src/control_backend/agents/ri_communication_agent.py

@@ -86,6 +86,9 @@ class RICommunicationAgent(Agent):
             # See what endpoint we received
             match message["endpoint"]:
                 case "ping":
+                    topic = b"ping"
+                    data = json.dumps(True).encode()
+                    await self.agent._pub_socket.send_multipart([topic, data])
                     await asyncio.sleep(1)
                 case _:
                     logger.info(

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

@@ -45,7 +45,7 @@ async def ping_stream(request: Request):
         sub_socket = context.socket(zmq.SUB)
         sub_socket.connect(settings.zmq_settings.internal_comm_address)
         sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
-        connected = True
+        connected = False
 
         ping_frequency = 1 # How many seconds between ping attempts
 
@@ -68,7 +68,8 @@ async def ping_stream(request: Request):
 
 
             logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
-            yield f"data: {str(connected)}, time:{str(datetime.datetime.now().strftime("%H:%M:%S"))}\n\n"
+            falseJson = json.dumps(connected)
+            yield (f"data: {falseJson}\n\n")
 
         
     return StreamingResponse(event_stream(), media_type="text/event-stream")