chore: modified into req reply socket on 5559

src/robot_interface/endpoints/face_detector.py

@@ -1,65 +1,78 @@
 from __future__ import unicode_literals
 
+import json
 import logging
 import threading
 import time
+import zmq
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
+from robot_interface.core.config import settings
 
 
 class FaceDetectionSender(SocketBase):
     """
-    Minimal face detection sender with a shared flag.
+    Face detection REP endpoint.
 
-    Polls ALMemory["FaceDetected"] and keeps a simple boolean
+    - Polls ALMemory["FaceDetected"]
-    indicating if a face is currently detected.
+    - Maintains a rolling boolean state
+    - Responds to REQ polling over ZMQ REP
     """
 
-    def __init__(self, zmq_context, port=None):
+    def __init__(self, zmq_context, port=settings.agent_settings.face_detection_port):
         super(FaceDetectionSender, self).__init__("face")
+
         if port:
-            self.create_socket(zmq_context, None, port)  # PUB not used here
+            self.create_socket(zmq_context, zmq.REP, port)
+
         self._face_service = None
         self._memory_service = None
-        self._thread = None
 
-        # Shared status for MainReceiver polling
         self.face_detected = False
         self._last_seen_face_time = 0
 
+        self._face_thread = None
+        self._rep_thread = None
+
     def endpoint_description(self):
-        return None
+        return "face"
+
+    # ------------------------------------------------------------------
+    # Face detection logic (runs independently)
+    # ------------------------------------------------------------------
 
     def start_face_detection(self):
         if not state.qi_session:
-            logging.info("No Qi session available. Not starting face detection.")
+            logging.warning("No Qi session available. Face detection not started.")
             return
 
         import qi
+
         self._face_service = state.qi_session.service("ALFaceDetection")
         self._memory_service = state.qi_session.service("ALMemory")
 
-        # Enable minimal detection
         self._face_service.setTrackingEnabled(False)
         self._face_service.setRecognitionEnabled(False)
 
-        # Required to activate extractor
         self._face_service.subscribe("FaceDetectionSender", 500, 0.0)
 
-        self._thread = threading.Thread(target=self._face_loop)
+        self._face_thread = threading.Thread(target=self._face_loop, daemon=True)
-        self._thread.daemon = True
+        self._face_thread.start()
-        self._thread.start()
 
-        logging.info("Face detection started.")
+        self._rep_thread = threading.Thread(target=self._rep_loop, daemon=True)
+        self._rep_thread.start()
+
+        logging.info("Face detection + REP endpoint started.")
 
     def _face_loop(self):
         """
-        Keeps the face detection alive until shutdown.
+        Continuously updates `self.face_detected`.
         """
         while not state.exit_event.is_set():
             try:
                 value = self._memory_service.getData("FaceDetected", 0)
+
                 face_present = (
                     value
                     and len(value) > 1
@@ -72,7 +85,7 @@ class FaceDetectionSender(SocketBase):
                 if face_present:
                     self._last_seen_face_time = now
 
-                # Consider face "lost" after 3s
+                # Face considered lost after 3 seconds
                 self.face_detected = (now - self._last_seen_face_time) < 3
 
             except Exception:
@@ -80,6 +93,35 @@ class FaceDetectionSender(SocketBase):
 
             time.sleep(0.1)
 
+    # ------------------------------------------------------------------
+    # REP loop (THIS WAS THE MISSING PIECE)
+    # ------------------------------------------------------------------
+
+    def _rep_loop(self):
+        """
+        Handles ZMQ REQ/REP polling from the Control Backend.
+        """
+        while not state.exit_event.is_set():
+            try:
+                # Receive request (content ignored)
+                _ = self.socket.recv()
+
+                # Respond with current face state
+                response = {
+                    "endpoint": "face",
+                    "data": self.face_detected,
+                }
+
+                self.socket.send_json(response)
+
+            except Exception:
+                logging.exception("Error in face detection REP loop")
+                time.sleep(0.1)
+
+    # ------------------------------------------------------------------
+    # Cleanup
+    # ------------------------------------------------------------------
+
     def stop_face_detection(self):
         try:
             if self._face_service:

src/robot_interface/endpoints/main_receiver.py

@@ -37,28 +37,6 @@ class MainReceiver(ReceiverBase):
         :rtype: dict[str, str | list[dict]]
         """
         return {"endpoint": "ping", "data": message.get("data")}
-    
-    @staticmethod
-    def _handle_face(message):
-        """
-        Handles sending face data to the cb
-        Sends if it sees a face or not
-        
-        :param message: face data.
-        :type message: int
-
-        :return: A response to CB containing the amount of faces
-        :rtype: int
-        """
-        # Poll the FaceDetectionSender status
-        face_sender = next(
-            (s for s in state.sockets if isinstance(s, FaceDetectionSender)),
-            None
-        )
-        if face_sender:
-            return {"endpoint": "face", "data": face_sender.face_detected}
-        else:
-            return {"endpoint": "face", "data": False}
 
 
     @staticmethod
@@ -74,12 +52,7 @@ class MainReceiver(ReceiverBase):
         :return: A response dictionary with endpoint descriptions as data.
         :rtype: dict[str, list[dict]]
         """
-        endpoints = [
+        endpoints = [socket.endpoint_description() for socket in state.sockets]
-            socket.endpoint_description()
-            for socket in state.sockets
-            if socket.endpoint_description() is not None
-        ]
-
 
         return {"endpoint": "negotiate/ports", "data": endpoints}
 
@@ -115,8 +88,6 @@ class MainReceiver(ReceiverBase):
         """
         if message["endpoint"] == "ping":
             return self._handle_ping(message)
-        elif message["endpoint"] == "face":
-            return self._handle_face(message)
         elif message["endpoint"].startswith("negotiate"):
             return self._handle_negotiation(message)