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Publish retained messages #555

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merged 2 commits into from
May 29, 2024
Merged

Publish retained messages #555

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20e3ec3
Retain mqtt messages
oysand May 29, 2024
e3a6452
Set qos=1 for buffering messages
oysand May 29, 2024
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12 changes: 8 additions & 4 deletions src/isar/state_machine/state_machine.py
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Original file line number Diff line number Diff line change
Expand Up @@ -516,7 +516,8 @@ def publish_mission_status(self) -> None:
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_MISSION,
payload=payload,
retain=False,
qos=1,
retain=True,
)

def publish_task_status(self, task: Task) -> None:
Expand Down Expand Up @@ -548,7 +549,8 @@ def publish_task_status(self, task: Task) -> None:
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_TASK,
payload=payload,
retain=False,
qos=1,
retain=True,
)

def publish_step_status(self, step: Step) -> None:
Expand Down Expand Up @@ -582,7 +584,8 @@ def publish_step_status(self, step: Step) -> None:
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_STEP,
payload=payload,
retain=False,
qos=1,
retain=True,
)

def publish_status(self) -> None:
Expand All @@ -601,7 +604,8 @@ def publish_status(self) -> None:
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_STATUS,
payload=payload,
retain=False,
qos=1,
retain=True,
)

def _current_status(self) -> RobotStatus:
Expand Down
3 changes: 2 additions & 1 deletion src/isar/storage/uploader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -161,5 +161,6 @@ def _publish_inspection_result(
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_INSPECTION_RESULT,
payload=payload,
retain=False,
qos=1,
retain=True,
)