Merge branch 'refactor/config-file' into 'dev'

refactor: added config file and moved constants

See merge request ics/sp/2025/n25b/pepperplus-ri!9

src/robot_interface/core/config.py

@@ -0,0 +1,62 @@
+from __future__ import unicode_literals
+
+
+class AgentSettings(object):
+    """Agent port configuration."""
+    def __init__(
+        self, 
+        actuating_receiver_port=5557, 
+        main_receiver_port=5555,
+        video_sender_port=5556, 
+        audio_sender_port=5558,
+    ):
+        self.actuating_receiver_port = actuating_receiver_port
+        self.main_receiver_port = main_receiver_port
+        self.video_sender_port = video_sender_port
+        self.audio_sender_port = audio_sender_port
+
+
+class VideoConfig(object):
+    """Video configuration constants."""
+    def __init__(
+        self,
+        camera_index=0,
+        resolution=2,
+        color_space=11,
+        fps=15,
+        stream_name="Pepper Video",
+        image_buffer=6,
+    ):
+        self.camera_index = camera_index
+        self.resolution = resolution
+        self.color_space = color_space
+        self.fps = fps
+        self.stream_name = stream_name  
+        self.image_buffer  = image_buffer
+
+
+class AudioConfig(object):
+    """Audio configuration constants."""
+    def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
+        self.sample_rate = sample_rate
+        self.chunk_size = chunk_size
+        self.channels = channels
+
+
+class MainConfig(object):
+    """Main configuration"""
+    def __init__(self, poll_timeout_ms=100, max_handler_time_ms=50):
+        self.poll_timeout_ms = poll_timeout_ms
+        self.max_handler_time_ms = max_handler_time_ms
+
+
+class Settings(object):
+    """Global settings container."""
+    def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None):
+        self.agent_settings = agent_settings or AgentSettings()
+        self.video_config = video_config or VideoConfig()
+        self.audio_config = audio_config or AudioConfig()
+        self.main_config = main_config or MainConfig()
+
+
+settings = Settings()

src/robot_interface/endpoints/actuation_receiver.py

@@ -6,9 +6,11 @@ import zmq
 from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
 
+from robot_interface.core.config import settings
+
 
 class ActuationReceiver(ReceiverBase):
-    def __init__(self, zmq_context, port=5557):
+    def __init__(self, zmq_context, port=settings.agent_settings.actuating_receiver_port):
         """
         The actuation receiver endpoint, responsible for handling speech and gesture requests.
 

src/robot_interface/endpoints/audio_sender.py

@@ -8,13 +8,13 @@ import zmq
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
 from robot_interface.utils.microphone import choose_mic
-
+from robot_interface.core.config import settings
 
 logger = logging.getLogger(__name__)
 
 
 class AudioSender(SocketBase):
-    def __init__(self, zmq_context, port=5558):
+    def __init__(self, zmq_context, port=settings.agent_settings.audio_sender_port):
         super(AudioSender, self).__init__(str("audio"))  # Convert future's unicode_literal to str
         self.create_socket(zmq_context, zmq.PUB, port)
         self.thread = None
@@ -49,13 +49,14 @@ class AudioSender(SocketBase):
         self.thread = None
 
     def _stream(self):
-        chunk = 512  # 320 at 16000 Hz is 20ms, 512 is required for Silero-VAD
+        audio_settings = settings.audio_config
+        chunk = audio_settings.chunk_size # 320 at 16000 Hz is 20ms, 512 is required for Silero-VAD
 
         # Docs say this only raises an error if neither `input` nor `output` is True
         stream = self.audio.open(
             format=pyaudio.paFloat32,
-            channels=1,
-            rate=16000,
+            channels=audio_settings.channels,
+            rate=audio_settings.sample_rate,
             input=True,
             input_device_index=self.microphone["index"],
             frames_per_buffer=chunk,

src/robot_interface/endpoints/main_receiver.py

@@ -3,9 +3,10 @@ import zmq
 from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
 
+from robot_interface.core.config import settings
 
 class MainReceiver(ReceiverBase):
-    def __init__(self, zmq_context, port=5555):
+    def __init__(self, zmq_context, port=settings.agent_settings.main_receiver_port):
         """
         The main receiver endpoint, responsible for handling ping and negotiation requests.
 

src/robot_interface/endpoints/video_sender.py

@@ -4,10 +4,10 @@ import logging
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
-
+from robot_interface.core.config import settings
 
 class VideoSender(SocketBase):
-    def __init__(self, zmq_context, port=5556):
+    def __init__(self, zmq_context, port=settings.agent_settings.video_sender_port):
         super(VideoSender, self).__init__("video")
         self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
     
@@ -20,12 +20,13 @@ class VideoSender(SocketBase):
             return
 
         video = state.qi_session.service("ALVideoDevice")
-
-        camera_index = 0
-        kQVGA = 2
-        kRGB = 11
-        FPS = 15
-        vid_stream_name = video.subscribeCamera("Pepper Video", camera_index, kQVGA, kRGB, FPS)
+        video_settings = settings.video_config
+        camera_index = video_settings.camera_index
+        kQVGA = video_settings.resolution
+        kRGB = video_settings.color_space
+        FPS = video_settings.fps
+        video_name = video_settings.stream_name
+        vid_stream_name = video.subscribeCamera(video_name, camera_index, kQVGA, kRGB, FPS)
         thread = threading.Thread(target=self.video_rcv_loop, args=(video, vid_stream_name))
         thread.start()
 
@@ -43,6 +44,6 @@ class VideoSender(SocketBase):
             try:
                 img = vid_service.getImageRemote(vid_stream_name)
                 #Possibly limit images sent if queuing issues arise
-                self.socket.send(img[6])
+                self.socket.send(img[settings.video_config.image_buffer])
             except:
                 logging.warn("Failed to retrieve video image from robot.")

src/robot_interface/main.py

@@ -10,6 +10,7 @@ from robot_interface.endpoints.actuation_receiver import ActuationReceiver
 from robot_interface.endpoints.main_receiver import MainReceiver
 from robot_interface.endpoints.video_sender import VideoSender
 from robot_interface.state import state
+from robot_interface.core.config import settings
 from robot_interface.utils.timeblock import TimeBlock
 
 
@@ -45,7 +46,7 @@ def main_loop(context):
 
     while True:
         if state.exit_event.is_set(): break
-        socks = dict(poller.poll(100))
+        socks = dict(poller.poll(settings.main_config.poll_timeout_ms))
 
         for receiver in receivers:
             if receiver.socket not in socks: continue
@@ -59,7 +60,7 @@ def main_loop(context):
                 logging.warn("Endpoint \"%s\" took too long (%.2f ms) on the main thread.",
                              message["endpoint"], time_ms)
 
-            with TimeBlock(overtime_callback, 50):
+            with TimeBlock(overtime_callback, settings.main_config.max_handler_time_ms):
                 response = receiver.handle_message(message)
 
             if receiver.socket.getsockopt(zmq.TYPE) == zmq.REP:

src/robot_interface/utils/microphone.py

@@ -86,7 +86,8 @@ def choose_mic_arguments(audio):
         if arg == "--microphone" and len(sys.argv) > i+1:
             microphone_name = sys.argv[i+1].strip()
         if arg.startswith("--microphone="):
-            microphone_name = arg[13:].strip()
+            pre_fix_len = len("--microphone=")
+            microphone_name = arg[pre_fix_len:].strip()
 
     if not microphone_name: return None
 

test/common/microphone_utils.py

@@ -41,6 +41,9 @@ class MicrophoneUtils(object):
         """
         First mock an input that's not an integer, then a valid integer. There should be no errors.
         """
+        microphones = get_microphones(pyaudio_instance)
+        target_microphone = next(microphones)
+
         mock_input = mocker.patch("__builtin__.raw_input", side_effect=["not an integer", "0"])
         fake_out = StringIO()
         mocker.patch.object(sys, "stdout", fake_out)
@@ -48,7 +51,7 @@ class MicrophoneUtils(object):
         result = choose_mic_interactive(pyaudio_instance)
         assert "index" in result
         assert isinstance(result["index"], (int, long))
-        assert result["index"] == 0
+        assert result["index"] == target_microphone["index"]
 
         assert mock_input.called
 
@@ -58,6 +61,9 @@ class MicrophoneUtils(object):
         """
         Make sure that the interactive method does not allow negative integers as input.
         """
+        microphones = get_microphones(pyaudio_instance)
+        target_microphone = next(microphones)
+
         mock_input = mocker.patch("__builtin__.raw_input", side_effect=["-1", "0"])
         fake_out = StringIO()
         mocker.patch.object(sys, "stdout", fake_out)
@@ -65,7 +71,7 @@ class MicrophoneUtils(object):
         result = choose_mic_interactive(pyaudio_instance)
         assert "index" in result
         assert isinstance(result["index"], (int, long))
-        assert result["index"] == 0
+        assert result["index"] == target_microphone["index"]
 
         assert mock_input.called