From 55483808fff45299b49b68e6d62a1ab8ef833c53 Mon Sep 17 00:00:00 2001 From: Twirre Meulenbelt <43213592+TwirreM@users.noreply.github.com> Date: Thu, 16 Oct 2025 18:09:01 +0200 Subject: [PATCH] fix: use qi session from state in actuation receiver ref: N25B-168 --- src/robot_interface/endpoints/actuation_receiver.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/robot_interface/endpoints/actuation_receiver.py b/src/robot_interface/endpoints/actuation_receiver.py index 528cbb4..c7bfe91 100644 --- a/src/robot_interface/endpoints/actuation_receiver.py +++ b/src/robot_interface/endpoints/actuation_receiver.py @@ -3,6 +3,7 @@ import logging import zmq from robot_interface.endpoints.receiver_base import ReceiverBase +from robot_interface.state import state class ActuationReceiver(ReceiverBase): @@ -18,7 +19,7 @@ class ActuationReceiver(ReceiverBase): """ super(ActuationReceiver, self).__init__("actuation") self.create_socket(zmq_context, zmq.SUB, port) - self.socket.setsockopt_string(zmq.SUBSCRIBE, u"") + self.socket.setsockopt_string(zmq.SUBSCRIBE, u"") # Can this not be given in the options? self._tts_service = None def _handle_speech(self, message): @@ -29,10 +30,10 @@ class ActuationReceiver(ReceiverBase): logging.debug("Received message to speak: {}".format(text)) - if not self._qi_session: return + if not state.qi_session: return if not self._tts_service: - self._tts_service = self._qi_session.service("ALTextToSpeech") + self._tts_service = state.qi_session.service("ALTextToSpeech") self._tts_service.say(text)