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Merge branch 'dev' of https://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-cb into feat/10-basic-gestures

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JobvAlewijk
2025-12-29 19:43:03 +01:00
parent 3571bd614f adbb7ffd5c
commit aa6a90f4e1
14 changed files with 380 additions and 14 deletions
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27
src/control_backend/agents/actuation/robot_gesture_agent.py
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@@ -19,7 +19,9 @@ class RobotGestureAgent(BaseAgent):
:ivar pubsocket: ZMQ PUB socket for sending commands to the Robot Interface.
:ivar address: Address to bind/connect the PUB socket.
:ivar bind: Whether to bind or connect the PUB socket.
:ivar gesture_data: A list of strings for available gestures
:ivar gesture_tags: A list of strings for available gesture tags
:ivar gesture_basic: A list of strings for 10 basisc gestures
:ivar gesture_single: A list of strings for all available gestures
"""
subsocket: azmq.Socket
@@ -98,15 +100,20 @@ 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.gesture_data:
# self.logger.warning(
# "Received gesture tag '%s' which is not in available tags.
# Early returning",
# gesture_command.data,
# )
# return
if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
if gesture_command.data not in self.gesture_tags:
self.logger.warning(
"Received gesture tag '%s' which is not in available tags. Early returning",
gesture_command.data,
)
return
elif gesture_command.endpoint == RIEndpoint.GESTURE_SINGLE:
if gesture_command.data not in self.gesture_single:
self.logger.warning(
"Received gesture '%s' which is not in available gestures. Early returning",
gesture_command.data,
)
return
await self.pubsocket.send_json(gesture_command.model_dump())
except Exception:
self.logger.exception("Error processing internal message.")