src/control_backend/agents/communication/ri_communication_agent.py

@@ -38,7 +38,7 @@ class RICommunicationAgent(BaseAgent):
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_communication_address,
+        address=settings.zmq_settings.ri_command_address,
         bind=False,
     ):
         super().__init__(name)
@@ -168,7 +168,7 @@ class RICommunicationAgent(BaseAgent):
             bind = port_data["bind"]
 
             if not bind:
-                addr = f"tcp://{settings.ri_host}:{port}"
+                addr = f"tcp://localhost:{port}"
             else:
                 addr = f"tcp://*:{port}"
 
@@ -268,30 +268,6 @@ class RICommunicationAgent(BaseAgent):
                         if self.pub_socket is not None:
                             await self.pub_socket.send_multipart([topic, data])
                         await asyncio.sleep(settings.behaviour_settings.sleep_s)
-                    case "face":
-                        # Ask the RI for current face status
-                        request = {"endpoint": "face", "data": {}}
-                        try:
-                            assert self._req_socket is not None
-                            await self._req_socket.send_json(request)
-                            response = await asyncio.wait_for(
-                                self._req_socket.recv_json(), timeout=2.0
-                            )
-
-                            # Expect response: {"endpoint": "face", "data": True/False}
-                            face_status = response.get("data", False)
-
-                            topic = b"face"
-                            data = json.dumps(face_status).encode()
-
-                            if self.pub_socket is not None:
-                                await self.pub_socket.send_multipart([topic, data])
-
-                            self.logger.debug(f"Face status: {face_status}")
-
-                        except Exception as e:
-                            self.logger.warning(f"Failed to get face status: {e}")
-
                     case _:
                         self.logger.debug(
                             "Received message with topic different than ping, while ping expected."