From 31d9bbee4fc21b0f6675fc798e9d4e8ed4bdfe61 Mon Sep 17 00:00:00 2001
From: Jev <jev.kuznetsov@gmail.com>
Date: Sat, 16 Nov 2024 21:39:01 +0000
Subject: [PATCH] add _on_init coro

---
 examples/node_system.py             |  1 -
 src/roxbot/adapters/mqtt_adapter.py |  3 ++-
 src/roxbot/node.py                  | 12 +++++++++---
 tests/test_interfaces.py            |  6 ------
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/examples/node_system.py b/examples/node_system.py
index 7d4ebac..637ff92 100755
--- a/examples/node_system.py
+++ b/examples/node_system.py
@@ -24,7 +24,6 @@ def __init__(self) -> None:
         super().__init__()
 
         # add coroutines to run in main()
-        self._coros.append(self._on_init)
         self._coros.append(self.talker_coro)
 
     async def _on_init(self) -> None:
diff --git a/src/roxbot/adapters/mqtt_adapter.py b/src/roxbot/adapters/mqtt_adapter.py
index aece33b..d61f1be 100644
--- a/src/roxbot/adapters/mqtt_adapter.py
+++ b/src/roxbot/adapters/mqtt_adapter.py
@@ -110,12 +110,13 @@ def publish_nowait(self, topic: str, data: JsonSerializableType) -> None:
     async def subscribe(self, topic: str) -> None:
         """subscribe to topic"""
 
+        self._log.info(f"Subscribing to {topic}")
+
         await asyncio.wait_for(self._client_ready.wait(), timeout=1)
 
         if self._client is None:
             raise RuntimeError("MQTT client not initialized")
 
-        self._log.info(f"Subscribing to {topic}")
         await self._client.subscribe(topic)
 
     async def unsubscribe(self, topic: str) -> None:
diff --git a/src/roxbot/node.py b/src/roxbot/node.py
index b0102a9..f08f0b3 100644
--- a/src/roxbot/node.py
+++ b/src/roxbot/node.py
@@ -40,13 +40,14 @@ def __init__(self, name: str | None = None) -> None:
         self.mqtt = MqttAdapter(parent=self)
 
         # list of coroutines to run in main(). Append to this list in __init__ of derived class. Provide as a reference to the coro, not a call.
-        self._coros: List[Callable] = [
-            self.mqtt.main,
-        ]
+        self._coros: List[Callable] = []
 
         self._main_started = False
         self._tasks: List[asyncio.Task] = []
 
+    async def _on_init(self) -> None:
+        """init coroutine to run in main(), override in derived class"""
+
     async def main(self) -> None:
         """main coroutine"""
         self._log.debug("starting main")
@@ -56,6 +57,11 @@ async def main(self) -> None:
 
         self._main_started = True
 
+        # start mqtt
+        self._tasks.append(asyncio.create_task(self.mqtt.main()))
+
+        await self._on_init()
+
         async with asyncio.TaskGroup() as tg:
             for coro in self._coros:
                 self._log.info(f"starting {coro}")
diff --git a/tests/test_interfaces.py b/tests/test_interfaces.py
index 8d31fee..644dced 100644
--- a/tests/test_interfaces.py
+++ b/tests/test_interfaces.py
@@ -30,19 +30,15 @@ async def main(self) -> None:
 
 def test_data_classes():
 
-    now = time.time()
-
     latlon = interfaces.GpsLatlon(1, 2)
 
     assert latlon.lat == 1
     assert latlon.lon == 2
     assert latlon.gps_qual == 0
-    assert abs(latlon.ts - now) < 1
 
     head = interfaces.GpsHeading(1, 2)
     assert head.heading == 1
     assert head.heading_stdev == 2
-    assert abs(head.ts - now) < 1
 
     pos = interfaces.PositionData(1, 2)
     assert pos.lat == 1
@@ -50,10 +46,8 @@ def test_data_classes():
     assert pos.x == 0
     assert pos.y == 0
     assert pos.gps_qual == 0
-    assert abs(pos.ts - now) < 1
 
     head = interfaces.HeadingData(1, 2, 3)
     assert head.heading == 1
     assert head.heading_stdev == 2
     assert head.theta == 3
-    assert abs(head.ts - now) < 1