Feature/mqtt endpoint (#415)

* add python script for mqtt heartbeat

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* add generate proto

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* check connection

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* enable send broadcast

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* specify UDP port and address

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* modify Dockerfile

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* move directory

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* configure action

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* comment out description action

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* update docker action

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* fix yaml

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* fix platform

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* modify matrix

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* remove cleanup runner step

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* add restart option

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* use keep alive

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

* update script

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

---------

Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com>

Author: hakuturu583

.github/workflows/docker/mqtt_endpoint/docker-compose.yaml

@@ -3,3 +3,4 @@ services:
   mqtt_endpoint:
     image: wamvtan/mqtt_endpoint:latest
     network_mode: host
+    restart: always

.github/workflows/docker/mqtt_endpoint/mqtt_endpoint/mqtt_endpoint/main.py

@@ -7,22 +7,45 @@
 from google.protobuf.json_format import MessageToJson
 
 
+def on_connect(client, userdata, flags, rc):
+    if rc == 0:
+        print("Connected to MQTT broker")
+    else:
+        print(f"Connection failed with code {rc}")
+
+
+def on_disconnect(client, userdata, rc):
+    if rc != 0:
+        print(f"Unexpected disconnection. Reconnecting... (rc={rc})")
+        time.sleep(5)
+        try:
+            client.reconnect()
+        except Exception as e:
+            print(f"Reconnection failed: {e}")
+
+
 def main():
     broker = "54.212.20.15"
     port = 1883
     topic = "miniv/heartbeat"
     udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
     client = mqtt.Client()
+    client.on_connect = on_connect
+    client.on_disconnect = on_disconnect
+
+    keep_alive_timeout = 1
 
-    client.connect(broker, port)
-    client.loop_start()
+    try:
+        client.connect(broker, port, keep_alive_timeout)
+        client.loop_start()
 
-    sequence = 0
-    message = hardware_communication_msgs__HeartBeat()
-    time.sleep(1)
-    while True:
-        if client.is_connected():
+        sequence = 0
+        message = hardware_communication_msgs__HeartBeat()
+        time.sleep(3)
+        while True:
+            if not client.is_connected():
+                break
             sequence = sequence + 1
             message.sequence = sequence
             print("Send heart beat to EStop")
@@ -31,9 +54,14 @@ def main():
                 hardware_communication_msgs__HeartBeat.SerializeToString(message),
                 ("192.168.0.103", 4000),
             )
-        else:
-            print("Does not connected")
-        time.sleep(1)
+            time.sleep(keep_alive_timeout)
+    except KeyboardInterrupt:
+        print("Exiting...")
+    except Exception as e:
+        print(e)
+    finally:
+        client.loop_stop()
+        client.disconnect()
 
 
 if __name__ == "__main__":

.github/workflows/docker_push.yaml

@@ -109,7 +109,6 @@ jobs:
     timeout-minutes: 30
     steps:
       - uses: actions/checkout@v4
-      - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/mqtt_endpoint
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}