osiris-agent 0.1.2__tar.gz → 0.1.4__tar.gz

{osiris_agent-0.1.2 → osiris_agent-0.1.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: osiris_agent
-Version: 0.1.2
+Version: 0.1.4
 Summary: OSIRIS agent for ROS2/Humble
 Home-page: https://github.com/nicolaselielll/osiris_agent
 Author: Nicolas Tuomaala
@@ -17,6 +17,7 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: websockets
 Requires-Dist: psutil
+Requires-Dist: pyzmq
 Provides-Extra: ros
 Requires-Dist: rclpy; extra == "ros"
 Dynamic: author

{osiris_agent-0.1.2 → osiris_agent-0.1.4}/osiris_agent/agent_node.py

@@ -14,6 +14,8 @@ from rosidl_runtime_py.utilities import get_message
 from rosidl_runtime_py import message_to_ordereddict
 import psutil
 
+from .bt_collector import BTCollector
+
 # Security and configuration constants
 MAX_SUBSCRIPTIONS = 100
 ALLOWED_TOPIC_PREFIXES = ['/', ]
@@ -30,8 +32,9 @@ class WebBridge(Node):
         auth_token = os.environ.get('OSIRIS_AUTH_TOKEN')
         if not auth_token:
             raise ValueError("OSIRIS_AUTH_TOKEN environment variable must be set")
-        
+    
         self.ws_url = f'wss://osiris-gateway.fly.dev?robot=true&token={auth_token}'
+        # self.ws_url = f'ws://host.docker.internal:8080?robot=true&token={auth_token}'
         self.ws = None
         self._topic_subs = {}
         self._topic_subs_lock = threading.Lock()
@@ -57,6 +60,7 @@ class WebBridge(Node):
         self._last_sent_topics = None
         self._last_sent_actions = None
         self._last_sent_services = None
+        self._cached_bt_tree_event = None  # Cache tree event until WS connects
         
         self._check_graph_changes()
         self.create_timer(0.1, self._check_graph_changes)
@@ -64,6 +68,19 @@ class WebBridge(Node):
         self.create_timer(1.0, self._collect_telemetry)
 
         threading.Thread(target=self._run_ws_client, daemon=True).start()
+        
+        # Initialize BT Collector for Groot2 events (optional)
+        bt_enabled = os.environ.get('OSIRIS_BT_COLLECTOR_ENABLED', '').lower() in ('true', '1', 'yes')
+        if bt_enabled:
+            self._bt_collector = BTCollector(
+                event_callback=self._on_bt_event,
+                logger=self.get_logger()
+            )
+            self._bt_collector.start()
+        else:
+            self._bt_collector = None
+        
+        self.get_logger().info("🚀 Osiris agent running")
 
     # Create event loop and queue, run websocket client
     def _run_ws_client(self):
@@ -79,12 +96,10 @@ class WebBridge(Node):
         
         while True:
             try:
-                self.get_logger().info("Attempting to connect to gateway...")
                 await self._client_loop()
             except Exception as e:
-                self.get_logger().error(f"Connection failed: {e}")
+                pass  # Silent retry
             
-            self.get_logger().info(f"Reconnecting in {reconnect_delay} seconds...")
             await asyncio.sleep(reconnect_delay)
             
             reconnect_delay = min(reconnect_delay * 2, RECONNECT_MAX_DELAY)
@@ -96,12 +111,10 @@ class WebBridge(Node):
         send_task = None
         try:
             async with websockets.connect(self.ws_url) as ws:
-                self.get_logger().info("Connected to gateway (socket opened)")
                 # Wait for gateway auth response before sending initial state
                 try:
                     auth_msg = await ws.recv()
                 except Exception as e:
-                    self.get_logger().error(f"Failed to receive auth message: {e}")
                     return
 
                 try:
@@ -109,14 +122,9 @@ class WebBridge(Node):
                 except Exception:
                     auth_data = None
 
-                self.get_logger().debug(f"Gateway auth message received: {auth_msg}")
-
                 if not auth_data or auth_data.get('type') != 'auth_success':
-                    self.get_logger().error(f"Gateway did not authenticate: parsed={auth_data}")
                     return
 
-                self.get_logger().info("Authenticated with gateway")
-
                 self.ws = ws
 
                 send_task = asyncio.create_task(self._send_loop(ws))
@@ -125,7 +133,6 @@ class WebBridge(Node):
 
                 await self._receive_loop(ws)
         except Exception as e:
-            self.get_logger().error(f"Error in client loop: {e}")
             raise
         finally:
             if send_task and not send_task.done():
@@ -166,6 +173,12 @@ class WebBridge(Node):
         await self._send_queue.put(json.dumps(message))
         self.get_logger().info(f"Sent initial state: {len(nodes)} nodes, {len(topics)} topics, {len(actions)} actions, {len(services)} services")
         
+        # Send cached BT tree event if we have one
+        if self._cached_bt_tree_event:
+            self.get_logger().info("Sending cached BT tree event")
+            await self._send_queue.put(json.dumps(self._cached_bt_tree_event))
+            self._cached_bt_tree_event = None
+        
         await self._send_bridge_subscriptions()
 
     # Send list of currently subscribed topics to gateway
@@ -954,6 +967,33 @@ class WebBridge(Node):
             }
         }
 
+    # Handle BT events from BTCollector
+    def _on_bt_event(self, event):
+        """Handle behavior tree events from BTCollector and forward to websocket."""
+        event_type = event.get('type')
+        
+        # Cache tree events if WS not connected yet
+        if not self.ws or not self.loop:
+            if event_type == 'bt_tree':
+                self._cached_bt_tree_event = event
+            return
+        
+        try:
+            asyncio.run_coroutine_threadsafe(
+                self._send_queue.put(json.dumps(event)),
+                self.loop
+            )
+        except Exception as e:
+            self.get_logger().error(f"Failed to queue BT event: {e}")
+
+    def destroy_node(self):
+        """Clean up resources before destroying the node."""
+        # Stop BT collector
+        if self._bt_collector:
+            self._bt_collector.stop()
+        
+        super().destroy_node()
+
 
 # Initialize ROS, create node, and run until shutdown
 def main(args=None):

osiris_agent-0.1.4/osiris_agent/bt_collector.py

@@ -0,0 +1,564 @@
+"""
+BT.CPP Groot2 ZMQ Event Collector
+
+Connects to the Groot2 ZMQ publisher from BT.CPP and collects:
+- Tree structure (on connect and on change)
+- Node status updates
+- Breakpoint events
+
+Events are forwarded to the WebBridge for transmission over WebSocket.
+"""
+
+import json
+import os
+import struct
+import threading
+import time
+from typing import Callable, Optional, Dict, Any, List
+from dataclasses import dataclass, field
+from enum import IntEnum
+
+import zmq
+import random  # added to support unique_id generation in requests
+
+# Default Groot2 configuration (industry standard)
+DEFAULT_SERVER_PORT = 1667  # REQ/REP for tree structure and status polling
+DEFAULT_PUBLISHER_PORT = 1668  # PUB/SUB for breakpoint notifications only
+DEFAULT_HOST = "127.0.0.1"
+
+# ZMQ timeouts
+ZMQ_RECV_TIMEOUT_MS = 2000
+ZMQ_RECONNECT_INTERVAL = 2.0
+STATUS_POLL_INTERVAL = 0.1  # Poll for status every 100ms
+
+
+class NodeStatus(IntEnum):
+    """BT.CPP NodeStatus enum values (includes extended states)"""
+    IDLE = 0
+    RUNNING = 1
+    SUCCESS = 2
+    FAILURE = 3
+    SKIPPED = 4
+    # Extended states (BT.CPP internal)
+    IDLE_WAS_RUNNING = 11
+    IDLE_WAS_SUCCESS = 12
+    IDLE_WAS_FAILURE = 13
+
+    @classmethod
+    def to_string(cls, value: int) -> str:
+        try:
+            return cls(value).name
+        except ValueError:
+            return f"UNKNOWN({value})"
+
+
+@dataclass
+class BTNode:
+    """Represents a node in the behavior tree"""
+    uid: int
+    name: str
+    tag: str  # Node type (e.g., "Sequence", "Action", "Condition")
+    status: str = "IDLE"
+
+
+@dataclass
+class BTTree:
+    """Represents the full behavior tree structure"""
+    tree_id: Optional[str] = None
+    nodes: Dict[int, BTNode] = field(default_factory=dict)
+    xml: str = ""
+    structure: Dict[str, Any] = field(default_factory=dict)
+
+
+class BTCollector:
+    """
+    Collects BT events from Groot2 ZMQ publisher and forwards them.
+    
+    Usage:
+        collector = BTCollector(event_callback)
+        collector.start()
+        # ... later ...
+        collector.stop()
+    """
+
+    def __init__(
+        self,
+        event_callback: Callable[[Dict[str, Any]], None],
+        host: Optional[str] = None,
+        server_port: Optional[int] = None,
+        publisher_port: Optional[int] = None,
+        logger=None
+    ):
+        """
+        Initialize the BT collector.
+        
+        Args:
+            event_callback: Function to call with parsed events (dict)
+            host: Groot2 host address (default: from BT_HOST env or 127.0.0.1)
+            server_port: Groot2 server port (default: from BT_SERVER_PORT env or 1667)
+            publisher_port: Groot2 publisher port (default: from BT_PUBLISHER_PORT env or 1668)
+            logger: Optional logger (uses print if None)
+        """
+        self._event_callback = event_callback
+        # Read from environment variables with fallback to defaults
+        self._host = host or os.environ.get('OSIRIS_BT_HOST', DEFAULT_HOST)
+        self._server_port = server_port or int(os.environ.get('OSIRIS_BT_SERVER_PORT', str(DEFAULT_SERVER_PORT)))
+        self._publisher_port = publisher_port or int(os.environ.get('OSIRIS_BT_PUBLISHER_PORT', str(DEFAULT_PUBLISHER_PORT)))
+        self._logger = logger
+        
+        self._running = False
+        self._thread: Optional[threading.Thread] = None
+        self._context: Optional[zmq.Context] = None
+        
+        self._current_tree: Optional[BTTree] = None
+        self._last_statuses: Dict[int, str] = {}
+
+    def _log_info(self, msg: str):
+        pass  # Logging disabled
+
+    def _log_debug(self, msg: str):
+        pass  # Logging disabled
+
+    def _log_error(self, msg: str):
+        if self._logger:
+            self._logger.error(msg)
+        else:
+            print(f"[BTCollector ERROR] {msg}")
+
+    def _log_warn(self, msg: str):
+        pass  # Logging disabled
+
+    def start(self):
+        """Start the collector in a background thread."""
+        if self._running:
+            self._log_warn("BTCollector already running")
+            return
+        
+        self._running = True
+        self._thread = threading.Thread(target=self._run_loop, daemon=True)
+        self._thread.start()
+        self._log_info(f"BTCollector started (server={self._host}:{self._server_port}, pub={self._publisher_port})")
+
+    def stop(self):
+        """Stop the collector."""
+        self._running = False
+        if self._thread:
+            self._thread.join(timeout=2.0)
+            self._thread = None
+        self._log_info("BTCollector stopped")
+
+    def _run_loop(self):
+        """Main collector loop - runs in background thread."""
+        self._context = zmq.Context()
+        
+        while self._running:
+            try:
+                self._collect_loop()
+            except Exception as e:
+                self._log_error(f"Collection error: {e}")
+            
+            if self._running:
+                self._log_info(f"Reconnecting in {ZMQ_RECONNECT_INTERVAL}s...")
+                time.sleep(ZMQ_RECONNECT_INTERVAL)
+        
+        if self._context:
+            self._context.term()
+            self._context = None
+
+    def _collect_loop(self):
+        """Single collection session - connects, gets tree, polls for status updates."""
+        # Create REQ socket for tree structure AND status polling
+        req_socket = self._context.socket(zmq.REQ)
+        req_socket.setsockopt(zmq.RCVTIMEO, ZMQ_RECV_TIMEOUT_MS)
+        req_socket.setsockopt(zmq.LINGER, 0)
+        
+        try:
+            # Connect to server for tree structure and status polling
+            server_addr = f"tcp://{self._host}:{self._server_port}"
+            self._log_info(f"Connecting to Groot2 server: {server_addr}")
+            req_socket.connect(server_addr)
+            
+            # Main loop - request tree first, then poll for status
+            self._log_info("Starting BT collection loop...")
+            tree_received = False
+            
+            while self._running:
+                try:
+                    # Request tree structure if we don't have it yet
+                    if not tree_received:
+                        tree_received = self._request_tree_structure(req_socket)
+                        if not tree_received:
+                            # No tree yet, wait and retry
+                            time.sleep(1.0)
+                            continue
+                        # Immediately try to fetch current statuses so the initial tree event can include them
+                        try:
+                            self._poll_status(req_socket)
+                        except Exception:
+                            # ignore timeout/errors here; we'll keep trying in the main loop
+                            pass
+                        # emit bt_tree now with status merged into nodes (if available)
+                        if self._current_tree:
+                            self._log_info("Sending initial tree event with statuses")
+                            self._emit_current_tree_event()
+                    
+                    # Poll for status updates
+                    self._poll_status(req_socket)
+                    time.sleep(STATUS_POLL_INTERVAL)
+                    
+                except zmq.Again:
+                    # Timeout - need to recreate socket because REQ is in bad state
+                    self._log_warn("Timeout - recreating socket...")
+                    req_socket.close()
+                    req_socket = self._context.socket(zmq.REQ)
+                    req_socket.setsockopt(zmq.RCVTIMEO, ZMQ_RECV_TIMEOUT_MS)
+                    req_socket.setsockopt(zmq.LINGER, 0)
+                    req_socket.connect(server_addr)
+                    tree_received = False  # Need to re-request tree after reconnect
+                    time.sleep(1.0)
+                    
+                except zmq.ZMQError as e:
+                    if "current state" in str(e):
+                        # Socket in bad state, recreate it
+                        self._log_warn(f"Socket in bad state, recreating: {e}")
+                        req_socket.close()
+                        req_socket = self._context.socket(zmq.REQ)
+                        req_socket.setsockopt(zmq.RCVTIMEO, ZMQ_RECV_TIMEOUT_MS)
+                        req_socket.setsockopt(zmq.LINGER, 0)
+                        req_socket.connect(server_addr)
+                        tree_received = False
+                        time.sleep(1.0)
+                    else:
+                        self._log_error(f"ZMQ error: {e}")
+                        time.sleep(0.5)
+                        
+                except Exception as e:
+                    self._log_error(f"Error in collection loop: {e}")
+                    time.sleep(0.5)
+                    
+        finally:
+            req_socket.close()
+
+    def _poll_status(self, socket: zmq.Socket):
+        """Poll for status update via REQ/REP."""
+        # Send STATUS request: protocol=2, type='S'
+        protocol = 2
+        req_type = ord('S')  # 'S' = STATUS request
+        unique_id = random.getrandbits(32)
+        header = struct.pack('<BBI', protocol, req_type, unique_id)
+        
+        socket.send(header, zmq.SNDMORE)
+        socket.send(b"")
+        
+        parts = socket.recv_multipart()
+        if parts and len(parts) >= 2:
+            resp_tree_id = self._extract_tree_id_from_header(parts[0])
+            if resp_tree_id and (not self._current_tree or self._current_tree.tree_id != resp_tree_id):
+                self._log_warn(
+                    f"Tree changed behind endpoint: {self._current_tree.tree_id if self._current_tree else None} -> {resp_tree_id}. Refreshing FULLTREE..."
+                )
+                if self._request_tree_structure(socket):
+                    self._emit_current_tree_event()
+            self._handle_status_message(parts, resp_tree_id)
+
+    def _extract_tree_id_from_header(self, hdr: bytes) -> Optional[str]:
+        """
+        Groot2 multipart header (22 bytes):
+          protocol(1), type(1), unique_id(4), tree_id(16)
+        Returns tree_id as hex string or None.
+        """
+        if not hdr or len(hdr) < 22:
+            return None
+        return hdr[6:22].hex()
+
+    def _emit_current_tree_event(self):
+        if not self._current_tree:
+            return
+        nodes_with_status = []
+        for nd in getattr(self._current_tree, "nodes_list", []):
+            uid = nd.get("uid")
+            nd_copy = dict(nd)
+            nd_copy["status"] = self._last_statuses.get(uid, NodeStatus.IDLE.name)
+            nodes_with_status.append(nd_copy)
+        event = {
+            "type": "bt_tree",
+            "timestamp": time.time(),
+            "tree_id": self._current_tree.tree_id,
+            "tree": self._current_tree.structure,
+            "nodes": nodes_with_status,
+        }
+        self._log_info(f"Sending tree event ({len(nodes_with_status)} nodes)")
+        self._event_callback(event)
+
+    def _request_tree_structure(self, socket: zmq.Socket) -> bool:
+        """Request and parse tree structure from Groot2 server. Returns True if successful."""
+        # Groot2 protocol: multipart message with binary header
+        # Header: protocol(uint8)=2, type(uint8)='T', unique_id(uint32)
+        protocol = 2
+        req_type = ord('T')  # 'T' = FULLTREE request
+        unique_id = random.getrandbits(32)
+        header = struct.pack('<BBI', protocol, req_type, unique_id)
+        
+        self._log_info(f"Requesting tree structure...")
+        socket.send(header, zmq.SNDMORE)
+        socket.send(b"")  # Empty body
+        
+        # Receive multipart response
+        parts = socket.recv_multipart()
+        self._log_info(f"Tree response: {len(parts)} parts")
+        
+        if parts and len(parts) >= 2:
+            return self._parse_tree_response(parts)
+        else:
+            self._log_warn("Invalid tree response (expected 2+ parts)")
+            return False
+
+    def _parse_tree_response(self, parts: list) -> bool:
+        """
+        Parse tree structure response from Groot2.
+        Returns True if successful.
+        
+        Response format (multipart):
+        - Part 0: Header (22 bytes): protocol(1), type(1), unique_id(4), tree_id(16)
+        - Part 1: XML string of the tree
+        """
+        if not parts:
+            self._log_warn("Empty tree response")
+            return False
+        
+        self._log_info(f"Parsing tree response: {len(parts)} parts")
+        
+        try:
+            # Part 0: Header
+            hdr = parts[0]
+            tree_id = None
+            if len(hdr) >= 22:
+                resp_protocol, resp_type, resp_id = struct.unpack('<BBI', hdr[:6])
+                tree_id = hdr[6:22].hex()
+                self._log_info(f"Tree header: protocol={resp_protocol}, type={chr(resp_type)}, tree_id={tree_id[:16]}...")
+            elif len(hdr) >= 6:
+                # Check if error response
+                try:
+                    err = hdr.decode('utf-8')
+                    self._log_error(f"Error response: {err}")
+                    if len(parts) > 1:
+                        self._log_error(f"Detail: {parts[1].decode('utf-8')}")
+                    return False
+                except:
+                    self._log_warn(f"Short header: {len(hdr)} bytes")
+            
+            # Part 1: XML
+            if len(parts) < 2:
+                self._log_warn("No XML part in response")
+                return False
+            
+            xml = parts[1].decode('utf-8', errors='replace')
+            self._log_info(f"Received tree XML: {len(xml)} chars")
+            
+            # Parse XML to extract nodes
+            tree = BTTree()
+            tree.tree_id = tree_id  # Set the tree_id from header
+            tree.xml = xml
+            nodes_list = self._parse_xml_tree(xml, tree)
+
+            if not nodes_list:
+                self._log_warn("No nodes extracted from tree XML")
+                return False
+
+            # store parsed tree and node list; do not emit tree event here
+            tree.nodes_list = nodes_list
+            self._current_tree = tree
+            self._last_statuses.clear()
+            self._log_info(f"Tree structure received: {len(nodes_list)} nodes")
+            return True
+            
+        except Exception as e:
+            import traceback
+            self._log_error(f"Error parsing tree response: {e}\n{traceback.format_exc()}")
+            return False
+
+    def _parse_xml_tree(self, xml: str, tree: BTTree) -> list:
+        """Parse XML tree and extract nodes with UIDs."""
+        import xml.etree.ElementTree as ET
+        
+        nodes_list = []
+        try:
+            root = ET.fromstring(xml)
+            self._extract_nodes_from_xml(root, tree, nodes_list)
+            
+            # Also build hierarchical tree structure
+            tree.structure = self._build_tree_structure(root)
+            
+            self._log_info(f"Extracted {len(nodes_list)} nodes from XML")
+        except ET.ParseError as e:
+            self._log_error(f"XML parse error: {e}")
+        
+        return nodes_list
+    
+    def _build_tree_structure(self, elem) -> dict:
+        """Recursively build hierarchical tree structure from XML."""
+        # Find the BehaviorTree element
+        behavior_tree = elem.find('.//BehaviorTree')
+        if behavior_tree is None:
+            return {}
+        
+        # Build from the first child of BehaviorTree (the root node)
+        children = list(behavior_tree)
+        if not children:
+            return {}
+        
+        return self._element_to_tree_node(children[0])
+    
+    def _element_to_tree_node(self, elem) -> dict:
+        """Convert an XML element to a tree node dict with children."""
+        node = {
+            'tag': elem.tag,
+            'name': elem.attrib.get('name', elem.attrib.get('ID', elem.tag)),
+            'attributes': dict(elem.attrib),
+        }
+        
+        # Add uid if present
+        uid_str = elem.attrib.get('_uid')
+        if uid_str:
+            try:
+                node['uid'] = int(uid_str)
+            except ValueError:
+                pass
+        
+        # Recursively add children
+        children = []
+        for child in elem:
+            children.append(self._element_to_tree_node(child))
+        
+        if children:
+            node['children'] = children
+        
+        return node
+    
+    def _extract_nodes_from_xml(self, elem, tree: BTTree, nodes_list: list):
+        """Recursively extract nodes from XML element."""
+        # Check if this element has a _uid attribute
+        uid_str = elem.attrib.get('_uid')
+        if uid_str:
+            try:
+                uid = int(uid_str)
+                name = elem.attrib.get('name', elem.attrib.get('ID', elem.tag))
+                tag = elem.tag
+                
+                node = BTNode(uid=uid, name=name, tag=tag)
+                tree.nodes[uid] = node
+                nodes_list.append({
+                    'uid': uid,
+                    'name': name,
+                    'tag': tag
+                })
+                self._log_info(f"  Parsed node {uid}: {name} ({tag})")
+            except ValueError:
+                pass
+        
+        # Recurse into children
+        for child in elem:
+            self._extract_nodes_from_xml(child, tree, nodes_list)
+
+    def _handle_status_message(self, parts: list, tree_id: Optional[str] = None):
+        """
+        Parse status update message from Groot2 REQ/REP response.
+        
+        Response format (multipart):
+        - Part 0: Header (22 bytes): protocol(1), type(1), unique_id(4), tree_id(16)
+        - Part 1: Status data: repeated (uid: uint16, status: uint8) tuples
+        """
+        if not parts or len(parts) < 2:
+            return
+        
+        # Part 1 contains the status data
+        data = parts[1]
+        if len(data) < 3:
+            return
+        
+        try:
+            offset = 0
+            changes = []
+            
+            # Parse status updates: (uid: uint16, status: uint8) pairs
+            while offset + 3 <= len(data):
+                uid = struct.unpack('<H', data[offset:offset+2])[0]
+                status_val = data[offset+2]
+                offset += 3
+                
+                status_str = NodeStatus.to_string(status_val)
+                
+                # Only report changes
+                if self._last_statuses.get(uid) != status_str:
+                    self._last_statuses[uid] = status_str
+                    
+                    # Get node info if available
+                    node_name = ""
+                    node_tag = ""
+                    if self._current_tree and uid in self._current_tree.nodes:
+                        node = self._current_tree.nodes[uid]
+                        node_name = node.name
+                        node_tag = node.tag
+                    
+                    self._log_info(f"  Node {uid} ({node_name}): -> {status_str}")
+                    
+                    changes.append({
+                        'uid': uid,
+                        'name': node_name,
+                        'tag': node_tag,
+                        'status': status_str
+                    })
+            
+            if changes:
+                event = {
+                    'type': 'bt_status',
+                    'timestamp': time.time(),
+                    'tree_id': tree_id or (self._current_tree.tree_id if self._current_tree else None),
+                    'changes': changes
+                }
+                
+                self._log_info(f"Status update: {len(changes)} changes")
+                self._log_info(f"Sending status event: {json.dumps(event, indent=2)}")
+                self._event_callback(event)
+                
+        except Exception as e:
+            self._log_error(f"Error parsing status message: {e}")
+
+    def _handle_breakpoint_message(self, data: bytes):
+        """Handle breakpoint messages from Groot2."""
+        try:
+            # Breakpoint data is typically raw bytes that can be hex-encoded
+            parts = []
+            
+            # Split into chunks if needed (some protocols send multi-part)
+            chunk_size = 64
+            for i in range(0, len(data), chunk_size):
+                chunk = data[i:i+chunk_size]
+                parts.append(chunk.hex())
+            
+            event = {
+                'type': 'bt_breakpoint',
+                'timestamp': time.time(),
+                'parts': parts
+            }
+            
+            self._log_debug("Breakpoint event received")
+            self._event_callback(event)
+            
+        except Exception as e:
+            self._log_error(f"Error parsing breakpoint message: {e}")
+
+
+# For testing standalone
+if __name__ == "__main__":
+    def print_event(event):
+        print(f"EVENT: {json.dumps(event, indent=2)}")
+    
+    collector = BTCollector(print_event)
+    collector.start()
+    
+    try:
+        while True:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        collector.stop()

{osiris_agent-0.1.2 → osiris_agent-0.1.4}/osiris_agent.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: osiris_agent
-Version: 0.1.2
+Version: 0.1.4
 Summary: OSIRIS agent for ROS2/Humble
 Home-page: https://github.com/nicolaselielll/osiris_agent
 Author: Nicolas Tuomaala
@@ -17,6 +17,7 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: websockets
 Requires-Dist: psutil
+Requires-Dist: pyzmq
 Provides-Extra: ros
 Requires-Dist: rclpy; extra == "ros"
 Dynamic: author

{osiris_agent-0.1.2 → osiris_agent-0.1.4}/osiris_agent.egg-info/SOURCES.txt

@@ -3,6 +3,7 @@ README.md
 setup.py
 osiris_agent/__init__.py
 osiris_agent/agent_node.py
+osiris_agent/bt_collector.py
 osiris_agent.egg-info/PKG-INFO
 osiris_agent.egg-info/SOURCES.txt
 osiris_agent.egg-info/dependency_links.txt

{osiris_agent-0.1.2 → osiris_agent-0.1.4}/osiris_agent.egg-info/requires.txt

@@ -1,5 +1,6 @@
 websockets
 psutil
+pyzmq
 
 [ros]
 rclpy

{osiris_agent-0.1.2 → osiris_agent-0.1.4}/setup.py

@@ -6,7 +6,7 @@ long_description = (HERE / "README.md").read_text(encoding="utf-8")
 
 setup(
     name='osiris_agent',
-    version='0.1.2',
+    version='0.1.4',
     description='OSIRIS agent for ROS2/Humble',
     long_description=long_description,
     long_description_content_type="text/markdown",
@@ -27,6 +27,7 @@ setup(
     install_requires=[
         'websockets',
         'psutil',
+        'pyzmq',
     ],
     extras_require={
         'ros': ['rclpy'],