feat: implemented force speech functionality in RI and refactored actuation_receiver tests

Before actuation_receiver tests started a receiver with real zmq context. This led to flaky tests because of port congestion issues.

ref: N25B-386

src/robot_interface/endpoints/actuation_receiver.py

@@ -1,6 +1,9 @@
 from __future__ import unicode_literals  # So that we can log texts with Unicode characters
 import logging
+import time
+from threading import Thread
 
+import Queue
 import zmq
 
 from robot_interface.endpoints.receiver_base import ReceiverBase
@@ -27,6 +30,9 @@ class ActuationReceiver(ReceiverBase):
         self.create_socket(zmq_context, zmq.SUB, port)
         self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
         self._tts_service = None
+        self._message_queue = Queue.Queue()
+        self.message_thread = Thread(target=self._handle_messages)
+        self.message_thread.start()
 
     def _handle_speech(self, message):
         """
@@ -53,8 +59,25 @@ class ActuationReceiver(ReceiverBase):
         if not self._tts_service:
             self._tts_service = state.qi_session.service("ALTextToSpeech")
 
-        # Returns instantly. Messages received while speaking will be queued.
-        qi.async(self._tts_service.say, text)
+        if (message.get("is_priority")):
+            # Bypass queue and speak immediately
+            self.clear_queue()
+            self._message_queue.put(text)
+            logging.debug("Force speaking immediately: {}".format(text))
+        else: 
+            self._message_queue.put(text)
+
+    def clear_queue(self):
+        """
+        Safely drains all pending messages from the queue.
+        """
+        try:
+            while True:
+                # Remove items one by one without waiting
+                self._message_queue.get_nowait()
+        except Queue.Empty:
+            pass
+        logging.info("Message queue cleared.")
 
     def handle_message(self, message):
         """
@@ -65,3 +88,18 @@ class ActuationReceiver(ReceiverBase):
         """
         if message["endpoint"] == "actuate/speech":
             self._handle_speech(message)
+
+    def _handle_messages(self):
+        while not state.exit_event.is_set():
+            try:
+                text = self._message_queue.get(timeout=0.1)
+                if not state.is_speaking: print("Started speaking.")
+                state.is_speaking = True
+                self._tts_service.say(text)
+            except Queue.Empty:
+                if state.is_speaking: print("Finished speaking.")
+                state.is_speaking = False
+            except RuntimeError:
+                logging.warn("Lost connection to Pepper. Please check if you're connected to the local WiFi and restart this application.")
+                state.exit_event.set()
+