src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -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()
+                # Get a request
-
+                body = await self.repsocket.recv()
-                # Don't process commands here
-                if topic != b"send_gestures":
-                    continue
 
+                # 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.repsocket.send(response)
-                await self.pubsocket.send_multipart(
-                    [
-                        b"get_gestures",
-                        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",
-        ]

src/control_backend/api/v1/endpoints/robot.py

@@ -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)
+    req_socket = Context.instance().socket(zmq.REQ)
-    sub_socket.connect(settings.zmq_settings.internal_sub_address)
+    req_socket.connect("tcp://localhost:7788")
-    sub_socket.setsockopt(zmq.SUBSCRIBE, b"get_gestures")
-
-    pub_socket: Socket = request.app.state.endpoints_pub_socket
-    topic = b"send_gestures"
 
     # 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: []"
+        body = '{"tags": []}'
-        logger.debug("got timeout error fetching gestures")
+        logger.debug("Got timeout error fetching gestures.")
 
     # Handle empty response and JSON decode errors
     available_tags = []