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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 +15 -4
1 changed files with 15 additions and 4 deletions
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19
src/control_backend/agents/ri_communication_agent.py
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@@ -39,6 +39,10 @@ class RICommunicationAgent(BaseAgent):
""" """
assert self.agent is not None assert self.agent is not None
if not self.agent.connected:
await asyncio.sleep(1)
return
# We need to listen and sent pings. # We need to listen and sent pings.
message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}} message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
seconds_to_wait_total = 1.0 seconds_to_wait_total = 1.0
@@ -63,7 +67,13 @@ class RICommunicationAgent(BaseAgent):
# We didnt get a reply :( # We didnt get a reply :(
except TimeoutError: except TimeoutError:
self.agent.logger.info("No ping retrieved in 3 seconds, killing myself.") self.agent.logger.info(
f"No ping retrieved in {seconds_to_wait_total} seconds, "
"sending UI disconnection event and soft killing myself."
)
# Make sure we dont retry receiving messages untill we're setup.
self.agent.connected = False
# Tell UI we're disconnected. # Tell UI we're disconnected.
topic = b"ping" topic = b"ping"
@@ -84,7 +94,7 @@ class RICommunicationAgent(BaseAgent):
) )
# Try to reboot. # Try to reboot.
self.agent.setup() await self.agent.setup()
self.agent.logger.debug('Received message "%s"', message) self.agent.logger.debug('Received message "%s"', message)
if "endpoint" not in message: if "endpoint" not in message:
@@ -111,12 +121,11 @@ class RICommunicationAgent(BaseAgent):
# Bind request socket # Bind request socket
if self._req_socket is None or force: if self._req_socket is None or force:
self._req_socket = Context.instance().socket(zmq.REQ) self._req_socket = Context.instance().socket(zmq.REQ)
if self._bind: # TODO: Should this ever be the case with new architecture? if self._bind:
self._req_socket.bind(self._address) self._req_socket.bind(self._address)
else: else:
self._req_socket.connect(self._address) self._req_socket.connect(self._address)
# TODO: Check with Kasper
if self.pub_socket is None or force: if self.pub_socket is None or force:
self.pub_socket = Context.instance().socket(zmq.PUB) self.pub_socket = Context.instance().socket(zmq.PUB)
self.pub_socket.connect(settings.zmq_settings.internal_pub_address) self.pub_socket.connect(settings.zmq_settings.internal_pub_address)
@@ -231,5 +240,7 @@ class RICommunicationAgent(BaseAgent):
self.logger.error( self.logger.error(
"Initial connection ping for router timed out in ri_communication_agent." "Initial connection ping for router timed out in ri_communication_agent."
) )
# Make sure to start listening now that we're connected.
self.connected = True self.connected = True
self.logger.info("Finished setting up %s", self.jid) self.logger.info("Finished setting up %s", self.jid)