feat: integrate calibration extension and self-repair modules

src/cognitive_agent/application/calibration/mqtt_client.py

@@ -0,0 +1,130 @@
+"""Optional MQTT 3.1.1 client used by the browser workstation."""
+
+from __future__ import annotations
+
+import json
+import threading
+import uuid
+from collections.abc import Callable
+from typing import Any
+
+StateCallback = Callable[[str, str], None]
+PayloadCallback = Callable[[str, str], None]
+
+
+class MqttSeatPoseClient:
+    def __init__(
+        self,
+        host: str,
+        port: int,
+        topic: str,
+        on_state: StateCallback,
+        on_payload: PayloadCallback,
+    ) -> None:
+        self.host = host
+        self.port = port
+        self.topic = topic
+        self.test_topic = f"n7calibration/seatpose_test/{uuid.uuid4().hex[:12]}"
+        self.on_state = on_state
+        self.on_payload = on_payload
+        self._client: Any = None
+        self._lock = threading.Lock()
+
+    def connect(self) -> None:
+        try:
+            import paho.mqtt.client as mqtt  # type: ignore
+        except ImportError as error:
+            raise RuntimeError("缺少 paho-mqtt；请安装项目的 ir 可选依赖") from error
+
+        self.close()
+        try:
+            client = mqtt.Client(
+                callback_api_version=mqtt.CallbackAPIVersion.VERSION2,
+                client_id=f"n7cal_{uuid.uuid4().hex[:12]}",
+                protocol=mqtt.MQTTv311,
+            )
+        except (AttributeError, TypeError):
+            client = mqtt.Client(client_id=f"n7cal_{uuid.uuid4().hex[:12]}")
+        client.on_connect = self._on_connect
+        client.on_disconnect = self._on_disconnect
+        client.on_message = self._on_message
+        with self._lock:
+            self._client = client
+        self.on_state("connecting", f"正在连接 {self.host}:{self.port}")
+        client.connect_async(self.host, self.port, keepalive=60)
+        client.loop_start()
+
+    def publish_test(self, payload: dict[str, Any] | None = None) -> str:
+        with self._lock:
+            client = self._client
+        if client is None or not client.is_connected():
+            raise RuntimeError("MQTT 尚未连接")
+        body = payload or sample_payload()
+        result = client.publish(self.test_topic, json.dumps(body, ensure_ascii=False), qos=0)
+        if result.rc != 0:
+            raise RuntimeError(f"MQTT 发送失败，返回码 {result.rc}")
+        return self.test_topic
+
+    def close(self) -> None:
+        with self._lock:
+            client, self._client = self._client, None
+        if client is not None:
+            try:
+                client.disconnect()
+            except Exception:
+                pass
+            try:
+                client.loop_stop()
+            except Exception:
+                pass
+
+    def _on_connect(
+        self,
+        client: Any,
+        _userdata: Any,
+        _flags: Any,
+        reason_code: Any,
+        *_: Any,
+    ) -> None:
+        if int(reason_code) != 0:
+            self.on_state("error", f"MQTT 连接被拒绝：{reason_code}")
+            return
+        client.subscribe([(self.topic, 0), (self.test_topic, 0)])
+        self.on_state("subscribed", f"已订阅 {self.topic}")
+
+    def _on_disconnect(self, _client: Any, _userdata: Any, *args: Any) -> None:
+        reason = args[-2] if len(args) >= 2 else args[-1] if args else ""
+        self.on_state("disconnected", f"MQTT 已断开{f'：{reason}' if reason else ''}")
+
+    def _on_message(self, _client: Any, _userdata: Any, message: Any) -> None:
+        try:
+            payload = message.payload.decode("utf-8")
+        except UnicodeDecodeError:
+            self.on_state("error", "MQTT 收到非 UTF-8 数据")
+            return
+        self.on_payload(message.topic, payload)
+
+
+def sample_payload(frame: int = 1) -> dict[str, Any]:
+    return {
+        "type": "seatpose",
+        "frame": frame,
+        "timestamp_us": frame * 33_333,
+        "area_poses": [
+            {
+                "area": "Seat_cushion",
+                "axis_angle": {"valid": True, "degree": 0.0},
+                "current_frame_to_reference": {"valid": True, "T": [0.12, 0.04, 0.01]},
+            },
+            {
+                "area": "Seat_backrest",
+                "axis_angle": {"valid": True, "degree": 34.0},
+                "current_frame_to_reference": {"valid": True, "T": [0.0, 0.0, 0.0]},
+            },
+            {
+                "area": "Seat_leg_rest",
+                "axis_angle": {"valid": True, "degree": 22.0},
+                "current_frame_to_reference": {"valid": True, "T": [0.0, 0.0, 0.0]},
+            },
+        ],
+    }