refactor: removed hardcoded IP and port and moved video functions from main to the VideoSender class

ref: N25B-171

src/robot_interface/main.py

@@ -1,7 +1,5 @@
 import logging
 import time
-import qi
-import threading
 
 import zmq
 
@@ -24,11 +22,7 @@ def main_loop(context):
     video_sender = VideoSender(context)
     state.sockets.append(video_sender)
 
-    # ip address of robot
-    robot_ip = "10.211.55.3"
-    # port of robot
-    port = 54321
-    start_video_rcv(robot_ip, port, video_sender)
+    video_sender.start_video_rcv()
 
     # Sockets that can run on the main thread. These sockets' endpoints should not block for long (say 50 ms at most).
     receivers = [main_receiver]
@@ -54,55 +48,6 @@ def main_loop(context):
             if time_spent_ms > 50:
                 logging.warn("Endpoint \"%s\" took too long (%.2f ms) on the main thread.", receiver.name, time_spent_ms)
 
-def start_video_rcv(robot_ip, port, socket):
-    """
-    Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
-
-    :param robot_ip: The ip address of the robot to connect with.
-    :type robot_ip: String
-    
-    :param port: The port of the robot.
-    :type port: int
-
-    :param socket: The ZMQ socket to send the video images over.
-    :type: VideoSender
-    """
-    socket.socket.setsockopt(zmq.CONFLATE,1)
-    
-    app = qi.Application(["cam", "--qi-url", "tcp://{}:{}".format(robot_ip, port)])
-    app.start()
-    session = app.session
-
-    video = session.service("ALVideoDevice")
-
-    camera_index = 0
-    kQVGA = 2
-    kRGB = 11
-    FPS = 15
-    vid_stream_name = video.subscribeCamera("Pepper Video", camera_index, kQVGA, kRGB, FPS)
-    thread = threading.Thread(target=video_rcv_loop, args=(video, vid_stream_name, socket))
-    thread.start()
-
-def video_rcv_loop(vid_service, vid_stream_name, socket):
-    """
-    The main loop of retrieving video images from the robot.
-
-    :param vid_stream: The name of a camera subscription on the video service object vid_service
-    :type vid_stream: String
-
-    :param vid_service: The video service object that the active Qi session is connected to. 
-    :type vid_service: Object (Qi service object)
-
-    :param socket: The ZMQ socket to send the video images over.
-    :type: VideoSender
-    """
-    while not state.exit_event.is_set():
-        try:
-            img = vid_service.getImageRemote(vid_stream_name)
-            #Possibly limit images sent if queuing issues arise
-            socket.socket.send(img[6])
-        except:
-            logging.warn("Failed to retrieve video image from robot.")
 
 def main():
     context = zmq.Context()