

Will be for later- not needed yet, as there's no need for a 'one time request ping' as of right now.
9828273 commented 2025-11-18 11:19:39 +00:00 (Migrated from git.science.uu.nl)
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I've made it a warning, however, it could also be reasoned to be an error.

I've made it a warning, however, it could also be reasoned to be an error.
9828273 commented 2025-11-18 11:19:39 +00:00 (Migrated from git.science.uu.nl)
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resolved all threads

resolved all threads
2584433 commented 2025-11-18 11:51:56 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item First starting the CB, then starting the RI to connect, and finally launching the UI, the Connected Robots page shows whether the robot is currently connected (should be true) as incomplete

marked the checklist item **First starting the CB, then starting the RI to connect, and finally launching the UI, the `Connected Robots` page shows whether the robot is currently connected (should be true)** as incomplete
2584433 commented 2025-11-18 11:51:57 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item ruff format shows that all files have been left unchanged. as incomplete

marked the checklist item **`ruff format` shows that all files have been left unchanged.** as incomplete
2584433 commented 2025-11-18 11:51:57 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item ruff check shows that 'All checks passed!'. as incomplete

marked the checklist item **`ruff check` shows that 'All checks passed!'.** as incomplete
2584433 commented 2025-11-18 11:51:58 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item uv run --only-group test pytest test/unit show that all test pass as incomplete

marked the checklist item **`uv run --only-group test pytest test/unit` show that all test pass** as incomplete
2584433 commented 2025-11-18 12:05:38 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item uv run --only-group test pytest test/unit show that all test pass as completed

marked the checklist item **`uv run --only-group test pytest test/unit` show that all test pass** as completed
2584433 commented 2025-11-18 12:06:03 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item ruff check shows that 'All checks passed!'. as completed

marked the checklist item **`ruff check` shows that 'All checks passed!'.** as completed
2584433 commented 2025-11-18 12:06:04 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item ruff format shows that all files have been left unchanged. as completed

marked the checklist item **`ruff format` shows that all files have been left unchanged.** as completed
2584433 commented 2025-11-18 12:07:40 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item First starting the CB, then starting the RI to connect, and finally launching the UI, the Connected Robots page shows whether the robot is currently connected (should be true) as completed

marked the checklist item **First starting the CB, then starting the RI to connect, and finally launching the UI, the `Connected Robots` page shows whether the robot is currently connected (should be true)** as completed
2584433 commented 2025-11-18 12:08:03 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item AFTER, disconnecting the RI (by Cntr+C or other ways) should result in the page showing the robot is disconnected. as completed

marked the checklist item **AFTER, disconnecting the RI (by Cntr+C or other ways) should result in the page showing the robot is disconnected.** as completed
2584433 commented 2025-11-18 12:08:09 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item Then, when reconnecting (using same ports) on RI, it should switch back to connected again. as completed

marked the checklist item **Then, when reconnecting (using same ports) on RI, it should switch back to connected again.** as completed
2584433 commented 2025-11-18 12:09:12 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item The agent correctly starts up again after disconnecting on RI and reconnecting. This is also shows correctly in the logs of the CB. as completed

marked the checklist item **The agent correctly starts up again after disconnecting on RI and reconnecting. This is also shows correctly in the logs of the CB.** as completed
2584433 commented 2025-11-18 12:09:17 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item The code changed by this merge follows the Code Style Guides. as completed

marked the checklist item **The code changed by this merge follows the `Code Style Guides`.** as completed
2584433 commented 2025-11-18 12:09:20 +00:00 (Migrated from git.science.uu.nl)
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marked the checklist item The code changed by this merge is well documented. as completed

marked the checklist item **The code changed by this merge is well documented.** as completed
2584433 commented 2025-11-18 12:13:47 +00:00 (Migrated from git.science.uu.nl)
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approved this merge request

approved this merge request
0950726 commented 2025-11-18 12:24:09 +00:00 (Migrated from git.science.uu.nl)
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approved this merge request

approved this merge request
0950726 (Migrated from git.science.uu.nl) merged commit df1e891a22 into dev 2025-11-18 12:24:15 +00:00
0950726 commented 2025-11-18 12:24:16 +00:00 (Migrated from git.science.uu.nl)
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mentioned in commit df1e891a22

mentioned in commit df1e891a22e7171fee11bddee63c93ed31079417
2584433 (Migrated from git.science.uu.nl) approved these changes 2026-02-02 13:29:06 +00:00
0950726 (Migrated from git.science.uu.nl) approved these changes 2026-02-02 13:29:06 +00:00
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Reference: pepperplus/pepperplus-cb#23
Delete Branch "feat/cb2ui-robot-connections"

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