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/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()