From 891ebf5e3f92a5060dbe0b5a792523f1b9a55495 Mon Sep 17 00:00:00 2001
From: Storm <stormluykx@gmail.com>
Date: Tue, 27 Jan 2026 17:58:06 +0100
Subject: [PATCH 1/5] chore: changed video sending to work without cv2

---
 src/robot_interface/core/config.py            |  2 +-
 src/robot_interface/endpoints/video_sender.py | 29 ++++++++++++++-----
 2 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/src/robot_interface/core/config.py b/src/robot_interface/core/config.py
index 9e638b5..2d92606 100644
--- a/src/robot_interface/core/config.py
+++ b/src/robot_interface/core/config.py
@@ -61,7 +61,7 @@ class VideoConfig(object):
     ):
         self.camera_index = get_config(camera_index, "VIDEO__CAMERA_INDEX", 0, int)
         self.resolution = get_config(resolution, "VIDEO__RESOLUTION", 2, int)
-        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 11, int)
+        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 13, int)
         self.fps = get_config(fps, "VIDEO__FPS", 15, int)
         self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
         self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)
diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py
index d822352..4ea4b8e 100644
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -2,6 +2,8 @@ import zmq
 import threading
 import logging
 
+import numpy as np
+
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
 from robot_interface.core.config import settings
@@ -52,10 +54,23 @@ class VideoSender(SocketBase):
         :param vid_stream_name: The name of a camera subscription on the video service object vid_service
         :type vid_stream_name: str
         """
-        while not state.exit_event.is_set():
-            try:
-                img = vid_service.getImageRemote(vid_stream_name)
-                #Possibly limit images sent if queuing issues arise
-                self.socket.send(img[settings.video_config.image_buffer])
-            except:
-                logging.warn("Failed to retrieve video image from robot.")
+        try:
+            while not state.exit_event.is_set():
+                try:
+                    img = vid_service.getImageRemote(vid_stream_name)
+                    if img is not None:
+                        raw_data = img[6]
+                        width = img[0]
+                        height = img[1]
+
+                        width_bytes = width.to_bytes(4, 'little')
+                        height_bytes = height.to_bytes(4, 'little')
+
+                        self.socket.send_multipart([width_bytes, height_bytes, raw_data])
+                except:
+                    logging.warn("Failed to retrieve video image from robot.")
+        except KeyboardInterrupt:
+            logging.info("Video receiving loop interrupted by user.")
+        finally:
+            vid_service.unsubscribe(vid_stream_name)
+            logging.info("Unsubscribed from video stream.")
\ No newline at end of file

From 4a2cace1cf4151163d86dbedbebb4460514123e7 Mon Sep 17 00:00:00 2001
From: Storm <stormluykx@gmail.com>
Date: Thu, 29 Jan 2026 12:02:28 +0100
Subject: [PATCH 2/5] chore: changed socket option to set HWM to 3 (max 3
 packets in queue

---
 src/robot_interface/endpoints/video_sender.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py
index 4ea4b8e..d744e4a 100644
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -21,7 +21,7 @@ class VideoSender(SocketBase):
     """
     def __init__(self, zmq_context, port=settings.agent_settings.video_sender_port):
         super(VideoSender, self).__init__("video")
-        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
+        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.SNDHWM,3)])
     
     def start_video_rcv(self):
         """

From 56becd84ac5feebef24e5c96e4810dbf35c34f35 Mon Sep 17 00:00:00 2001
From: Storm <stormluykx@gmail.com>
Date: Thu, 29 Jan 2026 12:16:48 +0100
Subject: [PATCH 3/5] test: fixed video_sender tests

ref: N25B-393
---
 src/robot_interface/endpoints/video_sender.py |  5 +++--
 test/unit/test_video_sender.py                | 15 +++++++++++----
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py
index d744e4a..f3e28f2 100644
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -3,6 +3,7 @@ import threading
 import logging
 
 import numpy as np
+import struct
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
@@ -63,8 +64,8 @@ class VideoSender(SocketBase):
                         width = img[0]
                         height = img[1]
 
-                        width_bytes = width.to_bytes(4, 'little')
-                        height_bytes = height.to_bytes(4, 'little')
+                        width_bytes = struct.pack('<I', width)
+                        height_bytes = struct.pack('<I', height)
 
                         self.socket.send_multipart([width_bytes, height_bytes, raw_data])
                 except:
diff --git a/test/unit/test_video_sender.py b/test/unit/test_video_sender.py
index 430f658..35d592e 100644
--- a/test/unit/test_video_sender.py
+++ b/test/unit/test_video_sender.py
@@ -1,5 +1,6 @@
 # coding=utf-8
 
+import struct
 import mock
 import pytest
 import zmq
@@ -48,8 +49,10 @@ def test_video_streaming(zmq_context, mocker):
     # Pepper's image buffer lives at index 6
     mocker.patch.object(settings.video_config, "image_buffer", 6)
 
+    test_width = 320
+    test_height = 240
     mock_video_service = mock.Mock()
-    mock_video_service.getImageRemote.return_value = [None]*6 + ["fake_img"]
+    mock_video_service.getImageRemote.return_value = [test_width, test_height, None, None, None, None, b"fake_img"]
 
     fake_session = mock.Mock()
     fake_session.service.return_value = mock_video_service
@@ -63,12 +66,16 @@ def test_video_streaming(zmq_context, mocker):
 
     sender = VideoSender(zmq_context)
     send_socket = mock.Mock()
-    sender.socket.send = send_socket
+    sender.socket.send_multipart = send_socket
 
     sender.start_video_rcv()
     sender.video_rcv_loop(mock_video_service, "stream_name")
 
-    send_socket.assert_called_with("fake_img")
+    send_socket.assert_called_with([
+    struct.pack('<I', 320),
+    struct.pack('<I', 240),
+    b"fake_img"
+])
 
 
 def test_video_receive_error(zmq_context, mocker):
@@ -91,7 +98,7 @@ def test_video_receive_error(zmq_context, mocker):
 
     sender = VideoSender(zmq_context)
     send_socket = mock.Mock()
-    sender.socket.send = send_socket
+    sender.socket.send_multipart = send_socket
 
     sender.start_video_rcv()
     sender.video_rcv_loop(mock_video_service, "stream_name")

From 24c7fa216fb56bd4366e8b0155e7026cbef9debf Mon Sep 17 00:00:00 2001
From: Storm <stormluykx@gmail.com>
Date: Thu, 29 Jan 2026 12:28:34 +0100
Subject: [PATCH 4/5] test: 100% coverage

ref: N25B-393
---
 src/robot_interface/endpoints/video_sender.py |  4 ++--
 test/unit/test_video_sender.py                | 21 +++++++++++++++++++
 2 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py
index f3e28f2..23a071f 100644
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -68,10 +68,10 @@ class VideoSender(SocketBase):
                         height_bytes = struct.pack('<I', height)
 
                         self.socket.send_multipart([width_bytes, height_bytes, raw_data])
+                except KeyboardInterrupt:
+                    logging.info("Video receiving loop interrupted by user.")
                 except:
                     logging.warn("Failed to retrieve video image from robot.")
-        except KeyboardInterrupt:
-            logging.info("Video receiving loop interrupted by user.")
         finally:
             vid_service.unsubscribe(vid_stream_name)
             logging.info("Unsubscribed from video stream.")
\ No newline at end of file
diff --git a/test/unit/test_video_sender.py b/test/unit/test_video_sender.py
index 35d592e..14ea8d5 100644
--- a/test/unit/test_video_sender.py
+++ b/test/unit/test_video_sender.py
@@ -104,3 +104,24 @@ def test_video_receive_error(zmq_context, mocker):
     sender.video_rcv_loop(mock_video_service, "stream_name")
 
     send_socket.assert_not_called()
+
+def test_video_loop_keyboard_interrupt(zmq_context, mocker):
+    """Video loop should handle KeyboardInterrupt gracefully and unsubscribe."""
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)
+    
+    # We mock the video service to raise KeyboardInterrupt when accessed
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
+    
+    # Mock logging to verify the specific interrupt message is logged
+    mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
+
+    sender = VideoSender(zmq_context)
+    
+    # Execute the loop
+    sender.video_rcv_loop(mock_video_service, "stream_name")
+
+    # Verify the 'finally' block executed (unsubscribe)
+    mock_video_service.unsubscribe.assert_called_with("stream_name")
+    mock_logger.info.assert_any_call("Unsubscribed from video stream.")

From 8333f2fc2a5b8c5c4b4d9e697ed182b772c1231d Mon Sep 17 00:00:00 2001
From: Storm <stormluykx@gmail.com>
Date: Thu, 29 Jan 2026 13:09:25 +0100
Subject: [PATCH 5/5] chore: removed numpy import

---
 src/robot_interface/endpoints/video_sender.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py
index 23a071f..ebb4baf 100644
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -2,7 +2,6 @@ import zmq
 import threading
 import logging
 
-import numpy as np
 import struct
 
 from robot_interface.endpoints.socket_base import SocketBase