ީi]XdZddlmZddlZddlZddlZddlmZddlm Z m Z m Z m Z m Z ddlZddlmZddlmZmZmZmZmZmZmZmZmZmZmZmZmZmZm Z e ege fZ!e ege fZ"e ege fZ#e ege fZ$e ege fZ%e ege fZ&e ege fZ'e ege fZ(e e)ge fZ*Gd d e+Z,Gd d e,Z-Gd de,Z.eGddZ/GddZ0y)aEdge Proxy WebSocket client. This module provides the EdgeProxyClient for bidirectional WebSocket communication with the robot Edge Proxy, following the Edge Proxy Design spec. See: /home/nelsen/Projects/HRI/docs/plans/2026-02-04-edge-proxy-design.md Topology (current implementation): - Edge Proxy runs as a WebSocket *server* on the robot (default :8080/edge). - Orchestrator connects to it as a WebSocket *client*. ) annotationsN) dataclass)AnyCallableDictListOptional)WebSocketClientProtocol)CancelNavigationCommandCaptureFrameCommand ErrorMessageEventLogMessageFRDetectionsMessageFrameResponseMessageGetStateCommand MessageTypeNavigateCommandNavStatusMessage PongMessage RobotStateWaypointWaypointListMessageparse_edge_messageceZdZdZy)EdgeProxyClientErrorz,Base exception for Edge Proxy client errors.N__name__ __module__ __qualname____doc__E/home/nelsen/Projects/kognitive/orchestrator/src/edge_proxy/client.pyrr6s6r#rceZdZdZy)EdgeProxyConnectionErrorz+Raised when connection to Edge Proxy fails.Nrr"r#r$r&r&<s5r#r&ceZdZdZy) MessageErrorz0Raised when message parsing or validation fails.Nrr"r#r$r(r(Bs:r#r(ceZdZUdZdZded<dZded<dZded <d Zd ed <d Z ded<dZ ded<dZ ded<dZ ded<y) ClientConfigzSConfiguration for EdgeProxyClient. Spec: Section 3.1 of Edge Proxy Design localhoststrhostiintportz/edgews_pathTbool reconnectg?floatreconnect_delayg>@max_reconnect_delayg$@ ping_interval ping_timeoutN) rrr r!r-__annotations__r/r0r2r4r5r6r7r"r#r$r*r*HsZ D#D#GSIt OU !%%M5L%r#r*cheZdZdZ d d dZd!dZd"dZd#dZd$dZd%dZ d&d Z d'd Z d(d Z d)d Z ed*d Zd+dZd+dZ d, d-dZ d. d/dZ d0 d1dZ d2 d3dZd4d5dZd+dZd4d5dZd+dZd+dZd+dZd6dZd7dZd8dZd9dZd:dZ y);EdgeProxyClienta"WebSocket client for Edge Proxy communication. This client connects to the robot's Edge Proxy server and handles bidirectional communication with automatic reconnection. Example: client = EdgeProxyClient(host="robot.local", port=8080) @client.on_nav_status def handle_nav_status(msg): print(f"Nav status: {msg.status}, progress: {msg.progress}") await client.connect() await client.send_navigate_waypoint("waypoint1", request_id="nav_001") await client.disconnect() Nc|xs t|_|xstjt|_d|_d|_d|_g|_ g|_ g|_ g|_ g|_ g|_g|_g|_g|_d|_d|_d|_d|_t-|_g|_d|_i|_y)zInitialize the Edge Proxy client. Args: config: Client configuration. Uses defaults if not provided. logger: Logger instance. Creates default logger if not provided. NFi)r*configlogging getLoggerrlogger_ws _connected _should_stop_nav_status_handlers_robot_state_handlers_waypoint_list_handlers_error_handlers_pong_handlers_frame_response_handlers_fr_detections_handlers_event_log_handlers_connection_change_handlers_receiver_tasklast_robot_statelast_fr_detectionslast_event_logset_seen_event_ids_seen_event_ids_order_seen_event_ids_limit_pending_frames)selfr<r?s r$__init__zEdgeProxyClient.__init__ls.  ; 1 1( ; 7;!=?!>@"BD$3513DF%BD$:< JL(=A7;BF9=*-02"%)";=r#c<|jj||S)aRegister a navigation status event handler. Spec: Section 5.1 - Nav status messages Args: handler: Async or sync function that takes NavStatusMessage. Returns: The handler function for use as a decorator. )rCappendrUhandlers r$ on_nav_statuszEdgeProxyClient.on_nav_statuss !!((1r#c<|jj||S)zRegister a robot state event handler. Spec: Section 5.2 - Robot state messages Args: handler: Async or sync function that takes RobotState. Returns: The handler function for use as a decorator. )rDrXrYs r$on_robot_statezEdgeProxyClient.on_robot_states ""))'2r#c<|jj||S)a Register a waypoint list event handler. Spec: Section 5.3 - Waypoint list messages Args: handler: Async or sync function that takes WaypointListMessage. Returns: The handler function for use as a decorator. )rErXrYs r$on_waypoint_listz EdgeProxyClient.on_waypoint_lists $$++G4r#c<|jj||S)zRegister an error event handler. Spec: Section 5.4 - Error messages Args: handler: Async or sync function that takes ErrorMessage. Returns: The handler function for use as a decorator. )rFrXrYs r$on_errorzEdgeProxyClient.on_errors ##G,r#c<|jj||S)zRegister a pong event handler. Spec: Section 5.5 - Pong messages Args: handler: Async or sync function that takes PongMessage. Returns: The handler function for use as a decorator. )rGrXrYs r$on_pongzEdgeProxyClient.on_pongs ""7+r#c<|jj||S)aRegister a frame response event handler. Called when the Edge Proxy sends a ``frame_response`` message. Note: futures registered via ``send_capture_frame`` are resolved *before* these handlers are called, so handlers see all responses including those matched to pending futures. Args: handler: Async or sync function that takes FrameResponseMessage. Returns: The handler function for use as a decorator. )rHrXrYs r$on_frame_responsez!EdgeProxyClient.on_frame_responses %%,,W5r#c<|jj||S)aHRegister a face recognition detections event handler. Called when the Edge Proxy broadcasts ``fr_detections`` messages from its FR loop. Args: handler: Async or sync function that takes FRDetectionsMessage. Returns: The handler function for use as a decorator. )rIrXrYs r$on_fr_detectionsz EdgeProxyClient.on_fr_detectionss $$++G4r#c<|jj||S)z#Register an edge event_log handler.)rJrXrYs r$ on_event_logzEdgeProxyClient.on_event_logs   ''0r#c<|jj||S)zRegister a connection state change handler. Args: handler: Async or sync function that takes bool (connected). Returns: The handler function for use as a decorator. )rKrXrYs r$on_connection_changez$EdgeProxyClient.on_connection_changes ((//8r#cl|jxr'|jduxr|jj S)zvCheck if the client is currently connected. Returns: True if connected, False otherwise. N)rAr@closedrUs r$ is_connectedzEdgeProxyClient.is_connecteds,O4884#7OAAAcxKddlm}|}|j|jd{y7w)zSend a ping message for keepalive. Spec: Section 4.6 - Ping Raises: EdgeProxyConnectionError: If not connected. r ) PingMessageN)messagesrr~r)rUrrs r$ send_pingzEdgeProxyClient.send_pings, *m  ///s 0:8:cvKt|}|j|jd{y7w)aSend a capture_frame command to the Edge Proxy. The Edge Proxy will capture one JPEG frame from the camera and reply with a ``frame_response`` message. To await the response, create an ``asyncio.Future`` and store it in ``self._pending_frames[request_id]`` *before* calling this method, then ``await`` the future. In practice callers should use ``ActionExecutor._capture_frame()`` which handles the Future lifecycle automatically. Args: request_id: Correlation ID used to match the response. Raises: EdgeProxyConnectionError: If not connected. )rN)r r~rrs r$send_capture_framez"EdgeProxyClient.send_capture_frames,""Z8  ///s /979c"K|jj}|js |jd{yyy7#tt j jf$r}|jjd||jjr |jrtd||tjt||jjd{7|dz}Yd}~nd}~wwxYw|jsЭw)zeConnect with exponential backoff retry if enabled. Spec: Section 7.3 - Reconnection NzConnection failed: %szFailed to connect: )r<r4rB _connect_onceOSError websockets exceptionsWebSocketExceptionr?warningr2r&rusleepminr5)rUdelayexcs r$rqz#EdgeProxyClient._connect_with_retrys  ++## "((***$*Z22EEF " ##$;SA{{,,0A0A25H3NOUXXmmCt{{/N/N$OPPP  " ##sJ#DAAADA#C>&BC9)C,* C94D9C>>DcVKd|jjd|jj|jj}|jj d|t j||jj|jjd{|_ |j }d|_ |r|jdd{|jj dtj|j|_y7|7Jw)zPerform a single connection attempt. 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NzConnection closed: %sFzError receiving message: %s)r@_handle_messagerrConnectionClosedr?rrArx Exceptionerrorr<r2rBrq)rUmessagers r$rz!EdgeProxyClient._receive_messagessY xx  1!% 4 4g**7333 43"*$$55 8 KK   7 =#DO007 7 7 B KK  ;S A A B$DO007 7 7{{$$T->->..000.?$ $DO007 7 7{{$$T->->..000.?$sF AAAAAAAAAAD9C#7B%BB% D9% C1C D9CD9F5C86:F0D31F9FE:FFFFc:Kt|ttfr |jdd}t|ts&|j j dt|y tj|}t|ts|j j dy t|}|,|j jd |j!d y|j#|d{y#t$r&}|j j d|Yd}~yd}~wwxYw#tj$r&}|j j d|Yd}~yd}~wwxYw#t$r&}|j j d |Yd}~yd}~wwxYw7w) zdHandle an incoming message. 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