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fix: use qi session from state in actuation receiver

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ref: N25B-168
This commit is contained in:
Twirre Meulenbelt
2025-10-16 18:09:01 +02:00
parent c10fbc7c90
commit 55483808ff
1 changed files with 4 additions and 3 deletions
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7
src/robot_interface/endpoints/actuation_receiver.py
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@@ -3,6 +3,7 @@ import logging
import zmq import zmq
from robot_interface.endpoints.receiver_base import ReceiverBase from robot_interface.endpoints.receiver_base import ReceiverBase
from robot_interface.state import state
class ActuationReceiver(ReceiverBase): class ActuationReceiver(ReceiverBase):
@@ -18,7 +19,7 @@ class ActuationReceiver(ReceiverBase):
""" """
super(ActuationReceiver, self).__init__("actuation") super(ActuationReceiver, self).__init__("actuation")
self.create_socket(zmq_context, zmq.SUB, port) 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 self._tts_service = None
def _handle_speech(self, message): def _handle_speech(self, message):
@@ -29,10 +30,10 @@ class ActuationReceiver(ReceiverBase):
logging.debug("Received message to speak: {}".format(text)) 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: 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) self._tts_service.say(text)