Merge branch 'mqtt-extras' into testing

sbot/mqtt.py

@@ -4,6 +4,8 @@
 import json
 import logging
 import os
+import time
+from threading import Event
 from typing import Any, Callable, TypedDict
 from urllib.parse import urlparse
 
@@ -148,9 +150,18 @@ def wrapped_publish(
         """Wrap a payload up to be decodable as JSON."""
         if isinstance(payload, bytes):
             payload = payload.decode('utf-8')
+
+        payload_dict = {
+            "timestamp": time.time(),
+            "data": payload,
+        }
+
+        if 'run_uuid' in os.environ:
+            payload_dict['run_uuid'] = os.environ['run_uuid']
+
         self.publish(
             topic,
-            json.dumps({"data": payload}),
+            json.dumps(payload_dict),
             retain=retain, abs_topic=abs_topic)
 
     def _on_connect(
@@ -204,3 +215,37 @@ def get_mqtt_variables() -> MQTTVariables:
         username=url_parts.username,
         password=url_parts.password,
     )
+
+
+class RemoteStartButton:
+    def __init__(self, mqtt_client: MQTTClient) -> None:
+        self._mqtt_client = mqtt_client
+        self._start_pressed = Event()
+
+        self._mqtt_client.subscribe('start_button', self._process_start_message)
+
+    def _process_start_message(
+        self,
+        client: mqtt.Client,
+        userdata: Any,
+        message: mqtt.MQTTMessage,
+    ) -> None:
+        try:
+            payload = json.loads(message.payload)
+        except json.JSONDecodeError:
+            LOGGER.warning("Failed to decode start button message.")
+            return
+        else:
+            if 'pressed' in payload.keys():
+                if payload['pressed']:
+                    self._start_pressed.set()
+                    LOGGER.debug("Start button pressed.")
+                else:
+                    self._start_pressed.clear()
+                    LOGGER.debug("Start button cleared.")
+
+    def get_start_button_pressed(self) -> bool:
+        """Get the start button pressed status."""
+        pressed = self._start_pressed.is_set()
+        self._start_pressed.clear()
+        return pressed

sbot/robot.py

@@ -23,7 +23,7 @@
 from .utils import IN_SIMULATOR, ensure_atexit_on_term, obtain_lock, singular
 
 try:
-    from .mqtt import MQTT_VALID, MQTTClient, get_mqtt_variables
+    from .mqtt import MQTT_VALID, MQTTClient, RemoteStartButton, get_mqtt_variables
 except ImportError:
     MQTT_VALID = False
 
@@ -46,7 +46,8 @@ class Robot:
     """
     __slots__ = (
         '_lock', '_metadata', '_power_board', '_motor_boards', '_servo_boards',
-        '_arduinos', '_cameras', '_mqttc', '_time_server', '_user_leds', '_start_led',
+        '_arduinos', '_cameras', '_mqttc', '_user_leds', '_start_button', '_time_server',
+        '_start_led',
     )
 
     def __init__(
@@ -73,6 +74,12 @@ def __init__(
 
         logger.info(f"SourceBots API v{__version__}")
 
+        if MQTT_VALID:
+            # get the config from env vars
+            mqtt_config = get_mqtt_variables()
+            self._mqttc = MQTTClient.establish(**mqtt_config)
+            self._start_button = RemoteStartButton(self._mqttc)
+
         if manual_boards:
             self._init_power_board(manual_boards.get(PowerBoard.get_board_type(), []))
             self._init_aux_boards(manual_boards)
@@ -131,9 +138,6 @@ def _init_camera(self) -> None:
         markers in its field of view.
         """
         if MQTT_VALID:
-            # get the config from env vars
-            mqtt_config = get_mqtt_variables()
-            self._mqttc = MQTTClient.establish(**mqtt_config)
             self._cameras = MappingProxyType(_setup_cameras(
                 game_specific.MARKER_SIZES,
                 self._mqttc.wrapped_publish,
@@ -326,15 +330,23 @@ def wait_start(self) -> None:
         Once the start button is pressed, the metadata will be loaded and the timeout
         will start if in competition mode.
         """
+        if MQTT_VALID:
+            remote_start_pressed = self._start_button.get_start_button_pressed
+        else:
+            def null_button_pressed() -> bool:
+                return False
+            remote_start_pressed = null_button_pressed
+
         # ignore previous button presses
         _ = self.power_board._start_button()
+        _ = remote_start_pressed()
         logger.info('Waiting for start button.')
 
         self.power_board.piezo.buzz(Note.A6, 0.1)
         self.power_board._run_led.flash()
         self._start_led.flash_start()
 
-        while not self.power_board._start_button():
+        while not self.power_board._start_button() and not remote_start_pressed():
             self.sleep(0.1)
         logger.info("Start button pressed.")
         self.power_board._run_led.on()