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controller: split out qrkey client in its own service #207

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543b21f
dotbot: split out qrkey in its own client service
aabadie Feb 9, 2026
00e6f3d
dotbot/dotbot_simulator: fix pdr limit
aabadie Feb 9, 2026
56624a8
dotbot/frontend: re-add rest support
aabadie Feb 17, 2026
e07da0e
dotbot/frontend: dotbot/server: fix remaining bugs in UI (Rest mode)
aabadie Feb 17, 2026
934d063
pyproject.toml: bump qrkey dependency
aabadie Feb 17, 2026
7ceda34
dotbot/qrkey_app: add basic tests
aabadie Feb 17, 2026
545dfb1
dotbot/tests: add initial tests for qrkey
aabadie Feb 17, 2026
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2 changes: 1 addition & 1 deletion dotbot/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
NETWORK_ID_DEFAULT = "0000"
CONTROLLER_HTTP_PROTOCOL_DEFAULT = "http"
CONTROLLER_HTTP_HOSTNAME_DEFAULT = "localhost"
CONTROLLER_HTTP_PORT_DEFAULT = "8000"
CONTROLLER_HTTP_PORT_DEFAULT = 8000
CONTROLLER_ADAPTER_DEFAULT = "serial"
MQTT_HOST_DEFAULT = "localhost"
MQTT_PORT_DEFAULT = 1883
Expand Down
274 changes: 1 addition & 273 deletions dotbot/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,6 @@
from dotbot_utils.protocol import Frame, Payload
from dotbot_utils.serial_interface import SerialInterfaceException
from fastapi import WebSocket
from pydantic import ValidationError
from pydantic.tools import parse_obj_as
from qrkey import QrkeyController, SubscriptionModel, qrkey_settings

from dotbot import (
CONTROLLER_ADAPTER_DEFAULT,
Expand Down Expand Up @@ -56,29 +53,15 @@
DotBotLH2Position,
DotBotMapSizeModel,
DotBotModel,
DotBotMoveRawCommandModel,
DotBotNotificationCommand,
DotBotNotificationModel,
DotBotNotificationUpdate,
DotBotQueryModel,
DotBotReplyModel,
DotBotRequestModel,
DotBotRequestType,
DotBotRgbLedCommandModel,
DotBotStatus,
DotBotWaypoints,
DotBotXGOActionCommandModel,
)
from dotbot.protocol import (
ApplicationType,
PayloadCommandMoveRaw,
PayloadCommandRgbLed,
PayloadCommandXgoAction,
PayloadGPSPosition,
PayloadGPSWaypoints,
PayloadLh2CalibrationHomography,
PayloadLH2Location,
PayloadLH2Waypoints,
PayloadType,
)
from dotbot.server import api
Expand All @@ -91,7 +74,6 @@
# )


CONTROLLERS = {}
INACTIVE_DELAY = 5 # seconds
LOST_DELAY = 60 # seconds
LH2_POSITION_DISTANCE_THRESHOLD = 20 # mm
Expand Down Expand Up @@ -213,243 +195,6 @@ def __init__(self, settings: ControllerSettings):
height=int(settings.map_size.split("x")[1]),
)
api.controller = self
self.qrkey = None

self.subscriptions = [
SubscriptionModel(
topic="/command/+/+/+/move_raw", callback=self.on_command_move_raw
),
SubscriptionModel(
topic="/command/+/+/+/rgb_led", callback=self.on_command_rgb_led
),
SubscriptionModel(
topic="/command/+/+/+/xgo_action", callback=self.on_command_xgo_action
),
SubscriptionModel(
topic="/command/+/+/+/waypoints", callback=self.on_command_waypoints
),
SubscriptionModel(
topic="/command/+/+/+/clear_position_history",
callback=self.on_command_clear_position_history,
),
]

def on_command_move_raw(self, topic, payload):
"""Called when a move raw command is received."""
logger = self.logger.bind(command="move_raw", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "move_raw":
logger.warning("Invalid move_raw command topic")
return
_, address, application, _ = topic_split
try:
command = DotBotMoveRawCommandModel(**payload)
except ValidationError as exc:
self.logger.warning(f"Invalid move raw command: {exc.errors()}")
return
logger.bind(
address=address,
application=ApplicationType(int(application)).name,
**command.model_dump(),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
payload = PayloadCommandMoveRaw(
left_x=command.left_x,
left_y=command.left_y,
right_x=command.right_x,
right_y=command.right_y,
)
logger.info(
"Sending MQTT command", address=address, command=payload.__class__.__name__
)
self.send_payload(int(address, 16), payload=payload)
self.dotbots[address].move_raw = command

def on_command_rgb_led(self, topic, payload):
"""Called when an rgb led command is received."""
logger = self.logger.bind(command="rgb_led", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "rgb_led":
logger.warning("Invalid rgb_led command topic")
return
_, address, application, _ = topic_split
try:
command = DotBotRgbLedCommandModel(**payload)
except ValidationError as exc:
LOGGER.warning(f"Invalid rgb led command: {exc.errors()}")
return
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
**command.model_dump(),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
payload = PayloadCommandRgbLed(
red=command.red, green=command.green, blue=command.blue
)
logger.info(
"Sending MQTT command", address=address, command=payload.__class__.__name__
)
self.send_payload(int(address, 16), payload=payload)
self.dotbots[address].rgb_led = command
self.qrkey.publish(
"/notify",
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD).model_dump(
exclude_none=True
),
)

def on_command_xgo_action(self, topic, payload):
"""Called when an rgb led command is received."""
logger = self.logger.bind(command="xgo_action", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "xgo_action":
logger.warning("Invalid xgo_action command topic")
return
_, address, application, _ = topic_split
try:
command = DotBotXGOActionCommandModel(**payload)
except ValidationError as exc:
LOGGER.warning(f"Invalid rgb led command: {exc.errors()}")
return
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
**command.model_dump(),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
payload = PayloadCommandXgoAction(action=command.action)
logger.info(
"Sending MQTT command", address=address, command=payload.__class__.__name__
)
self.send_payload(int(address, 16), payload=payload)

def on_command_waypoints(self, topic, payload):
"""Called when a list of waypoints is received."""
logger = self.logger.bind(command="waypoints", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "waypoints":
logger.warning("Invalid waypoints command topic")
return
_, address, application, _ = topic_split
command = parse_obj_as(DotBotWaypoints, payload)
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
threshold=command.threshold,
length=len(command.waypoints),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
waypoints_list = command.waypoints
if ApplicationType(int(application)) == ApplicationType.SailBot:
if self.dotbots[address].gps_position is not None:
waypoints_list = [
self.dotbots[address].gps_position
] + command.waypoints
payload = PayloadGPSWaypoints(
threshold=command.threshold,
count=len(command.waypoints),
waypoints=[
PayloadGPSPosition(
latitude=int(waypoint.latitude * 1e6),
longitude=int(waypoint.longitude * 1e6),
)
for waypoint in command.waypoints
],
)
else: # DotBot application
if self.dotbots[address].lh2_position is not None:
waypoints_list = [
self.dotbots[address].lh2_position
] + command.waypoints
payload = PayloadLH2Waypoints(
threshold=command.threshold,
count=len(command.waypoints),
waypoints=[
PayloadLH2Location(
pos_x=int(waypoint.x),
pos_y=int(waypoint.y),
pos_z=int(waypoint.z),
)
for waypoint in command.waypoints
],
)
logger.info(
"Sending MQTT command", address=address, command=payload.__class__.__name__
)
self.send_payload(int(address, 16), payload=payload)
self.dotbots[address].waypoints = waypoints_list
self.dotbots[address].waypoints_threshold = command.threshold
self.qrkey.publish(
"/notify",
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD).model_dump(
exclude_none=True
),
)

def on_command_clear_position_history(self, topic, _):
"""Called when a clear position history command is received."""
logger = self.logger.bind(command="clear_position_history", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "clear_position_history":
logger.warning("Invalid clear_position_history command topic")
return
_, address, application, _ = topic_split
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
logger.info("Notify clear command", address=address)
self.dotbots[address].position_history = []
self.qrkey.publish(
"/notify",
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD).model_dump(
exclude_none=True
),
)

def on_request(self, payload):
logger = LOGGER.bind(topic="/request")
logger.info("Request received", **payload)
try:
request = DotBotRequestModel(**payload)
except ValidationError as exc:
logger.warning(f"Invalid request: {exc.errors()}")
return

reply_topic = f"/reply/{request.reply}"
if request.request == DotBotRequestType.DOTBOTS:
logger.info("Publish dotbots")
data = [
dotbot.model_dump(exclude_none=True)
for dotbot in self.get_dotbots(DotBotQueryModel())
]
message = DotBotReplyModel(
request=DotBotRequestType.DOTBOTS,
data=data,
).model_dump(exclude_none=True)
self.qrkey.publish(reply_topic, message)
elif request.request == DotBotRequestType.MAP_SIZE:
logger.info("Publish map size")
data = self.map_size.model_dump(exclude_none=True)
message = DotBotReplyModel(
request=DotBotRequestType.MAP_SIZE,
data=data,
).model_dump(exclude_none=True)
self.qrkey.publish(reply_topic, message)
else:
logger.warning("Unsupported request command")

async def _open_webbrowser(self):
"""Wait until the server is ready before opening a web browser."""
Expand All @@ -463,18 +208,7 @@ async def _open_webbrowser(self):
else:
writer.close()
break
url = (
f"http://localhost:{self.settings.controller_http_port}/PyDotBot?"
f"pin={self.qrkey.pin_code}&"
f"mqtt_host={qrkey_settings.mqtt_host}&"
f"mqtt_port={qrkey_settings.mqtt_ws_port}&"
f"mqtt_version={qrkey_settings.mqtt_version}&"
f"mqtt_use_ssl={qrkey_settings.mqtt_use_ssl}"
)
if qrkey_settings.mqtt_username is not None:
url += f"&mqtt_username={qrkey_settings.mqtt_username}"
if qrkey_settings.mqtt_password is not None:
url += f"&mqtt_password={qrkey_settings.mqtt_password}"
url = f"http://localhost:{self.settings.controller_http_port}/PyDotBot"
self.logger.debug("Using frontend URL", url=url)
if self.settings.webbrowser is True:
self.logger.info("Opening webbrowser", url=url)
Expand Down Expand Up @@ -712,7 +446,6 @@ async def notify_clients(self, notification):
for websocket in self.websockets
]
)
self.qrkey.publish("/notify", notification.model_dump(exclude_none=True))

def send_payload(self, destination: int, payload: Payload):
"""Sends a command in an HDLC frame over serial."""
Expand Down Expand Up @@ -841,13 +574,8 @@ async def _start_adapter(self):
async def run(self):
"""Launch the controller."""
tasks = []
self.qrkey = QrkeyController(self.on_request, LOGGER, root_topic="/pydotbot")
try:
tasks = [
asyncio.create_task(
name="QrKey controller",
coro=self.qrkey.start(subscriptions=self.subscriptions),
),
asyncio.create_task(name="Web server", coro=self.web()),
asyncio.create_task(name="Web browser", coro=self._open_webbrowser()),
asyncio.create_task(
Expand Down
2 changes: 1 addition & 1 deletion dotbot/dotbot_simulator.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -285,7 +285,7 @@ def flush(self):
pass

def _packet_delivered(self):
return random.randint(0, 100) < self.network_pdr
return random.randint(0, 100) <= self.network_pdr

def handle_dotbot_frame(self, frame):
"""Send bytes to the fake serial, similar to the real gateway."""
Expand Down
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