Support runtime add/remove of robots for fleet autodiscovery#79
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Make `FleetConnector.update_fleet()` the single, idempotent reconciler of the live robot fleet, and add `add_robot()`/`remove_robot()` as thin convenience wrappers over it. This lets fleet connectors add and remove robots while running, enabling robot autodiscovery (e.g. polling a fleet manager and reacting to robots joining/leaving). Previously the fleet was static after `start()`: `update_fleet()` only swapped the cached config and `__robot_ids`, with sessions bulk-created once at connect time and never reconciled afterwards. Changes: - `update_fleet(fleet)` now reconciles the live sessions to exactly the given list: creates+connects sessions for added robots (registering cameras, command handler and online-status callback) and disconnects + frees sessions for removed robots, clearing their per-robot state. The whole reconcile runs under a re-entrant fleet lock so a fleet change is atomic w.r.t. concurrent callers. - `add_robot()`/`remove_robot()` read the current fleet and delegate to `update_fleet()` under the same lock. - Reconcile logic lives in a private `__apply_fleet()`; `update_fleet()` wraps it and `__connect()` calls it directly to create the initial sessions (replacing `__initialize_sessions()`). - Camera registration moved from `__run_connector` into `__initialize_session` so runtime-added robots get their cameras too. - `__disconnect()` disconnects under the lock and clears the session dict (so a later `start()` reconnects, and a concurrent add can't leak a session mid-teardown). - `__publish_pending_system_stats` reads `__robot_sessions` instead of the pool, so a removed robot is skipped rather than resurrected on a cache miss. - Single-robot `Connector` overrides the public mutation API to raise `NotImplementedError` (its startup still works via the private `__apply_fleet`). - Fleet may shrink to zero robots at runtime; the loop idles safely. Docs and the fleet-connector example updated to show autodiscovery. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Make ConnectorRootConfig.fleet optional (default []) and drop the must_contain_at_least_one_robot validator, so a connector can start knowing no robots and discover them at runtime via add_robot()/ update_fleet(). robot_ids_must_be_unique still applies (and is a no-op for an empty list). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
leandropineda
approved these changes
Jun 4, 2026
leandropineda
approved these changes
Jun 5, 2026
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Summary
Adds runtime add/remove of robots to
FleetConnector, enabling robot autodiscovery (e.g. polling a fleet manager and reacting to robots joining/leaving). Previously the fleet was static afterstart()—update_fleet()only swapped the cached config without reconciling sessions, and there was no way to change the fleet while running.update_fleet(fleet)now reconciles the live sessions to match the given list: connects added robots, disconnects + cleans up removed ones. Idempotent.add_robot(RobotConfig)/remove_robot(robot_id)as convenience wrappers overupdate_fleet().Connectorblocks these methods (NotImplementedError) since it's bound to one robot.update_fleet()at startup (for auto-discovery at startup, which was already supported).