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/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.
 

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,

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.
 

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.")