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

Merged
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 +2 -8
2 changed files with 2 additions and 8 deletions
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Showing only changes of commit 2d1a25e4ae - Show all commits

7
src/control_backend/agents/ri_communication_agent.py
View File

@@ -56,11 +56,8 @@ class RICommunicationAgent(BaseAgent):
"we probably dont have any receivers... but let's check!" "we probably dont have any receivers... but let's check!"
) )
# Wait up to three seconds for a reply:) # Wait up to {seconds_to_wait_total/2} seconds for a reply:)
try: try:
self.agent.logger.debug(
f"waiting for message for{seconds_to_wait_total / 2} seconds."
)
message = await asyncio.wait_for( message = await asyncio.wait_for(
self.agent._req_socket.recv_json(), timeout=seconds_to_wait_total / 2 self.agent._req_socket.recv_json(), timeout=seconds_to_wait_total / 2
) )
@@ -96,7 +93,7 @@ class RICommunicationAgent(BaseAgent):
# Try to reboot. # Try to reboot.
await self.agent.setup() await self.agent.setup()
self.agent.logger.debug('Received message "%s"', message) self.agent.logger.debug(f'Received message "{message}" from RI.')
if "endpoint" not in message: if "endpoint" not in message:
self.agent.logger.error("No received endpoint in message, excepted ping endpoint.") self.agent.logger.error("No received endpoint in message, excepted ping endpoint.")
return return

3
src/control_backend/api/v1/endpoints/robot.py
View File

@@ -39,7 +39,6 @@ async def ping_stream(request: Request):
async def event_stream(): async def event_stream():
# Set up internal socket to receive ping updates # Set up internal socket to receive ping updates
logger.debug("Ping stream router event stream entered.")
sub_socket = Context.instance().socket(zmq.SUB) sub_socket = Context.instance().socket(zmq.SUB)
sub_socket.connect(settings.zmq_settings.internal_sub_address) sub_socket.connect(settings.zmq_settings.internal_sub_address)
@@ -52,12 +51,10 @@ async def ping_stream(request: Request):
# So, True - False - True - False for connectivity. # So, True - False - True - False for connectivity.
# Let's still check:) # Let's still check:)
while True: while True:
logger.debug("Ping stream entered listening ")
try: try:
topic, body = await asyncio.wait_for( topic, body = await asyncio.wait_for(
sub_socket.recv_multipart(), timeout=ping_frequency sub_socket.recv_multipart(), timeout=ping_frequency
) )
logger.debug(f"got ping change in ping_stream router: {body}")
connected = json.loads(body) connected = json.loads(body)
except TimeoutError: except TimeoutError:
logger.debug("got timeout error in ping loop in ping router") logger.debug("got timeout error in ping loop in ping router")