From 83e897e2e501e7a463ee43956f32ddfa95ccdf28 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Sat, 8 Mar 2025 15:11:42 +0100
Subject: [PATCH] Workaround for strange behaviour when on agent not seeing
heartbet from another agent.
---
lrs_json_api/bridge.py | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/lrs_json_api/bridge.py b/lrs_json_api/bridge.py
index 27ba1e7..ff5d9fd 100644
--- a/lrs_json_api/bridge.py
+++ b/lrs_json_api/bridge.py
@@ -326,11 +326,15 @@ class Bridge(Mqtt):
self.connect_publish("connected")
def get_topic_from_unit(self, unit, subtopic):
+ print("GET_TOPIC_FROM_UNIT unit:", unit)
+ print("GET_TOPIC_FROM_UNIT subtopic:", subtopic)
topic = ""
unit = unit.lstrip("/")
+ print("GET_TOPIC_FROM_UNIT unit:", unit, self.unit_to_prefix_map)
if unit in self.unit_to_prefix_map:
+ print("UNIT IN DICT unit:", unit)
topic = f'{self.unit_to_prefix_map[unit]}/{unit}/{subtopic}'
- # self.get_logger().info(f'get_topic_from_unit: {unit} - {topic}')
+ self.get_logger().info(f'get_topic_from_unit: {unit} - {topic}')
return topic
@@ -623,7 +627,7 @@ class Bridge(Mqtt):
topic = "/".join(topic_elements[5:])
#print("SELECTTOPIC:", topic)
- #if agent == "spot0":
+ #if agent == "op2":
# print("TOPIC:", topic)
#if topic == "heartbeat":
@@ -641,6 +645,7 @@ class Bridge(Mqtt):
if topic == "heartbeat":
+ print("HEARTBEAT:", agent, "/".join(topic_elements[:4]))
self.unit_to_prefix_map[agent] = "/".join(topic_elements[:4])
return
@@ -1134,6 +1139,7 @@ class Bridge(Mqtt):
self.client.publish(topic, payload=request.msg)
response.success = True
else:
+ self.get_logger().error(f'BRIDGE: Could not find topic for unit: {unit}')
response.success = False
except Exception as exc:
print("EXCEPTION on_message", type(exc))
--
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