From 4402b21a73ff33a137373117ef8a43aa1564554a Mon Sep 17 00:00:00 2001 From: Pim Hutting Date: Sun, 9 Nov 2025 15:43:22 +0100 Subject: [PATCH] refactor: added config file and moved constants - Moved hardcoded configuration constants to a dedicated config.py file. - Created VideoConfig, AudioConfig, MainConfig, and Settings classes in config.py ref: N25B-236 --- src/robot_interface/core/__init__.py | 0 src/robot_interface/core/config.py | 46 +++++++++++++++++++ .../endpoints/actuation_receiver.py | 4 +- src/robot_interface/endpoints/audio_sender.py | 11 +++-- .../endpoints/main_receiver.py | 3 +- src/robot_interface/endpoints/video_sender.py | 19 ++++---- src/robot_interface/main.py | 5 +- src/robot_interface/utils/microphone.py | 7 +-- 8 files changed, 74 insertions(+), 21 deletions(-) create mode 100644 src/robot_interface/core/__init__.py create mode 100644 src/robot_interface/core/config.py diff --git a/src/robot_interface/core/__init__.py b/src/robot_interface/core/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/robot_interface/core/config.py b/src/robot_interface/core/config.py new file mode 100644 index 0000000..e8489bd --- /dev/null +++ b/src/robot_interface/core/config.py @@ -0,0 +1,46 @@ + +from __future__ import unicode_literals + +import os + +class AgentSettings(object): + """Agent port configuration.""" + def __init__(self, actuating_receiver_port=5557, main_receiver_port=5555,video_sender_port=5556, audio_sender_port=5558): + self.actuating_receiver_port = actuating_receiver_port + self.main_receiver_port = main_receiver_port + self.video_sender_port = video_sender_port + self.audio_sender_port = audio_sender_port + +class VideoConfig(object): + """Video configuration constants.""" + def __init__(self, camera_index=0, resolution=2, color_space=11, fps=15, stream_name="Pepper Video", image_buffer=6): + self.camera_index = camera_index + self.resolution = resolution + self.color_space = color_space + self.fps = fps + self.stream_name = stream_name + self.image_buffer = image_buffer + +class AudioConfig(object): + """Audio configuration constants.""" + def __init__(self, sample_rate=16000, chunk_size=512, channels=1): + self.sample_rate = sample_rate + self.chunk_size = chunk_size + self.channels = channels + +class MainConfig(object): + """Main configuration""" + def __init__(self, poll_timeout_ms=100, max_handler_time_ms=50): + self.poll_timeout_ms = poll_timeout_ms + self.max_handler_time_ms = max_handler_time_ms + +class Settings(object): + """Global settings container.""" + def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None): + self.agent_settings = agent_settings or AgentSettings() + self.video_config = video_config or VideoConfig() + self.audio_config = audio_config or AudioConfig() + self.main_config = main_config or MainConfig() + + +settings = Settings() diff --git a/src/robot_interface/endpoints/actuation_receiver.py b/src/robot_interface/endpoints/actuation_receiver.py index aa2511a..7fc6546 100644 --- a/src/robot_interface/endpoints/actuation_receiver.py +++ b/src/robot_interface/endpoints/actuation_receiver.py @@ -6,9 +6,11 @@ import zmq from robot_interface.endpoints.receiver_base import ReceiverBase from robot_interface.state import state +from robot_interface.core.config import settings + class ActuationReceiver(ReceiverBase): - def __init__(self, zmq_context, port=5557): + def __init__(self, zmq_context, port= settings.agent_settings.actuating_receiver_port): """ The actuation receiver endpoint, responsible for handling speech and gesture requests. diff --git a/src/robot_interface/endpoints/audio_sender.py b/src/robot_interface/endpoints/audio_sender.py index 7365816..2e1e45e 100644 --- a/src/robot_interface/endpoints/audio_sender.py +++ b/src/robot_interface/endpoints/audio_sender.py @@ -8,13 +8,13 @@ import zmq from robot_interface.endpoints.socket_base import SocketBase from robot_interface.state import state from robot_interface.utils.microphone import choose_mic - +from robot_interface.core.config import settings logger = logging.getLogger(__name__) class AudioSender(SocketBase): - def __init__(self, zmq_context, port=5558): + def __init__(self, zmq_context, port= settings.agent_settings.audio_sender_port): super(AudioSender, self).__init__(str("audio")) # Convert future's unicode_literal to str self.create_socket(zmq_context, zmq.PUB, port) self.thread = None @@ -49,13 +49,14 @@ class AudioSender(SocketBase): self.thread = None def _stream(self): - chunk = 512 # 320 at 16000 Hz is 20ms, 512 is required for Silero-VAD + audio_settings = settings.audio_config + chunk = audio_settings.chunk_size # 320 at 16000 Hz is 20ms, 512 is required for Silero-VAD # Docs say this only raises an error if neither `input` nor `output` is True stream = self.audio.open( format=pyaudio.paFloat32, - channels=1, - rate=16000, + channels=audio_settings.channels, + rate=audio_settings.sample_rate, input=True, input_device_index=self.microphone["index"], frames_per_buffer=chunk, diff --git a/src/robot_interface/endpoints/main_receiver.py b/src/robot_interface/endpoints/main_receiver.py index 0ce9711..e5367c6 100644 --- a/src/robot_interface/endpoints/main_receiver.py +++ b/src/robot_interface/endpoints/main_receiver.py @@ -3,9 +3,10 @@ import zmq from robot_interface.endpoints.receiver_base import ReceiverBase from robot_interface.state import state +from robot_interface.core.config import settings class MainReceiver(ReceiverBase): - def __init__(self, zmq_context, port=5555): + def __init__(self, zmq_context, port= settings.agent_settings.main_receiver_port): """ The main receiver endpoint, responsible for handling ping and negotiation requests. diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py index 9e75447..1eacc3b 100644 --- a/src/robot_interface/endpoints/video_sender.py +++ b/src/robot_interface/endpoints/video_sender.py @@ -4,10 +4,10 @@ import logging from robot_interface.endpoints.socket_base import SocketBase from robot_interface.state import state - +from robot_interface.core.config import settings class VideoSender(SocketBase): - def __init__(self, zmq_context, port=5556): + 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)]) @@ -20,12 +20,13 @@ class VideoSender(SocketBase): return video = state.qi_session.service("ALVideoDevice") - - camera_index = 0 - kQVGA = 2 - kRGB = 11 - FPS = 15 - vid_stream_name = video.subscribeCamera("Pepper Video", camera_index, kQVGA, kRGB, FPS) + video_settings = settings.video_config + camera_index = video_settings.camera_index + kQVGA = video_settings.resolution + kRGB = video_settings.color_space + FPS = video_settings.fps + video_name = video_settings.stream_name + vid_stream_name = video.subscribeCamera(video_name, camera_index, kQVGA, kRGB, FPS) thread = threading.Thread(target=self.video_rcv_loop, args=(video, vid_stream_name)) thread.start() @@ -43,6 +44,6 @@ class VideoSender(SocketBase): try: img = vid_service.getImageRemote(vid_stream_name) #Possibly limit images sent if queuing issues arise - self.socket.send(img[6]) + self.socket.send(img[settings.video_config.image_buffer]) except: logging.warn("Failed to retrieve video image from robot.") diff --git a/src/robot_interface/main.py b/src/robot_interface/main.py index 8874f7d..5af10ce 100644 --- a/src/robot_interface/main.py +++ b/src/robot_interface/main.py @@ -10,6 +10,7 @@ from robot_interface.endpoints.actuation_receiver import ActuationReceiver from robot_interface.endpoints.main_receiver import MainReceiver from robot_interface.endpoints.video_sender import VideoSender from robot_interface.state import state +from robot_interface.core.config import settings from robot_interface.utils.timeblock import TimeBlock @@ -45,7 +46,7 @@ def main_loop(context): while True: if state.exit_event.is_set(): break - socks = dict(poller.poll(100)) + socks = dict(poller.poll(settings.main_config.poll_timeout_ms)) for receiver in receivers: if receiver.socket not in socks: continue @@ -59,7 +60,7 @@ def main_loop(context): logging.warn("Endpoint \"%s\" took too long (%.2f ms) on the main thread.", message["endpoint"], time_ms) - with TimeBlock(overtime_callback, 50): + with TimeBlock(overtime_callback, settings.main_config.max_handler_time_ms): response = receiver.handle_message(message) if receiver.socket.getsockopt(zmq.TYPE) == zmq.REP: diff --git a/src/robot_interface/utils/microphone.py b/src/robot_interface/utils/microphone.py index 877ca3f..2ec4bd4 100644 --- a/src/robot_interface/utils/microphone.py +++ b/src/robot_interface/utils/microphone.py @@ -82,11 +82,12 @@ def choose_mic_arguments(audio): :rtype: dict | None """ microphone_name = None + microhopone_prefix = "--microphone=" for i, arg in enumerate(sys.argv): - if arg == "--microphone" and len(sys.argv) > i+1: + if arg == microhopone_prefix and len(sys.argv) > i+1: microphone_name = sys.argv[i+1].strip() - if arg.startswith("--microphone="): - microphone_name = arg[13:].strip() + if arg.startswith(microhopone_prefix): + microphone_name = arg[len(microhopone_prefix):].strip() if not microphone_name: return None