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fix: correct the gestures bugs, change gestures socket to request/reply

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ref: N25B-334
This commit is contained in:
Björn Otgaar
2025-12-09 14:08:59 +01:00
parent 6d60a8bb40
commit 6034263259
2 changed files with 20 additions and 154 deletions
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158
src/control_backend/agents/actuation/robot_gesture_agent.py
View File

@@ -23,6 +23,7 @@ class RobotGestureAgent(BaseAgent):
"""
subsocket: azmq.Socket
repsocket: azmq.Socket
pubsocket: azmq.Socket
address = ""
bind = False
@@ -56,9 +57,8 @@ class RobotGestureAgent(BaseAgent):
context = azmq.Context.instance()
# To the robot
self.pubsocket = context.socket(zmq.PUB)
if self.bind: # TODO: Should this ever be the case?
if self.bind:
self.pubsocket.bind(self.address)
else:
self.pubsocket.connect(self.address)
@@ -69,6 +69,10 @@ class RobotGestureAgent(BaseAgent):
self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
self.subsocket.setsockopt(zmq.SUBSCRIBE, b"send_gestures")
# REP socket for replying to gesture requests
self.repsocket = context.socket(zmq.REP)
self.repsocket.bind("tcp://localhost:7788")
self.add_behavior(self._zmq_command_loop())
self.add_behavior(self._fetch_gestures_loop())
@@ -92,7 +96,7 @@ class RobotGestureAgent(BaseAgent):
try:
gesture_command = GestureCommand.model_validate_json(msg.body)
if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
if gesture_command.data not in self.availableTags():
if gesture_command.data not in self.gesture_data:
self.logger.warning(
"Received gesture tag '%s' which is not in available tags. Early returning",
gesture_command.data,
@@ -120,7 +124,7 @@ class RobotGestureAgent(BaseAgent):
body = json.loads(body)
gesture_command = GestureCommand.model_validate(body)
if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
if gesture_command.data not in self.availableTags():
if gesture_command.data not in self.gesture_data:
self.logger.warning(
"Received gesture tag '%s' which is not in available tags.\
Early returning",
@@ -139,157 +143,23 @@ class RobotGestureAgent(BaseAgent):
"""
while self._running:
try:
topic, body = await self.subsocket.recv_multipart()
# Don't process commands here
if topic != b"send_gestures":
continue
# Get a request
body = await self.repsocket.recv()
# Figure out amount, if specified
try:
body = json.loads(body)
except json.JSONDecodeError:
body = None
# We could have the body be the nummer of gestures you want to fetch or something.
amount = None
if isinstance(body, int):
amount = body
tags = self.availableTags()[:amount] if amount else self.availableTags()
# Fetch tags from gesture data and respond
tags = self.gesture_data[:amount] if amount else self.gesture_data
response = json.dumps({"tags": tags}).encode()
await self.pubsocket.send_multipart(
[
b"get_gestures",
response,
]
)
await self.repsocket.send(response)
except Exception:
self.logger.exception("Error fetching gesture tags.")
def availableTags(self):
"""
Returns the available gesture tags.
:return: List of available gesture tags.
"""
return [
"above",
"affirmative",
"afford",
"agitated",
"all",
"allright",
"alright",
"any",
"assuage",
"assuage",
"attemper",
"back",
"bashful",
"beg",
"beseech",
"blank",
"body language",
"bored",
"bow",
"but",
"call",
"calm",
"choose",
"choice",
"cloud",
"cogitate",
"cool",
"crazy",
"disappointed",
"down",
"earth",
"empty",
"embarrassed",
"enthusiastic",
"entire",
"estimate",
"except",
"exalted",
"excited",
"explain",
"far",
"field",
"floor",
"forlorn",
"friendly",
"front",
"frustrated",
"gentle",
"gift",
"give",
"ground",
"happy",
"hello",
"her",
"here",
"hey",
"hi",
"him",
"hopeless",
"hysterical",
"I",
"implore",
"indicate",
"joyful",
"me",
"meditate",
"modest",
"negative",
"nervous",
"no",
"not know",
"nothing",
"offer",
"ok",
"once upon a time",
"oppose",
"or",
"pacify",
"pick",
"placate",
"please",
"present",
"proffer",
"quiet",
"reason",
"refute",
"reject",
"rousing",
"sad",
"select",
"shamefaced",
"show",
"show sky",
"sky",
"soothe",
"sun",
"supplicate",
"tablet",
"tall",
"them",
"there",
"think",
"timid",
"top",
"unless",
"up",
"upstairs",
"void",
"warm",
"winner",
"yeah",
"yes",
"yoo-hoo",
"you",
"your",
"zero",
"zestful",
]

16
src/control_backend/api/v1/endpoints/robot.py
View File

@@ -66,23 +66,19 @@ async def get_available_gesture_tags(request: Request):
:param request: The FastAPI request object.
:return: A list of available gesture tags.
"""
sub_socket = Context.instance().socket(zmq.SUB)
sub_socket.connect(settings.zmq_settings.internal_sub_address)
sub_socket.setsockopt(zmq.SUBSCRIBE, b"get_gestures")
pub_socket: Socket = request.app.state.endpoints_pub_socket
topic = b"send_gestures"
req_socket = Context.instance().socket(zmq.REQ)
req_socket.connect("tcp://localhost:7788")
# TODO: Implement a way to get a certain ammount from the UI, rather than everything.
amount = None
timeout = 5 # seconds
await pub_socket.send_multipart([topic, amount.to_bytes(4, "big") if amount else b""])
await req_socket.send(f"{amount}".encode() if amount else b"None")
try:
_, body = await asyncio.wait_for(sub_socket.recv_multipart(), timeout=timeout)
body = await asyncio.wait_for(req_socket.recv(), timeout=timeout)
except TimeoutError:
body = b"tags: []"
logger.debug("got timeout error fetching gestures")
body = '{"tags": []}'
logger.debug("Got timeout error fetching gestures.")
# Handle empty response and JSON decode errors
available_tags = []