Add observer mode

blueye/sdk/connection.py

@@ -345,9 +345,13 @@ def sync_time(self, time: int, timeout: float = 0.05):
         return self._send_request_get_response(request, blueye.protocol.SyncTimeRep, timeout)
 
     def connect_client(
-        self, client_info: blueye.protocol.ClientInfo = None, timeout: float = 0.05
+        self,
+        client_info: blueye.protocol.ClientInfo = None,
+        is_observer: bool = False,
+        timeout: float = 0.05,
     ) -> blueye.protocol.ConnectClientRep:
         client = client_info or self._get_client_info()
+        client.is_observer = is_observer
         request = blueye.protocol.ConnectClientReq(client_info=client)
         return self._send_request_get_response(request, blueye.protocol.ConnectClientRep, timeout)
 

blueye/sdk/drone.py

@@ -182,6 +182,7 @@ def __init__(
         auto_connect=True,
         timeout=10,
         disconnect_other_clients=False,
+        connect_as_observer=False,
     ):
         self._ip = ip
         self.camera = Camera(self, is_guestport_camera=False)
@@ -204,7 +205,11 @@ def __init__(
         Guestport telemetry message has been recieved yet."""
 
         if auto_connect is True:
-            self.connect(timeout=timeout, disconnect_other_clients=disconnect_other_clients)
+            self.connect(
+                timeout=timeout,
+                disconnect_other_clients=disconnect_other_clients,
+                connect_as_observer=connect_as_observer,
+            )
 
     def _verify_required_blunux_version(self, requirement: str):
         """Verify that Blunux version is higher than requirement
@@ -270,6 +275,7 @@ def connect(
         client_info: blueye.protocol.ClientInfo = None,
         timeout: float = 4,
         disconnect_other_clients: bool = False,
+        connect_as_observer: bool = False,
     ):
         """Establish a connection to the drone
 
@@ -286,7 +292,9 @@ def connect(
         - *timeout*: Seconds to wait for connection. The first connection on boot can be a little
                      slower than the following ones
         - *disconnect_other_clients*: If True, disconnect clients until drone reports that we are in
-                                      control
+                                      control. If the connect_as_observer field is set to true, this
+                                      argument is ignored
+        - *connect_as_observer*: If True, the client will not be promoted to in control of the drone
 
         ** Raises **
         - *ConnectionError*: If the connection attempt fails
@@ -308,7 +316,9 @@ def connect(
 
         try:
             self.ping()
-            connect_resp = self._req_rep_client.connect_client(client_info=client_info)
+            connect_resp = self._req_rep_client.connect_client(
+                client_info=client_info, is_observer=connect_as_observer
+            )
         except blueye.protocol.exceptions.ResponseTimeout as e:
             raise ConnectionError("Could not establish connection with drone") from e
         logger.info(f"Connection successful, client id: {connect_resp.client_id}")
@@ -317,7 +327,7 @@ def connect(
         self.client_id = connect_resp.client_id
         self.in_control = connect_resp.client_id == connect_resp.client_id_in_control
         self.connected = True
-        if disconnect_other_clients and not self.in_control:
+        if disconnect_other_clients and not self.in_control and not connect_as_observer:
             self.take_control()
         self._drone_info_cb_id = self.telemetry.add_msg_callback(
             [blueye.protocol.DroneInfoTel],

tests/conftest.py

@@ -112,3 +112,14 @@ def mocked_drone(
     if hasattr(request, "param"):
         drone.software_version_short = request.param
     return drone
+
+
+@pytest.fixture
+def mocked_drone_not_connected(
+    mocker,
+    mocked_requests,
+    mocked_ctrl_client,
+    mocked_watchdog_publisher,
+    mocked_req_rep_client,
+):
+    return blueye.sdk.Drone(auto_connect=False)

tests/test_sdk.py

@@ -311,3 +311,15 @@ def test_dive_time_returns_expected_value(mocked_drone):
 
 def test_dive_time_returns_none_on_missing_telemetry(mocked_drone):
     assert mocked_drone.dive_time is None
+
+
+def test_connect_as_observer(mocked_drone_not_connected):
+    mocked_drone_not_connected.connect(connect_as_observer=True)
+    mocked_drone_not_connected._req_rep_client.connect_client.assert_called_with(
+        client_info=None, is_observer=True
+    )
+
+
+def test_connect_as_observer_ignores_diconnect_other_clients(mocked_drone_not_connected):
+    mocked_drone_not_connected.connect(disconnect_other_clients=True, connect_as_observer=True)
+    mocked_drone_not_connected._req_rep_client.disconnect_client.assert_not_called()