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Merge branch 'feat/environment-variables' into 'dev'

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Docs for environment variables, parameterize some constants

See merge request ics/sp/2025/n25b/pepperplus-cb!38
This commit was merged in pull request #38.
This commit is contained in:
Björn Otgaar
2026-01-06 09:02:49 +00:00
parent 4c20656c75 7d798f2e77
commit 612a96940d
9 changed files with 104 additions and 41 deletions
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2
src/control_backend/agents/actuation/robot_gesture_agent.py
View File

@@ -33,7 +33,7 @@ class RobotGestureAgent(BaseAgent):
def __init__(
self,
name: str,
address=settings.zmq_settings.ri_command_address,
address: str,
bind=False,
gesture_data=None,
single_gesture_data=None,

4
src/control_backend/agents/communication/ri_communication_agent.py
View File

@@ -38,7 +38,7 @@ class RICommunicationAgent(BaseAgent):
def __init__(
self,
name: str,
address=settings.zmq_settings.ri_command_address,
address=settings.zmq_settings.ri_communication_address,
bind=False,
):
super().__init__(name)
@@ -168,7 +168,7 @@ class RICommunicationAgent(BaseAgent):
bind = port_data["bind"]
if not bind:
addr = f"tcp://localhost:{port}"
addr = f"tcp://{settings.ri_host}:{port}"
else:
addr = f"tcp://*:{port}"

12
src/control_backend/agents/perception/vad_agent.py
View File

@@ -103,12 +103,11 @@ class VADAgent(BaseAgent):
self._connect_audio_in_socket()
audio_out_port = self._connect_audio_out_socket()
if audio_out_port is None:
audio_out_address = self._connect_audio_out_socket()
if audio_out_address is None:
self.logger.error("Could not bind output socket, stopping.")
await self.stop()
return
audio_out_address = f"tcp://localhost:{audio_out_port}"
# Connect to internal communication socket
self.program_sub_socket = azmq.Context.instance().socket(zmq.SUB)
@@ -161,13 +160,14 @@ class VADAgent(BaseAgent):
self.audio_in_socket.connect(self.audio_in_address)
self.audio_in_poller = SocketPoller[bytes](self.audio_in_socket)
def _connect_audio_out_socket(self) -> int | None:
def _connect_audio_out_socket(self) -> str | None:
"""
Returns the port bound, or None if binding failed.
Returns the address that was bound to, or None if binding failed.
"""
try:
self.audio_out_socket = azmq.Context.instance().socket(zmq.PUB)
return self.audio_out_socket.bind_to_random_port("tcp://localhost", max_tries=100)
self.audio_out_socket.bind(settings.zmq_settings.vad_pub_address)
return settings.zmq_settings.vad_pub_address
except zmq.ZMQBindError:
self.logger.error("Failed to bind an audio output socket after 100 tries.")
self.audio_out_socket = None