refactor: use new port negotiation style

As changed in the API document, this now uses the new port negotiation style.

ref: N25B-168

src/robot_interface/endpoints/actuation_receiver.py

@@ -1,5 +1,4 @@
 import logging
-import sys
 
 import zmq
 
@@ -17,32 +16,10 @@ class ActuationReceiver(ReceiverBase):
         :param port: The port to use.
         :type port: int
         """
-        super(ActuationReceiver, self).__init__("actuation", "json")
-        self.create_socket(zmq_context, zmq.SUB, port)
-        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Subscribe to all topics
-        self._qi_session = self._get_session()
+        super(ActuationReceiver, self).__init__("actuation")
+        self.create_socket(zmq_context, zmq.SUB, port, options=[(zmq.SUBSCRIBE, u"")])
         self._tts_service = None
 
-    @staticmethod
-    def _get_session():
-        if "--qi-url" not in sys.argv:
-            logging.info("No Qi URL argument given. Running in stand-alone mode.")
-            return None
-
-        try:
-            import qi
-        except ImportError:
-            logging.info("Unable to import qi. Running in stand-alone mode.")
-            return None
-
-        try:
-            app = qi.Application()
-            app.start()
-            return app.session
-        except RuntimeError:
-            logging.info("Unable to connect to the robot. Running in stand-alone mode.")
-            return None
-
     def _handle_speech(self, message):
         text = message.get("data")
         if not text: