feat: adapt actuation receiver to state's qi_session

Makes actuation tests pass. In main, the timing of the socket no longer contains the time to receive and send data, but only the processing time of the message handler.

ref: N25B-168

src/robot_interface/endpoints/actuation_receiver.py

@@ -28,20 +28,22 @@ class ActuationReceiver(ReceiverBase):
             logging.warn("Received message to speak, but it lacks data.")
             return
 
+        if not isinstance(text, (str, unicode)):
+            logging.warn("Received message to speak but it is not a string.")
+            return
+
         logging.debug("Received message to speak: {}".format(text))
 
         if not state.qi_session: return
+        # If state has a qi_session, we know that we can import qi
+        import qi  # Takes a while only the first time it's imported
 
         if not self._tts_service:
             self._tts_service = state.qi_session.service("ALTextToSpeech")
 
-        self._tts_service.say(text)
+        # Returns instantly. Messages received while speaking will be queued.
+        qi.async(self._tts_service.say, text)
 
     def handle_message(self, message):
-        if "endpoint" not in message:
-            return {"endpoint": "error", "data": "No endpoint provided."}
-
         if message["endpoint"] == "actuate/speech":
             self._handle_speech(message)
-
-        return {"endpoint": "error", "data": "The requested endpoint is not supported."}

src/robot_interface/endpoints/main_receiver.py

@@ -48,9 +48,6 @@ class MainReceiver(ReceiverBase):
         return {"endpoint": "negotiate/error", "data": "The requested endpoint is not implemented."}
 
     def handle_message(self, message):
-        if "endpoint" not in message:
-            return {"endpoint": "error", "data": "No endpoint provided."}
-
         if message["endpoint"] == "ping":
             return self._handle_ping(message)
         elif message["endpoint"].startswith("negotiate"):

src/robot_interface/main.py

@@ -1,6 +1,5 @@
 import logging
 logging.basicConfig(level=logging.DEBUG)
-import time
 
 import zmq
 
@@ -8,6 +7,7 @@ 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.utils.timeblock import TimeBlock
 
 
 def main_loop(context):
@@ -44,17 +44,21 @@ def main_loop(context):
         for receiver in receivers:
             if receiver.socket not in socks: continue
 
-            start_time = time.time()
-
             message = receiver.socket.recv_json()
-            response = receiver.handle_message(message)
+            if not isinstance(message, dict) or "endpoint" not in message or "data" not in message:
+                logging.error("Received message of unexpected format: {}".format(message))
+                continue
+
+            def overtime_callback(time_ms):
+                logging.warn("Endpoint \"%s\" took too long (%.2f ms) on the main thread.",
+                             message["endpoint"], time_ms)
+
+            with TimeBlock(overtime_callback, 50):
+                response = receiver.handle_message(message)
+
             if receiver.socket.getsockopt(zmq.TYPE) == zmq.REP:
                 receiver.socket.send_json(response)
 
-            time_spent_ms = (time.time() - start_time) * 1000
-            if time_spent_ms > 50:
-                logging.warn("Endpoint \"%s\" took too long (%.2f ms) on the main thread.", receiver.name, time_spent_ms)
-
 
 def main():
     context = zmq.Context()

src/robot_interface/utils/timeblock.py

@@ -0,0 +1,31 @@
+import time
+
+
+class TimeBlock(object):
+    """
+    A context manager that times the execution of the block it contains. If execution exceeds the
+    limit, or if no limit is given, the callback will be called with the time that the block took.
+    """
+    def __init__(self, callback, limit_ms=None):
+        """
+        :param callback: The callback function that is called when the block of code is over,
+        unless the code block did not exceed the time limit.
+        :type callback: Callable[[float], None]
+
+        :param limit_ms: The number of milliseconds the block of code is allowed to take. If it
+        exceeds this time, or if it's None, the callback function will be called with the time the
+        block took.
+        :type limit_ms: int | None
+        """
+        self.limit_ms = float(limit_ms) if limit_ms is not None else None
+        self.callback = callback
+        self.start = None
+
+    def __enter__(self):
+        self.start = time.time()
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        elapsed = (time.time() - self.start) * 1000.0  # ms
+        if self.limit_ms is None or elapsed > self.limit_ms:
+            self.callback(elapsed)