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feat: gestures to ri

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This commit is contained in:
JobvAlewijk
2025-12-16 08:35:26 +00:00
committed by Twirre
parent df702f1e44
commit a8fe887c48
3 changed files with 634 additions and 3 deletions
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68
src/robot_interface/endpoints/actuation_receiver.py
View File

@@ -7,6 +7,7 @@ from robot_interface.endpoints.receiver_base import ReceiverBase
from robot_interface.state import state
from robot_interface.core.config import settings
from robot_interface.endpoints.gesture_settings import GestureTags
class ActuationReceiver(ReceiverBase):
@@ -21,12 +22,16 @@ class ActuationReceiver(ReceiverBase):
:ivar _tts_service: The text-to-speech service object from the Qi session.
:vartype _tts_service: qi.Session | None
:ivar _animation_service: The animation/gesture service object from the Qi session.
:vartype _animation_service: qi.Session | None
"""
def __init__(self, zmq_context, port=settings.agent_settings.actuation_receiver_port):
super(ActuationReceiver, self).__init__("actuation")
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._animation_service = None
def _handle_speech(self, message):
"""
@@ -54,7 +59,54 @@ class ActuationReceiver(ReceiverBase):
self._tts_service = state.qi_session.service("ALTextToSpeech")
# Returns instantly. Messages received while speaking will be queued.
qi.async(self._tts_service.say, text)
getattr(qi, "async")(self._tts_service.say, text)
def _handle_gesture(self, message, is_single):
"""
Handle a gesture actuation request.
:param message: The gesture to do, must contain properties "endpoint" and "data".
:type message: dict
:param is_single: Whether it's a specific single gesture or a gesture tag.
:type is_single: bool
"""
gesture = message.get("data")
if not gesture:
logging.warn("Received gesture to do, but it lacks data.")
return
if not isinstance(gesture, (str, unicode)):
logging.warn("Received gesture to do but it is not a string.")
return
logging.debug("Received gesture to do: {}".format(gesture))
if is_single:
if gesture not in GestureTags.single_gestures:
logging.warn("Received single gesture to do, but it does not exist in settings")
return
else:
if gesture not in GestureTags.tags:
logging.warn("Received single tag to do, but it does not exist in settings")
return
if not state.qi_session: return
# If state has a qi_session, we know that we can import qi
import qi # Takes a while only the first time it's imported
if not self._animation_service:
self._animation_service = state.qi_session.service("ALAnimationPlayer")
# Play the gesture. Pepper comes with predefined animations like "Wave", "Greet", "Clap"
# You can also create custom animations using Choregraphe and upload them to the robot.
if is_single:
logging.debug("Playing single gesture: {}".format(gesture))
getattr(qi, "async")(self._animation_service.run, gesture)
else:
logging.debug("Playing tag gesture: {}".format(gesture))
getattr(qi, "async")(self._animation_service.runTag, gesture)
def handle_message(self, message):
"""
@@ -65,3 +117,17 @@ class ActuationReceiver(ReceiverBase):
"""
if message["endpoint"] == "actuate/speech":
self._handle_speech(message)
if message["endpoint"] == "actuate/gesture/tag":
self._handle_gesture(message, False)
if message["endpoint"] == "actuate/gesture/single":
self._handle_gesture(message, True)
def endpoint_description(self):
"""
Extend the default endpoint description with gesture tags.
Returned during negotiate/ports so the CB knows available gestures.
"""
desc = super(ActuationReceiver, self).endpoint_description()
desc["gestures"] = GestureTags.tags
desc["single_gestures"] = GestureTags.single_gestures
return desc

412
src/robot_interface/endpoints/gesture_settings.py Normal file
View File

@@ -0,0 +1,412 @@
class GestureTags:
tags = ["above", "affirmative", "afford", "agitated", "all", "allright", "alright", "any",
"assuage", "assuage", "attemper", "back", "bashful", "beg", "beseech", "blank",
"body language", "bored", "bow", "but", "call", "calm", "choose", "choice", "cloud",
"cogitate", "cool", "crazy", "disappointed", "down", "earth", "empty", "embarrassed",
"enthusiastic", "entire", "estimate", "except", "exalted", "excited", "explain", "far",
"field", "floor", "forlorn", "friendly", "front", "frustrated", "gentle", "gift",
"give", "ground", "happy", "hello", "her", "here", "hey", "hi", "him", "hopeless",
"hysterical", "I", "implore", "indicate", "joyful", "me", "meditate", "modest",
"negative", "nervous", "no", "not know", "nothing", "offer", "ok", "once upon a time",
"oppose", "or", "pacify", "pick", "placate", "please", "present", "proffer", "quiet",
"reason", "refute", "reject", "rousing", "sad", "select", "shamefaced", "show",
"show sky", "sky", "soothe", "sun", "supplicate", "tablet", "tall", "them", "there",
"think", "timid", "top", "unless", "up", "upstairs", "void", "warm", "winner", "yeah",
"yes", "yoo-hoo", "you", "your", "zero", "zestful"]
single_gestures = [
"animations/Stand/BodyTalk/Listening/Listening_1",
"animations/Stand/BodyTalk/Listening/Listening_2",
"animations/Stand/BodyTalk/Listening/Listening_3",
"animations/Stand/BodyTalk/Listening/Listening_4",
"animations/Stand/BodyTalk/Listening/Listening_5",
"animations/Stand/BodyTalk/Listening/Listening_6",
"animations/Stand/BodyTalk/Listening/Listening_7",
"animations/Stand/BodyTalk/Speaking/BodyTalk_1",
"animations/Stand/BodyTalk/Speaking/BodyTalk_10",
"animations/Stand/BodyTalk/Speaking/BodyTalk_11",
"animations/Stand/BodyTalk/Speaking/BodyTalk_12",
"animations/Stand/BodyTalk/Speaking/BodyTalk_13",
"animations/Stand/BodyTalk/Speaking/BodyTalk_14",
"animations/Stand/BodyTalk/Speaking/BodyTalk_15",
"animations/Stand/BodyTalk/Speaking/BodyTalk_16",
"animations/Stand/BodyTalk/Speaking/BodyTalk_2",
"animations/Stand/BodyTalk/Speaking/BodyTalk_3",
"animations/Stand/BodyTalk/Speaking/BodyTalk_4",
"animations/Stand/BodyTalk/Speaking/BodyTalk_5",
"animations/Stand/BodyTalk/Speaking/BodyTalk_6",
"animations/Stand/BodyTalk/Speaking/BodyTalk_7",
"animations/Stand/BodyTalk/Speaking/BodyTalk_8",
"animations/Stand/BodyTalk/Speaking/BodyTalk_9",
"animations/Stand/BodyTalk/Thinking/Remember_1",
"animations/Stand/BodyTalk/Thinking/Remember_2",
"animations/Stand/BodyTalk/Thinking/Remember_3",
"animations/Stand/BodyTalk/Thinking/ThinkingLoop_1",
"animations/Stand/BodyTalk/Thinking/ThinkingLoop_2",
"animations/Stand/Emotions/Negative/Angry_1",
"animations/Stand/Emotions/Negative/Angry_2",
"animations/Stand/Emotions/Negative/Angry_3",
"animations/Stand/Emotions/Negative/Angry_4",
"animations/Stand/Emotions/Negative/Anxious_1",
"animations/Stand/Emotions/Negative/Bored_1",
"animations/Stand/Emotions/Negative/Bored_2",
"animations/Stand/Emotions/Negative/Disappointed_1",
"animations/Stand/Emotions/Negative/Exhausted_1",
"animations/Stand/Emotions/Negative/Exhausted_2",
"animations/Stand/Emotions/Negative/Fear_1",
"animations/Stand/Emotions/Negative/Fear_2",
"animations/Stand/Emotions/Negative/Fearful_1",
"animations/Stand/Emotions/Negative/Frustrated_1",
"animations/Stand/Emotions/Negative/Humiliated_1",
"animations/Stand/Emotions/Negative/Hurt_1",
"animations/Stand/Emotions/Negative/Hurt_2",
"animations/Stand/Emotions/Negative/Late_1",
"animations/Stand/Emotions/Negative/Sad_1",
"animations/Stand/Emotions/Negative/Sad_2",
"animations/Stand/Emotions/Negative/Shocked_1",
"animations/Stand/Emotions/Negative/Sorry_1",
"animations/Stand/Emotions/Negative/Surprise_1",
"animations/Stand/Emotions/Negative/Surprise_2",
"animations/Stand/Emotions/Negative/Surprise_3",
"animations/Stand/Emotions/Neutral/Alienated_1",
"animations/Stand/Emotions/Neutral/AskForAttention_1",
"animations/Stand/Emotions/Neutral/AskForAttention_2",
"animations/Stand/Emotions/Neutral/AskForAttention_3",
"animations/Stand/Emotions/Neutral/Cautious_1",
"animations/Stand/Emotions/Neutral/Confused_1",
"animations/Stand/Emotions/Neutral/Determined_1",
"animations/Stand/Emotions/Neutral/Embarrassed_1",
"animations/Stand/Emotions/Neutral/Hesitation_1",
"animations/Stand/Emotions/Neutral/Innocent_1",
"animations/Stand/Emotions/Neutral/Lonely_1",
"animations/Stand/Emotions/Neutral/Mischievous_1",
"animations/Stand/Emotions/Neutral/Puzzled_1",
"animations/Stand/Emotions/Neutral/Sneeze",
"animations/Stand/Emotions/Neutral/Stubborn_1",
"animations/Stand/Emotions/Neutral/Suspicious_1",
"animations/Stand/Emotions/Positive/Amused_1",
"animations/Stand/Emotions/Positive/Confident_1",
"animations/Stand/Emotions/Positive/Ecstatic_1",
"animations/Stand/Emotions/Positive/Enthusiastic_1",
"animations/Stand/Emotions/Positive/Excited_1",
"animations/Stand/Emotions/Positive/Excited_2",
"animations/Stand/Emotions/Positive/Excited_3",
"animations/Stand/Emotions/Positive/Happy_1",
"animations/Stand/Emotions/Positive/Happy_2",
"animations/Stand/Emotions/Positive/Happy_3",
"animations/Stand/Emotions/Positive/Happy_4",
"animations/Stand/Emotions/Positive/Hungry_1",
"animations/Stand/Emotions/Positive/Hysterical_1",
"animations/Stand/Emotions/Positive/Interested_1",
"animations/Stand/Emotions/Positive/Interested_2",
"animations/Stand/Emotions/Positive/Laugh_1",
"animations/Stand/Emotions/Positive/Laugh_2",
"animations/Stand/Emotions/Positive/Laugh_3",
"animations/Stand/Emotions/Positive/Mocker_1",
"animations/Stand/Emotions/Positive/Optimistic_1",
"animations/Stand/Emotions/Positive/Peaceful_1",
"animations/Stand/Emotions/Positive/Proud_1",
"animations/Stand/Emotions/Positive/Proud_2",
"animations/Stand/Emotions/Positive/Proud_3",
"animations/Stand/Emotions/Positive/Relieved_1",
"animations/Stand/Emotions/Positive/Shy_1",
"animations/Stand/Emotions/Positive/Shy_2",
"animations/Stand/Emotions/Positive/Sure_1",
"animations/Stand/Emotions/Positive/Winner_1",
"animations/Stand/Emotions/Positive/Winner_2",
"animations/Stand/Gestures/Angry_1",
"animations/Stand/Gestures/Angry_2",
"animations/Stand/Gestures/Angry_3",
"animations/Stand/Gestures/BowShort_1",
"animations/Stand/Gestures/BowShort_2",
"animations/Stand/Gestures/BowShort_3",
"animations/Stand/Gestures/But_1",
"animations/Stand/Gestures/CalmDown_1",
"animations/Stand/Gestures/CalmDown_2",
"animations/Stand/Gestures/CalmDown_3",
"animations/Stand/Gestures/CalmDown_4",
"animations/Stand/Gestures/CalmDown_5",
"animations/Stand/Gestures/CalmDown_6",
"animations/Stand/Gestures/Choice_1",
"animations/Stand/Gestures/ComeOn_1",
"animations/Stand/Gestures/Confused_1",
"animations/Stand/Gestures/Confused_2",
"animations/Stand/Gestures/CountFive_1",
"animations/Stand/Gestures/CountFour_1",
"animations/Stand/Gestures/CountMore_1",
"animations/Stand/Gestures/CountOne_1",
"animations/Stand/Gestures/CountThree_1",
"animations/Stand/Gestures/CountTwo_1",
"animations/Stand/Gestures/Desperate_1",
"animations/Stand/Gestures/Desperate_2",
"animations/Stand/Gestures/Desperate_3",
"animations/Stand/Gestures/Desperate_4",
"animations/Stand/Gestures/Desperate_5",
"animations/Stand/Gestures/DontUnderstand_1",
"animations/Stand/Gestures/Enthusiastic_3",
"animations/Stand/Gestures/Enthusiastic_4",
"animations/Stand/Gestures/Enthusiastic_5",
"animations/Stand/Gestures/Everything_1",
"animations/Stand/Gestures/Everything_2",
"animations/Stand/Gestures/Everything_3",
"animations/Stand/Gestures/Everything_4",
"animations/Stand/Gestures/Everything_6",
"animations/Stand/Gestures/Excited_1",
"animations/Stand/Gestures/Explain_1",
"animations/Stand/Gestures/Explain_10",
"animations/Stand/Gestures/Explain_11",
"animations/Stand/Gestures/Explain_2",
"animations/Stand/Gestures/Explain_3",
"animations/Stand/Gestures/Explain_4",
"animations/Stand/Gestures/Explain_5",
"animations/Stand/Gestures/Explain_6",
"animations/Stand/Gestures/Explain_7",
"animations/Stand/Gestures/Explain_8",
"animations/Stand/Gestures/Far_1",
"animations/Stand/Gestures/Far_2",
"animations/Stand/Gestures/Far_3",
"animations/Stand/Gestures/Follow_1",
"animations/Stand/Gestures/Give_1",
"animations/Stand/Gestures/Give_2",
"animations/Stand/Gestures/Give_3",
"animations/Stand/Gestures/Give_4",
"animations/Stand/Gestures/Give_5",
"animations/Stand/Gestures/Give_6",
"animations/Stand/Gestures/Great_1",
"animations/Stand/Gestures/HeSays_1",
"animations/Stand/Gestures/HeSays_2",
"animations/Stand/Gestures/HeSays_3",
"animations/Stand/Gestures/Hey_1",
"animations/Stand/Gestures/Hey_10",
"animations/Stand/Gestures/Hey_2",
"animations/Stand/Gestures/Hey_3",
"animations/Stand/Gestures/Hey_4",
"animations/Stand/Gestures/Hey_6",
"animations/Stand/Gestures/Hey_7",
"animations/Stand/Gestures/Hey_8",
"animations/Stand/Gestures/Hey_9",
"animations/Stand/Gestures/Hide_1",
"animations/Stand/Gestures/Hot_1",
"animations/Stand/Gestures/Hot_2",
"animations/Stand/Gestures/IDontKnow_1",
"animations/Stand/Gestures/IDontKnow_2",
"animations/Stand/Gestures/IDontKnow_3",
"animations/Stand/Gestures/IDontKnow_4",
"animations/Stand/Gestures/IDontKnow_5",
"animations/Stand/Gestures/IDontKnow_6",
"animations/Stand/Gestures/Joy_1",
"animations/Stand/Gestures/Kisses_1",
"animations/Stand/Gestures/Look_1",
"animations/Stand/Gestures/Look_2",
"animations/Stand/Gestures/Maybe_1",
"animations/Stand/Gestures/Me_1",
"animations/Stand/Gestures/Me_2",
"animations/Stand/Gestures/Me_4",
"animations/Stand/Gestures/Me_7",
"animations/Stand/Gestures/Me_8",
"animations/Stand/Gestures/Mime_1",
"animations/Stand/Gestures/Mime_2",
"animations/Stand/Gestures/Next_1",
"animations/Stand/Gestures/No_1",
"animations/Stand/Gestures/No_2",
"animations/Stand/Gestures/No_3",
"animations/Stand/Gestures/No_4",
"animations/Stand/Gestures/No_5",
"animations/Stand/Gestures/No_6",
"animations/Stand/Gestures/No_7",
"animations/Stand/Gestures/No_8",
"animations/Stand/Gestures/No_9",
"animations/Stand/Gestures/Nothing_1",
"animations/Stand/Gestures/Nothing_2",
"animations/Stand/Gestures/OnTheEvening_1",
"animations/Stand/Gestures/OnTheEvening_2",
"animations/Stand/Gestures/OnTheEvening_3",
"animations/Stand/Gestures/OnTheEvening_4",
"animations/Stand/Gestures/OnTheEvening_5",
"animations/Stand/Gestures/Please_1",
"animations/Stand/Gestures/Please_2",
"animations/Stand/Gestures/Please_3",
"animations/Stand/Gestures/Reject_1",
"animations/Stand/Gestures/Reject_2",
"animations/Stand/Gestures/Reject_3",
"animations/Stand/Gestures/Reject_4",
"animations/Stand/Gestures/Reject_5",
"animations/Stand/Gestures/Reject_6",
"animations/Stand/Gestures/Salute_1",
"animations/Stand/Gestures/Salute_2",
"animations/Stand/Gestures/Salute_3",
"animations/Stand/Gestures/ShowFloor_1",
"animations/Stand/Gestures/ShowFloor_2",
"animations/Stand/Gestures/ShowFloor_3",
"animations/Stand/Gestures/ShowFloor_4",
"animations/Stand/Gestures/ShowFloor_5",
"animations/Stand/Gestures/ShowSky_1",
"animations/Stand/Gestures/ShowSky_10",
"animations/Stand/Gestures/ShowSky_11",
"animations/Stand/Gestures/ShowSky_12",
"animations/Stand/Gestures/ShowSky_2",
"animations/Stand/Gestures/ShowSky_3",
"animations/Stand/Gestures/ShowSky_4",
"animations/Stand/Gestures/ShowSky_5",
"animations/Stand/Gestures/ShowSky_6",
"animations/Stand/Gestures/ShowSky_7",
"animations/Stand/Gestures/ShowSky_8",
"animations/Stand/Gestures/ShowSky_9",
"animations/Stand/Gestures/ShowTablet_1",
"animations/Stand/Gestures/ShowTablet_2",
"animations/Stand/Gestures/ShowTablet_3",
"animations/Stand/Gestures/Shy_1",
"animations/Stand/Gestures/Stretch_1",
"animations/Stand/Gestures/Stretch_2",
"animations/Stand/Gestures/Surprised_1",
"animations/Stand/Gestures/TakePlace_1",
"animations/Stand/Gestures/TakePlace_2",
"animations/Stand/Gestures/Take_1",
"animations/Stand/Gestures/Thinking_1",
"animations/Stand/Gestures/Thinking_2",
"animations/Stand/Gestures/Thinking_3",
"animations/Stand/Gestures/Thinking_4",
"animations/Stand/Gestures/Thinking_5",
"animations/Stand/Gestures/Thinking_6",
"animations/Stand/Gestures/Thinking_7",
"animations/Stand/Gestures/Thinking_8",
"animations/Stand/Gestures/This_1",
"animations/Stand/Gestures/This_10",
"animations/Stand/Gestures/This_11",
"animations/Stand/Gestures/This_12",
"animations/Stand/Gestures/This_13",
"animations/Stand/Gestures/This_14",
"animations/Stand/Gestures/This_15",
"animations/Stand/Gestures/This_2",
"animations/Stand/Gestures/This_3",
"animations/Stand/Gestures/This_4",
"animations/Stand/Gestures/This_5",
"animations/Stand/Gestures/This_6",
"animations/Stand/Gestures/This_7",
"animations/Stand/Gestures/This_8",
"animations/Stand/Gestures/This_9",
"animations/Stand/Gestures/WhatSThis_1",
"animations/Stand/Gestures/WhatSThis_10",
"animations/Stand/Gestures/WhatSThis_11",
"animations/Stand/Gestures/WhatSThis_12",
"animations/Stand/Gestures/WhatSThis_13",
"animations/Stand/Gestures/WhatSThis_14",
"animations/Stand/Gestures/WhatSThis_15",
"animations/Stand/Gestures/WhatSThis_16",
"animations/Stand/Gestures/WhatSThis_2",
"animations/Stand/Gestures/WhatSThis_3",
"animations/Stand/Gestures/WhatSThis_4",
"animations/Stand/Gestures/WhatSThis_5",
"animations/Stand/Gestures/WhatSThis_6",
"animations/Stand/Gestures/WhatSThis_7",
"animations/Stand/Gestures/WhatSThis_8",
"animations/Stand/Gestures/WhatSThis_9",
"animations/Stand/Gestures/Whisper_1",
"animations/Stand/Gestures/Wings_1",
"animations/Stand/Gestures/Wings_2",
"animations/Stand/Gestures/Wings_3",
"animations/Stand/Gestures/Wings_4",
"animations/Stand/Gestures/Wings_5",
"animations/Stand/Gestures/Yes_1",
"animations/Stand/Gestures/Yes_2",
"animations/Stand/Gestures/Yes_3",
"animations/Stand/Gestures/YouKnowWhat_1",
"animations/Stand/Gestures/YouKnowWhat_2",
"animations/Stand/Gestures/YouKnowWhat_3",
"animations/Stand/Gestures/YouKnowWhat_4",
"animations/Stand/Gestures/YouKnowWhat_5",
"animations/Stand/Gestures/YouKnowWhat_6",
"animations/Stand/Gestures/You_1",
"animations/Stand/Gestures/You_2",
"animations/Stand/Gestures/You_3",
"animations/Stand/Gestures/You_4",
"animations/Stand/Gestures/You_5",
"animations/Stand/Gestures/Yum_1",
"animations/Stand/Reactions/EthernetOff_1",
"animations/Stand/Reactions/EthernetOn_1",
"animations/Stand/Reactions/Heat_1",
"animations/Stand/Reactions/Heat_2",
"animations/Stand/Reactions/LightShine_1",
"animations/Stand/Reactions/LightShine_2",
"animations/Stand/Reactions/LightShine_3",
"animations/Stand/Reactions/LightShine_4",
"animations/Stand/Reactions/SeeColor_1",
"animations/Stand/Reactions/SeeColor_2",
"animations/Stand/Reactions/SeeColor_3",
"animations/Stand/Reactions/SeeSomething_1",
"animations/Stand/Reactions/SeeSomething_3",
"animations/Stand/Reactions/SeeSomething_4",
"animations/Stand/Reactions/SeeSomething_5",
"animations/Stand/Reactions/SeeSomething_6",
"animations/Stand/Reactions/SeeSomething_7",
"animations/Stand/Reactions/SeeSomething_8",
"animations/Stand/Reactions/ShakeBody_1",
"animations/Stand/Reactions/ShakeBody_2",
"animations/Stand/Reactions/ShakeBody_3",
"animations/Stand/Reactions/TouchHead_1",
"animations/Stand/Reactions/TouchHead_2",
"animations/Stand/Reactions/TouchHead_3",
"animations/Stand/Reactions/TouchHead_4",
"animations/Stand/Waiting/AirGuitar_1",
"animations/Stand/Waiting/BackRubs_1",
"animations/Stand/Waiting/Bandmaster_1",
"animations/Stand/Waiting/Binoculars_1",
"animations/Stand/Waiting/BreathLoop_1",
"animations/Stand/Waiting/BreathLoop_2",
"animations/Stand/Waiting/BreathLoop_3",
"animations/Stand/Waiting/CallSomeone_1",
"animations/Stand/Waiting/Drink_1",
"animations/Stand/Waiting/DriveCar_1",
"animations/Stand/Waiting/Fitness_1",
"animations/Stand/Waiting/Fitness_2",
"animations/Stand/Waiting/Fitness_3",
"animations/Stand/Waiting/FunnyDancer_1",
"animations/Stand/Waiting/HappyBirthday_1",
"animations/Stand/Waiting/Helicopter_1",
"animations/Stand/Waiting/HideEyes_1",
"animations/Stand/Waiting/HideHands_1",
"animations/Stand/Waiting/Innocent_1",
"animations/Stand/Waiting/Knight_1",
"animations/Stand/Waiting/KnockEye_1",
"animations/Stand/Waiting/KungFu_1",
"animations/Stand/Waiting/LookHand_1",
"animations/Stand/Waiting/LookHand_2",
"animations/Stand/Waiting/LoveYou_1",
"animations/Stand/Waiting/Monster_1",
"animations/Stand/Waiting/MysticalPower_1",
"animations/Stand/Waiting/PlayHands_1",
"animations/Stand/Waiting/PlayHands_2",
"animations/Stand/Waiting/PlayHands_3",
"animations/Stand/Waiting/Relaxation_1",
"animations/Stand/Waiting/Relaxation_2",
"animations/Stand/Waiting/Relaxation_3",
"animations/Stand/Waiting/Relaxation_4",
"animations/Stand/Waiting/Rest_1",
"animations/Stand/Waiting/Robot_1",
"animations/Stand/Waiting/ScratchBack_1",
"animations/Stand/Waiting/ScratchBottom_1",
"animations/Stand/Waiting/ScratchEye_1",
"animations/Stand/Waiting/ScratchHand_1",
"animations/Stand/Waiting/ScratchHead_1",
"animations/Stand/Waiting/ScratchLeg_1",
"animations/Stand/Waiting/ScratchTorso_1",
"animations/Stand/Waiting/ShowMuscles_1",
"animations/Stand/Waiting/ShowMuscles_2",
"animations/Stand/Waiting/ShowMuscles_3",
"animations/Stand/Waiting/ShowMuscles_4",
"animations/Stand/Waiting/ShowMuscles_5",
"animations/Stand/Waiting/ShowSky_1",
"animations/Stand/Waiting/ShowSky_2",
"animations/Stand/Waiting/SpaceShuttle_1",
"animations/Stand/Waiting/Stretch_1",
"animations/Stand/Waiting/Stretch_2",
"animations/Stand/Waiting/TakePicture_1",
"animations/Stand/Waiting/Taxi_1",
"animations/Stand/Waiting/Think_1",
"animations/Stand/Waiting/Think_2",
"animations/Stand/Waiting/Think_3",
"animations/Stand/Waiting/Think_4",
"animations/Stand/Waiting/Waddle_1",
"animations/Stand/Waiting/Waddle_2",
"animations/Stand/Waiting/WakeUp_1",
"animations/Stand/Waiting/Zombie_1"]

157
test/unit/test_actuation_receiver.py
View File

@@ -5,6 +5,7 @@ import pytest
import zmq
from robot_interface.endpoints.actuation_receiver import ActuationReceiver
from robot_interface.endpoints.gesture_settings import GestureTags
@pytest.fixture
@@ -94,7 +95,159 @@ def test_speech(zmq_context, mocker):
mock_state.qi_session.service.assert_called_once_with("ALTextToSpeech")
mock_qi.async.assert_called_once()
call_args = mock_qi.async.call_args[0]
getattr(mock_qi, "async").assert_called_once()
call_args = getattr(mock_qi, "async").call_args[0]
assert call_args[0] == mock_tts_service.say
assert call_args[1] == "Some message to speak."
def test_gesture_no_data(zmq_context, mocker):
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": ""}, True)
# Just ensuring no crash
def test_gesture_invalid_data(zmq_context, mocker):
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": 123}, True)
# No crash expected
def test_gesture_single_not_found(zmq_context, mocker):
mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
mock_tags.single_gestures = ["wave", "bow"] # allowed single gestures
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
# No crash expected
def test_gesture_tag_not_found(zmq_context, mocker):
mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
mock_tags.tags = ["happy", "sad"]
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "not_a_tag"}, False)
# No crash expected
def test_gesture_no_qi_session(zmq_context, mocker):
mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
mock_state.qi_session = None
mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
mock_tags.single_gestures = ["hello"]
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
# No crash, path returns early
def test_gesture_single_success(zmq_context, mocker):
mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
mock_qi = mock.Mock()
sys.modules["qi"] = mock_qi
# Setup gesture settings
mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
mock_tags.single_gestures = ["wave"]
mock_animation_service = mock.Mock()
mock_state.qi_session = mock.Mock()
mock_state.qi_session.service.return_value = mock_animation_service
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
getattr(mock_qi, "async").assert_called_once()
assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
assert getattr(mock_qi, "async").call_args[0][1] == "wave"
def test_gesture_tag_success(zmq_context, mocker):
mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
mock_qi = mock.Mock()
sys.modules["qi"] = mock_qi
mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
mock_tags.tags = ["greeting"]
mock_animation_service = mock.Mock()
mock_state.qi_session = mock.Mock()
mock_state.qi_session.service.return_value = mock_animation_service
receiver = ActuationReceiver(zmq_context)
receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
getattr(mock_qi, "async").assert_called_once()
assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.runTag
assert getattr(mock_qi, "async").call_args[0][1] == "greeting"
def test_handle_message_all_routes(zmq_context, mocker):
"""
Ensures all handle_message endpoint branches route correctly.
"""
receiver = ActuationReceiver(zmq_context)
mock_speech = mocker.patch.object(receiver, "_handle_speech")
mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
receiver.handle_message({"endpoint": "actuate/speech", "data": "hi"})
receiver.handle_message({"endpoint": "actuate/gesture/tag", "data": "greeting"})
receiver.handle_message({"endpoint": "actuate/gesture/single", "data": "wave"})
mock_speech.assert_called_once()
assert mock_gesture.call_count == 2
def test_endpoint_description(zmq_context, mocker):
mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
mock_tags.tags = ["happy"]
mock_tags.single_gestures = ["wave"]
receiver = ActuationReceiver(zmq_context)
desc = receiver.endpoint_description()
assert "gestures" in desc
assert desc["gestures"] == ["happy"]
assert "single_gestures" in desc
assert desc["single_gestures"] == ["wave"]
def test_gesture_single_real_gesturetags(zmq_context, mocker):
"""
Uses the real GestureTags (no mocking) to ensure the receiver
references GestureTags.single_gestures correctly.
"""
# Ensure qi session exists so we pass the early return
mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
mock_state.qi_session = mock.Mock()
# Mock qi.async to avoid real async calls
mock_qi = mock.Mock()
sys.modules["qi"] = mock_qi
# Mock animation service
mock_animation_service = mock.Mock()
mock_state.qi_session.service.return_value = mock_animation_service
receiver = ActuationReceiver(zmq_context)
# Pick a real gesture from GestureTags.single_gestures
assert len(GestureTags.single_gestures) > 0, "GestureTags.single_gestures must not be empty"
gesture = GestureTags.single_gestures[0]
receiver._handle_gesture(
{"endpoint": "actuate/gesture/single", "data": gesture},
is_single=True,
)
mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
getattr(mock_qi, "async").assert_called_once()
assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
assert getattr(mock_qi, "async").call_args[0][1] == gesture