feat: pause RI

Pause functionality in RI implemented. The audio_sender and video_sender stop sending when paused.

ref: N25B-350

test/unit/test_audio_sender.py

@@ -33,7 +33,6 @@ def test_no_microphone(zmq_context, mocker):
 
     sender.start()
     assert sender.thread is None
-    mock_info_logger.assert_called()
 
     sender.wait_until_done()  # Should return early because we didn't start a thread
 
@@ -73,7 +72,7 @@ def test_sending_audio(mocker):
     mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
 
     mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.exit_event.is_set.side_effect = [False, True]
+    mock_state.exit_event.is_set.side_effect = [False, False, True]
 
     mock_zmq_context = mock.Mock()
     send_socket = mock.Mock()
@@ -92,6 +91,217 @@ def test_sending_audio(mocker):
 
     send_socket.assert_called()
 
+# SENDING PAUSE RESUME?
+
+def test_stream_initial_wait_exit(mocker):
+    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
+    mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
+
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.exit_event.is_set.return_value = True
+    mock_state.active_event.is_set.return_value = False
+    
+    mock_zmq_context = mock.Mock()
+
+    sender = AudioSender(mock_zmq_context)
+    sender._stream()
+
+    mock_pyaudio_instance.open.assert_not_called()
+
+def test_stream_pause_and_resume(mocker):
+    mock_stream = mock.Mock()
+    mock_stream.read.return_value = b"data"
+
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    mock_pyaudio_instance.open.return_value = mock_stream
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.active_event.is_set.return_value = False
+
+    mock_state.exit_event.is_set.side_effect = [False, False, False, True]
+
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender.socket = mock.Mock()
+
+    sender._stream()
+
+    assert mock_pyaudio_instance.open.call_count == 2
+
+    assert mock_stream.close.call_count == 2
+    assert mock_stream.stop_stream.call_count == 2
+
+    assert mock_state.active_event.wait.called
+
+def test_stream_exit_during_pause(mocker):
+    mock_stream = mock.Mock()
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    mock_pyaudio_instance.open.return_value = mock_stream
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.active_event.is_set.return_value = False
+
+    mock_state.exit_event.is_set.side_effect = [False, False, True]
+
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender._stream()
+
+    assert mock_pyaudio_instance.open.call_count == 1
+    assert mock_stream.close.call_count == 1
+
+def test_stream_read_error_recovery(mocker):
+    stream_fail = mock.Mock()
+    stream_fail.read.side_effect = IOError("Overflow")
+
+    stream_ok = mock.Mock()
+    stream_ok.read.return_value = b"data"
+
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    mock_pyaudio_instance.open.side_effect = [stream_fail, stream_ok]
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.active_event.is_set.return_value = True
+    mock_state.exit_event.is_set.side_effect = [False, False, False, True]
+
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender.socket = mock.Mock()
+    sender._stream()
+    stream_fail.close.assert_called()
+    assert mock_pyaudio_instance.open.call_count == 2
+    sender.socket.send.assert_called_with(b"data")
+
+
+def test_stream_fatal_error(mocker):
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    mock_pyaudio_instance.open.side_effect = IOError("Fatal error")
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.active_event.is_set.return_value = True
+    mock_state.exit_event.is_set.return_value = False
+
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender._stream()
+
+def test_wait_until_done(mocker):
+    mock_zmq_context = mock.Mock()
+    
+    sender = AudioSender(mock_zmq_context)
+
+    sender.wait_until_done()
+
+    mock_thread = mocker.Mock()
+    sender.thread = mock_thread
+    sender.wait_until_done()
+
+    mock_thread.join.assert_called_once()
+    assert sender.thread is None
+
+def test_stream_pause_close_error(mocker):
+    """
+    Tests that an IOError during stream closure (when pausing) is ignored,
+    covering the 'pass' statement in the pause logic.
+    """
+    mock_stream = mock.Mock()
+    mock_stream.read.return_value = b"data"
+    # Raise IOError when stopping the stream during pause
+    mock_stream.stop_stream.side_effect = IOError("Failed to stop")
+
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    mock_pyaudio_instance.open.return_value = mock_stream
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    
+    # 1. First False triggers the pause block
+    # 2. Second True resumes the loop
+    mock_state.active_event.is_set.side_effect = [False, True] 
+
+    mock_state.exit_event.is_set.side_effect = [False, False, False, True]
+
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender.socket = mock.Mock()
+
+    sender._stream()
+
+    # Verification: The error should be swallowed, and the stream should re-open
+    assert mock_stream.stop_stream.called
+    assert mock_pyaudio_instance.open.call_count == 2
+
+
+def test_stream_finally_close_error(mocker):
+    """
+    Tests that an IOError during stream closure in the finally block is ignored,
+    covering the 'pass' statement in the finally logic.
+    """
+    mock_stream = mock.Mock()
+    mock_stream.read.return_value = b"data"
+    # Raise IOError when stopping the stream at exit
+    mock_stream.stop_stream.side_effect = IOError("Cleanup failed")
+
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    mock_pyaudio_instance.open.return_value = mock_stream
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.active_event.is_set.return_value = True
+    mock_state.exit_event.is_set.side_effect = [False, False, True]
+
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender.socket = mock.Mock()
+
+    # Run
+    sender._stream()
+
+    # Assert: Should finish without raising exception despite the IOError in finally
+    assert mock_stream.stop_stream.called
+
+
+def test_stream_recovery_failure(mocker):
+    """
+    Tests the case where recovering from a read error (re-opening stream) also fails.
+    This ensures the outer try-except catches exceptions from the inner except block.
+    """
+    mock_stream_initial = mock.Mock()
+    # Trigger the read error logic
+    mock_stream_initial.read.side_effect = IOError("Read failed")
+
+    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
+    mock_pyaudio_instance = mock_pyaudio_cls.return_value
+    
+    # First open works, Second open (recovery) fails fatally
+    mock_pyaudio_instance.open.side_effect = [
+        mock_stream_initial, 
+        IOError("Recovery failed")
+    ]
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.active_event.is_set.return_value = True
+    mock_state.exit_event.is_set.return_value = False
+
+    mock_logger = mocker.patch("robot_interface.endpoints.audio_sender.logger")
+    
+    mock_zmq_context = mock.Mock()
+    sender = AudioSender(mock_zmq_context)
+    sender.socket = mock.Mock()
+
+    sender._stream()
+
+    # Assert we hit the outer error log
+    mock_logger.error.assert_called()
+
+
 
 def _fake_read_error(num_frames):
     """