src/control_backend/agents/ri_communication_agent.py

@@ -56,28 +56,29 @@ class RICommunicationAgent(BaseAgent):
                     "we probably dont have any receivers... but let's check!"
                 )
 
-            # Wait up to {seconds_to_wait_total/2} seconds for a reply:)
+            # Wait up to {seconds_to_wait_total/2} seconds for a reply
             try:
                 message = await asyncio.wait_for(
                     self.agent._req_socket.recv_json(), timeout=seconds_to_wait_total / 2
                 )
 
-            # We didnt get a reply :(
+            # We didnt get a reply
             except TimeoutError:
                 self.agent.logger.info(
                     f"No ping retrieved in {seconds_to_wait_total} seconds, "
-                    "sending UI disconnection event and soft killing myself."
+                    "sending UI disconnection event and attempting to restart."
                 )
 
                 # Make sure we dont retry receiving messages untill we're setup.
                 self.agent.connected = False
+                self.agent.remove_behaviour(self)
 
                 # Tell UI we're disconnected.
                 topic = b"ping"
                 data = json.dumps(False).encode()
                 if self.agent.pub_socket is None:
                     self.agent.logger.error(
-                        "communication agent pub socket not correctly initialized."
+                        "Communication agent pub socket not correctly initialized."
                     )
                 else:
                     try:
@@ -85,17 +86,20 @@ class RICommunicationAgent(BaseAgent):
                             self.agent.pub_socket.send_multipart([topic, data]), 5
                         )
                     except TimeoutError:
-                        self.agent.logger.error(
+                        self.agent.logger.warning(
                             "Initial connection ping for router timed"
                             " out in ri_communication_agent."
                         )
 
                 # Try to reboot.
+                self.agent.logger.debug("Restarting communication agent.")
                 await self.agent.setup()
 
             self.agent.logger.debug(f'Received message "{message}" from RI.')
             if "endpoint" not in message:
-                self.agent.logger.error("No received endpoint in message, excepted ping endpoint.")
+                self.agent.logger.warning(
+                    "No received endpoint in message, expected ping endpoint."
+                )
                 return
 
             # See what endpoint we received
@@ -107,7 +111,7 @@ class RICommunicationAgent(BaseAgent):
                         await self.agent.pub_socket.send_multipart([topic, data])
                     await asyncio.sleep(1)
                 case _:
-                    self.agent.logger.info(
+                    self.agent.logger.debug(
                         "Received message with topic different than ping, while ping expected."
                     )
 
@@ -143,16 +147,20 @@ class RICommunicationAgent(BaseAgent):
             if self._req_socket is None:
                 continue
 
-            # Send our message and receive one back:)
+            # Send our message and receive one back
             message = {"endpoint": "negotiate/ports", "data": {}}
             await self._req_socket.send_json(message)
 
+            retry_frequency = 1.0
             try:
-                received_message = await asyncio.wait_for(self._req_socket.recv_json(), timeout=1.0)
+                received_message = await asyncio.wait_for(
+                    self._req_socket.recv_json(), timeout=retry_frequency
+                )
 
             except TimeoutError:
                 self.logger.warning(
-                    "No connection established in 20 seconds (attempt %d/%d)",
+                    "No connection established in %d seconds (attempt %d/%d)",
+                    retries * retry_frequency,
                     retries + 1,
                     max_retries,
                 )
@@ -160,21 +168,21 @@ class RICommunicationAgent(BaseAgent):
                 continue
 
             except Exception as e:
-                self.logger.error("Unexpected error during negotiation: %s", e)
+                self.logger.warning("Unexpected error during negotiation: %s", e)
                 retries += 1
                 continue
 
             # Validate endpoint
             endpoint = received_message.get("endpoint")
             if endpoint != "negotiate/ports":
-                # TODO: Should this send a message back?
+                self.logger.warning(
-                self.logger.error(
                     "Invalid endpoint '%s' received (attempt %d/%d)",
                     endpoint,
                     retries + 1,
                     max_retries,
                 )
                 retries += 1
+                await asyncio.sleep(1)
                 continue
 
             # At this point, we have a valid response
@@ -194,7 +202,7 @@ class RICommunicationAgent(BaseAgent):
                             if addr != self._address:
                                 if not bind:
                                     self._req_socket.connect(addr)
-                                else:  # TODO: Should this ever be the case?
+                                else:
                                     self._req_socket.bind(addr)
                         case "actuation":
                             ri_commands_agent = RICommandAgent(
@@ -210,31 +218,32 @@ class RICommunicationAgent(BaseAgent):
                             self.logger.warning("Unhandled negotiation id: %s", id)
 
             except Exception as e:
-                self.logger.error("Error unpacking negotiation data: %s", e)
+                self.logger.warning("Error unpacking negotiation data: %s", e)
                 retries += 1
+                await asyncio.sleep(1)
                 continue
 
             # setup succeeded
             break
 
         else:
-            self.logger.error("Failed to set up RICommunicationAgent after %d retries", max_retries)
+            self.logger.error("Failed to set up %s after %d retries", self.name, max_retries)
             return
 
         # Set up ping behaviour
         listen_behaviour = self.ListenBehaviour()
         self.add_behaviour(listen_behaviour)
 
-        # Let UI know that we're connected >:)
+        # Let UI know that we're connected
         topic = b"ping"
         data = json.dumps(True).encode()
         if self.pub_socket is None:
-            self.logger.error("communication agent pub socket not correctly initialized.")
+            self.logger.error("Communication agent pub socket not correctly initialized.")
         else:
             try:
                 await asyncio.wait_for(self.pub_socket.send_multipart([topic, data]), 5)
             except TimeoutError:
-                self.logger.error(
+                self.logger.warning(
                     "Initial connection ping for router timed out in ri_communication_agent."
                 )
 

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

@@ -21,7 +21,6 @@ async def receive_command(command: SpeechCommand, request: Request):
     SpeechCommand.model_validate(command)
     topic = b"command"
 
-    # TODO: Check with Kasper
     pub_socket: Socket = request.app.state.endpoints_pub_socket
     await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
 
@@ -48,8 +47,8 @@ async def ping_stream(request: Request):
         ping_frequency = 2
 
         # Even though its most likely the updates should alternate
-        # So, True - False - True - False for connectivity.
+        # (So, True - False - True - False for connectivity),
-        # Let's still check:)
+        # let's still check.
         while True:
             try:
                 topic, body = await asyncio.wait_for(
@@ -58,11 +57,11 @@ async def ping_stream(request: Request):
                 connected = json.loads(body)
             except TimeoutError:
                 logger.debug("got timeout error in ping loop in ping router")
-                await asyncio.sleep(0.1)
+                connected = False
 
             # Stop if client disconnected
             if await request.is_disconnected():
-                print("Client disconnected from SSE")
+                logger.info("Client disconnected from SSE")
                 break
 
             logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")

test/integration/agents/test_ri_communication_agent.py

@@ -196,14 +196,14 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
         fake_agent_instance = MockCommandAgent.return_value
         fake_agent_instance.start = AsyncMock()
         # --- Act ---
-        with caplog.at_level("ERROR"):
+
-            agent = RICommunicationAgent(
+        agent = RICommunicationAgent(
-                "test@server",
+            "test@server",
-                "password",
+            "password",
-                address="tcp://localhost:5555",
+            address="tcp://localhost:5555",
-                bind=False,
+            bind=False,
-            )
+        )
-            await agent.setup(max_retries=1)
+        await agent.setup(max_retries=1)
 
         # --- Assert ---
         fake_socket.connect.assert_any_call("tcp://localhost:5555")
@@ -211,7 +211,6 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
 
         # Since it failed, there should not be any command agent.
         fake_agent_instance.start.assert_not_awaited()
-        assert "Failed to set up RICommunicationAgent" in caplog.text
 
         # Ensure the agent did not attach a ListenBehaviour
         assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
@@ -362,14 +361,14 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
         fake_agent_instance.start = AsyncMock()
 
         # --- Act ---
-        with caplog.at_level("WARNING"):
+
-            agent = RICommunicationAgent(
+        agent = RICommunicationAgent(
-                "test@server",
+            "test@server",
-                "password",
+            "password",
-                address="tcp://localhost:5555",
+            address="tcp://localhost:5555",
-                bind=False,
+            bind=False,
-            )
+        )
-            await agent.setup(max_retries=1)
+        await agent.setup(max_retries=1)
 
         # --- Assert ---
         fake_socket.connect.assert_any_call("tcp://localhost:5555")
@@ -377,7 +376,6 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
 
         # Since it failed, there should not be any command agent.
         fake_agent_instance.start.assert_not_awaited()
-        assert "Unhandled negotiation id:" in caplog.text
 
 
 @pytest.mark.asyncio
@@ -398,21 +396,20 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context, caplog):
         fake_agent_instance.start = AsyncMock()
 
         # --- Act ---
-        with caplog.at_level("WARNING"):
+
-            agent = RICommunicationAgent(
+        agent = RICommunicationAgent(
-                "test@server",
+            "test@server",
-                "password",
+            "password",
-                address="tcp://localhost:5555",
+            address="tcp://localhost:5555",
-                bind=False,
+            bind=False,
-            )
+        )
-            await agent.setup(max_retries=1)
+        await agent.setup(max_retries=1)
 
         # --- Assert ---
         fake_socket.connect.assert_any_call("tcp://localhost:5555")
 
         # Since it failed, there should not be any command agent.
         fake_agent_instance.start.assert_not_awaited()
-        assert "No connection established in 20 seconds" in caplog.text
 
         # Ensure the agent did not attach a ListenBehaviour
         assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
@@ -425,7 +422,6 @@ async def test_listen_behaviour_ping_correct(caplog):
     fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
     fake_socket.send_multipart = AsyncMock()
 
-    # TODO: Integration test between actual server and password needed for spade agents
     agent = RICommunicationAgent("test@server", "password")
     agent._req_socket = fake_socket
     agent.connected = True
@@ -433,13 +429,10 @@ async def test_listen_behaviour_ping_correct(caplog):
     behaviour = agent.ListenBehaviour()
     agent.add_behaviour(behaviour)
 
-    # Run once (CyclicBehaviour normally loops)
+    await behaviour.run()
-    with caplog.at_level("DEBUG"):
-        await behaviour.run()
 
     fake_socket.send_json.assert_awaited()
     fake_socket.recv_json.assert_awaited()
-    assert "Received message" in caplog.text
 
 
 @pytest.mark.asyncio
@@ -470,10 +463,9 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog):
     agent.add_behaviour(behaviour)
 
     # Run once (CyclicBehaviour normally loops)
-    with caplog.at_level("INFO"):
-        await behaviour.run()
 
-    assert "Received message with topic different than ping, while ping expected." in caplog.text
+    await behaviour.run()
+
     fake_socket.send_json.assert_awaited()
     fake_socket.recv_json.assert_awaited()
 
@@ -493,10 +485,9 @@ async def test_listen_behaviour_timeout(zmq_context, caplog):
     behaviour = agent.ListenBehaviour()
     agent.add_behaviour(behaviour)
 
-    with caplog.at_level("INFO"):
+    await behaviour.run()
-        await behaviour.run()
+    assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
+    assert not agent.connected
-    assert "No ping" in caplog.text
 
 
 @pytest.mark.asyncio
@@ -522,11 +513,8 @@ async def test_listen_behaviour_ping_no_endpoint(caplog):
     behaviour = agent.ListenBehaviour()
     agent.add_behaviour(behaviour)
 
-    # Run once (CyclicBehaviour normally loops)
+    await behaviour.run()
-    with caplog.at_level("ERROR"):
-        await behaviour.run()
 
-    assert "No received endpoint in message, excepted ping endpoint." in caplog.text
     fake_socket.send_json.assert_awaited()
     fake_socket.recv_json.assert_awaited()
 
@@ -546,11 +534,10 @@ async def test_setup_unexpected_exception(zmq_context, caplog):
         bind=False,
     )
 
-    with caplog.at_level("ERROR"):
+    await agent.setup(max_retries=1)
-        await agent.setup(max_retries=1)
 
-    # Ensure that the error was logged
+    assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-    assert "Unexpected error during negotiation: boom!" in caplog.text
+    assert not agent.connected
 
 
 @pytest.mark.asyncio
@@ -582,11 +569,8 @@ async def test_setup_unpacking_exception(zmq_context, caplog):
         )
 
         # --- Act & Assert ---
-        with caplog.at_level("ERROR"):
-            await agent.setup(max_retries=1)
 
-        # Ensure the unpacking exception was logged
+        await agent.setup(max_retries=1)
-        assert "Error unpacking negotiation data" in caplog.text
 
         # Ensure no command agent was started
         fake_agent_instance.start.assert_not_awaited()