75 lines
2.2 KiB
Python
75 lines
2.2 KiB
Python
import json
|
|
|
|
import zmq
|
|
from spade.behaviour import CyclicBehaviour
|
|
from zmq.asyncio import Context
|
|
|
|
from control_backend.agents import BaseAgent
|
|
from control_backend.core.config import settings
|
|
from control_backend.schemas.ri_message import SpeechCommand
|
|
|
|
|
|
class RICommandAgent(BaseAgent):
|
|
subsocket: zmq.Socket
|
|
pubsocket: zmq.Socket
|
|
address = ""
|
|
bind = False
|
|
|
|
def __init__(
|
|
self,
|
|
jid: str,
|
|
password: str,
|
|
port: int = 5222,
|
|
verify_security: bool = False,
|
|
address="tcp://localhost:0000",
|
|
bind=False,
|
|
):
|
|
super().__init__(jid, password, port, verify_security)
|
|
self.address = address
|
|
self.bind = bind
|
|
|
|
class SendCommandsBehaviour(CyclicBehaviour):
|
|
async def run(self):
|
|
"""
|
|
Run the command publishing loop indefinetely.
|
|
"""
|
|
assert self.agent is not None
|
|
# Get a message internally (with topic command)
|
|
topic, body = await self.agent.subsocket.recv_multipart()
|
|
|
|
# Try to get body
|
|
try:
|
|
body = json.loads(body)
|
|
message = SpeechCommand.model_validate(body)
|
|
|
|
# Send to the robot.
|
|
await self.agent.pubsocket.send_json(message.model_dump())
|
|
except Exception as e:
|
|
self.logger.error("Error processing message: %s", e)
|
|
|
|
async def setup(self):
|
|
"""
|
|
Setup the command agent
|
|
"""
|
|
self.logger.info("Setting up %s", self.jid)
|
|
|
|
context = Context.instance()
|
|
|
|
# To the robot
|
|
self.pubsocket = context.socket(zmq.PUB)
|
|
if self.bind:
|
|
self.pubsocket.bind(self.address)
|
|
else:
|
|
self.pubsocket.connect(self.address)
|
|
|
|
# Receive internal topics regarding commands
|
|
self.subsocket = context.socket(zmq.SUB)
|
|
self.subsocket.connect(settings.zmq_settings.internal_sub_address)
|
|
self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
|
|
|
|
# Add behaviour to our agent
|
|
commands_behaviour = self.SendCommandsBehaviour()
|
|
self.add_behaviour(commands_behaviour)
|
|
|
|
self.logger.info("Finished setting up %s", self.jid)
|