bob_central.swarm_scout_node
============================

.. py:module:: bob_central.swarm_scout_node

.. autoapi-nested-parse::

   swarm_scout_node.py - Eva's External Swarm Scout Daemon.

   Periodically probes public bootstrap nodes for peer discovery,
   attempts Noise XX handshake, reports findings to Qdrant.

   Topics:
     /eva/swarm/scout_report (std_msgs/String) - Scout findings



Attributes
----------

.. autoapisummary::

   bob_central.swarm_scout_node.QDRANT_URL
   bob_central.swarm_scout_node.BOOTSTRAP_NODES
   bob_central.swarm_scout_node.NOISE_AVAILABLE
   bob_central.swarm_scout_node.NOISE_AVAILABLE


Classes
-------

.. autoapisummary::

   bob_central.swarm_scout_node.SwarmScoutNode


Functions
---------

.. autoapisummary::

   bob_central.swarm_scout_node.main


Module Contents
---------------

.. py:data:: QDRANT_URL
   :value: 'http://qdrant:6333'


.. py:data:: BOOTSTRAP_NODES
   :value: [('51.81.93.51', 4001), ('147.75.83.211', 4001)]


.. py:data:: NOISE_AVAILABLE
   :value: False


.. py:data:: NOISE_AVAILABLE
   :value: True


.. py:class:: SwarmScoutNode

   Bases: :py:obj:`rclpy.node.Node`


   Periodically scouts external P2P networks.


   .. py:attribute:: report_pub


   .. py:attribute:: diag_pub


   .. py:attribute:: session_id
      :value: ''



   .. py:attribute:: scout_count
      :value: 0



   .. py:method:: _varint_encode(value: int) -> bytes


   .. py:method:: probe_bootstrap(host: str, port: int) -> dict

      Full probe with multistream-select and optional Noise handshake.



   .. py:method:: report_to_qdrant(findings: list)


   .. py:method:: run_scout()


   .. py:method:: publish_diagnostics(findings)

      Publish node status as ROS 2 diagnostics.



.. py:function:: main(args=None)