61 lines
2.1 KiB
Python
61 lines
2.1 KiB
Python
import json
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import logging
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from spade.agent import Agent
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from spade.behaviour import CyclicBehaviour
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import zmq
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from control_backend.core.config import settings
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from control_backend.core.zmq_context import context
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from control_backend.schemas.message import Message
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logger = logging.getLogger(__name__)
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class RICommandAgent(Agent):
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subsocket: zmq.Socket
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pubsocket: zmq.Socket
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address = ""
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bind = False
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def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False):
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super().__init__(jid, password, port, verify_security)
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self.address = address
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self.bind = bind
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class SendCommandsBehaviour(CyclicBehaviour):
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async def run(self):
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assert self.agent is not None
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# Get a message internally (with topic command)
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topic, body = await self.agent.subsocket.recv_multipart()
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# Try to get body
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try:
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message_json = json.loads(body.decode("utf-8"))
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message = Message.model_validate(message_json)
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logger.info("Received message \"%s\"", message.message)
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# Send to the robot.
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await self.agent.pubsocket.send_json(message)
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except Exception as e:
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logger.error("Error processing message: %s", e)
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async def setup(self):
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logger.info("Setting up %s", self.jid)
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# To the robot
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self.pubsocket = context.socket(zmq.PUB)
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if self.bind:
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self.pubsocket.bind(self.address)
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else :
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self.pubsocket.connect(self.address)
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# Receive internal topics regarding commands
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self.subsocket = context.socket(zmq.SUB)
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self.subsocket.connect(settings.zmq_settings.internal_comm_address)
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self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
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# Add behaviour to our agent
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commands_behaviour = self.SendCommandsBehaviour()
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self.add_behaviour(commands_behaviour)
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logger.info("Finished setting up %s", self.jid)
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