From 891ebf5e3f92a5060dbe0b5a792523f1b9a55495 Mon Sep 17 00:00:00 2001
From: Storm <stormluykx@gmail.com>
Date: Tue, 27 Jan 2026 17:58:06 +0100
Subject: [PATCH] chore: changed video sending to work without cv2

---
 src/robot_interface/core/config.py            |  2 +-
 src/robot_interface/endpoints/video_sender.py | 29 ++++++++++++++-----
 2 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/src/robot_interface/core/config.py b/src/robot_interface/core/config.py
index 9e638b5..2d92606 100644
--- a/src/robot_interface/core/config.py
+++ b/src/robot_interface/core/config.py
@@ -61,7 +61,7 @@ class VideoConfig(object):
     ):
         self.camera_index = get_config(camera_index, "VIDEO__CAMERA_INDEX", 0, int)
         self.resolution = get_config(resolution, "VIDEO__RESOLUTION", 2, int)
-        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 11, int)
+        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 13, int)
         self.fps = get_config(fps, "VIDEO__FPS", 15, int)
         self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
         self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)
diff --git a/src/robot_interface/endpoints/video_sender.py b/src/robot_interface/endpoints/video_sender.py
index d822352..4ea4b8e 100644
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -2,6 +2,8 @@ import zmq
 import threading
 import logging
 
+import numpy as np
+
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
 from robot_interface.core.config import settings
@@ -52,10 +54,23 @@ class VideoSender(SocketBase):
         :param vid_stream_name: The name of a camera subscription on the video service object vid_service
         :type vid_stream_name: str
         """
-        while not state.exit_event.is_set():
-            try:
-                img = vid_service.getImageRemote(vid_stream_name)
-                #Possibly limit images sent if queuing issues arise
-                self.socket.send(img[settings.video_config.image_buffer])
-            except:
-                logging.warn("Failed to retrieve video image from robot.")
+        try:
+            while not state.exit_event.is_set():
+                try:
+                    img = vid_service.getImageRemote(vid_stream_name)
+                    if img is not None:
+                        raw_data = img[6]
+                        width = img[0]
+                        height = img[1]
+
+                        width_bytes = width.to_bytes(4, 'little')
+                        height_bytes = height.to_bytes(4, 'little')
+
+                        self.socket.send_multipart([width_bytes, height_bytes, raw_data])
+                except:
+                    logging.warn("Failed to retrieve video image from robot.")
+        except KeyboardInterrupt:
+            logging.info("Video receiving loop interrupted by user.")
+        finally:
+            vid_service.unsubscribe(vid_stream_name)
+            logging.info("Unsubscribed from video stream.")
\ No newline at end of file