chore: applied all feedback

close: N25B-298

src/robot_interface/core/config.py

@@ -5,23 +5,14 @@ class AgentSettings(object):
     """
     Agent port configuration.
 
-    :param actuating_receiver_port: Port for receiving actuation commands.
-    :type actuating_receiver_port: int
-    :param main_receiver_port: Port for receiving main messages.
-    :type main_receiver_port: int
-    :param video_sender_port: Port used for sending video frames.
-    :type video_sender_port: int
-    :param audio_sender_port: Port used for sending audio data.
-    :type audio_sender_port: int
-
     :ivar actuating_receiver_port: Port for receiving actuation commands.
-    :type actuating_receiver_port: int
+    :vartype actuating_receiver_port: int
     :ivar main_receiver_port: Port for receiving main messages.
-    :type main_receiver_port: int
+    :vartype main_receiver_port: int
     :ivar video_sender_port: Port used for sending video frames.
-    :type video_sender_port: int
+    :vartype video_sender_port: int
     :ivar audio_sender_port: Port used for sending audio data.
-    :type audio_sender_port: int
+    :vartype audio_sender_port: int
     """
     def __init__(
         self, 
@@ -40,31 +31,18 @@ class VideoConfig(object):
     """
     Video configuration constants.
 
-    :param camera_index: Index of the camera to use.
-    :type camera_index: int
-    :param resolution: Video resolution mode.
-    :type resolution: int
-    :param color_space: Color space identifier.
-    :type color_space: int
-    :param fps: Frames per second of the video stream.
-    :type fps: int
-    :param stream_name: Name of the video stream.
-    :type stream_name: str
-    :param image_buffer: Internal buffer size for video frames.
-    :type image_buffer: int
-
     :ivar camera_index: Index of the camera used.
-    :type camera_index: int
+    :vartype camera_index: int
     :ivar resolution: Video resolution mode.
-    :type resolution: int
+    :vartype resolution: int
     :ivar color_space: Color space identifier.
-    :type color_space: int
+    :vartype color_space: int
     :ivar fps: Frames per second of the video stream.
-    :type fps: int
+    :vartype fps: int
     :ivar stream_name: Name of the video stream.
-    :type stream_name: str
+    :vartype stream_name: str
     :ivar image_buffer: Internal buffer size for video frames.
-    :type image_buffer: int
+    :vartype image_buffer: int
     """
     def __init__(
         self,
@@ -87,19 +65,12 @@ class AudioConfig(object):
     """
     Audio configuration constants.
 
-    :param sample_rate: Audio sampling rate in Hz.
-    :type sample_rate: int
-    :param chunk_size: Size of audio chunks to capture/process.
-    :type chunk_size: int
-    :param channels: Number of audio channels.
-    :type channels: int
-
     :ivar sample_rate: Audio sampling rate in Hz.
-    :type sample_rate: int
+    :vartype sample_rate: int
     :ivar chunk_size: Size of audio chunks to capture/process.
-    :type chunk_size: int
+    :vartype chunk_size: int
     :ivar channels: Number of audio channels.
-    :type channels: int
+    :vartype channels: int
     """
     def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
         self.sample_rate = sample_rate
@@ -111,15 +82,10 @@ class MainConfig(object):
     """
     Main system configuration.
 
-    :param poll_timeout_ms: Timeout for polling events, in milliseconds.
-    :type poll_timeout_ms: int
-    :param max_handler_time_ms: Maximum allowed handler time, in milliseconds.
-    :type max_handler_time_ms: int
-
     :ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
-    :type poll_timeout_ms: int
+    :vartype poll_timeout_ms: int
     :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds.
-    :type max_handler_time_ms: int
+    :vartype max_handler_time_ms: int
     """
     def __init__(self, poll_timeout_ms=100, max_handler_time_ms=50):
         self.poll_timeout_ms = poll_timeout_ms
@@ -130,23 +96,14 @@ class Settings(object):
     """
     Global settings container.
 
-    :param agent_settings: Agent settings instance or None for defaults.
-    :type agent_settings: AgentSettings | None
-    :param video_config: VideoConfig instance or None for defaults.
-    :type video_config: VideoConfig | None
-    :param audio_config: AudioConfig instance or None for defaults.
-    :type audio_config: AudioConfig | None
-    :param main_config: MainConfig instance or None for defaults.
-    :type main_config: MainConfig | None
-
     :ivar agent_settings: Agent-related port configuration.
-    :type agent_settings: AgentSettings
+    :vartype agent_settings: AgentSettings
     :ivar video_config: Video stream configuration.
-    :type video_config: VideoConfig
+    :vartype video_config: VideoConfig
     :ivar audio_config: Audio stream configuration.
-    :type audio_config: AudioConfig
+    :vartype audio_config: AudioConfig
     :ivar main_config: Main system-level configuration.
-    :type main_config: MainConfig
+    :vartype main_config: MainConfig
     """
     def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None):
         self.agent_settings = agent_settings or AgentSettings()

src/robot_interface/endpoints/actuation_receiver.py

@@ -20,7 +20,7 @@ class ActuationReceiver(ReceiverBase):
     :type port: int
 
     :ivar _tts_service: The text-to-speech service object from the Qi session.
-    :vartype _tts_service: ssl.SSLSession | None
+    :vartype _tts_service: qi.Session | None
     """
     def __init__(self, zmq_context, port=settings.agent_settings.actuating_receiver_port):
 

src/robot_interface/endpoints/audio_sender.py

@@ -24,13 +24,13 @@ class AudioSender(SocketBase):
     :type port: int
 
     :ivar thread: Thread used for sending audio.
-    :type thread: threading.Thread | None
+    :vartype thread: threading.Thread | None
 
     :ivar audio: PyAudio instance.
-    :type audio: pyaudio.PyAudio | None
+    :vartype audio: pyaudio.PyAudio | None
 
     :ivar microphone: Selected microphone information.
-    :type microphone: dict | None
+    :vartype microphone: dict | None
     """
     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
@@ -51,7 +51,6 @@ class AudioSender(SocketBase):
 
         Will not start if no microphone is available.
         """
-
         if not self.microphone:
             logger.info("Not listening: no microphone available.")
             return

src/robot_interface/endpoints/socket_base.py

@@ -7,17 +7,20 @@ class SocketBase(object):
     """
     Base class for endpoints associated with a ZeroMQ socket.
 
-    :ivar identifier: The identifier of the endpoint.
+    :param identifier: The identifier of the endpoint.
     :type identifier: str
+    
+    :ivar identifier: The identifier of the endpoint.
+    :vartype identifier: str
 
     :ivar port: The port used by the socket, set by `create_socket`.
-    :type port: int | None
+    :vartype port: int | None
 
     :ivar socket: The ZeroMQ socket object, set by `create_socket`.
-    :type socket: zmq.Socket | None
+    :vartype socket: zmq.Socket | None
 
     :ivar bound: Whether the socket is bound or connected, set by `create_socket`.
-    :type bound: bool | None
+    :vartype bound: bool | None
     """
     __metaclass__ = ABCMeta
 
@@ -43,8 +46,7 @@ class SocketBase(object):
         :param port: The port to use.
         :type port: int
 
-        :param options: A list of options to be set on the socket. The list contains tuples where the first element contains the option
-        and the second the value, for example (zmq.CONFLATE, 1).
+        :param options: A list of tuples where the first element contains the option and the second the value.
         :type options: list[tuple[int, int]]
 
         :param bind: Whether to bind the socket or connect to it.
@@ -73,7 +75,7 @@ class SocketBase(object):
         Description of the endpoint. Used for negotiation.
 
         :return: A dictionary with the following keys: id, port, bind. See API specification at:
-        https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
+            https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
         :rtype: dict
         """
         return {

src/robot_interface/endpoints/video_sender.py

@@ -24,7 +24,7 @@ class VideoSender(SocketBase):
         """
         Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
         
-        Will not start of no qi session is available.
+        Will not start if no qi session is available.
         """
         if not state.qi_session:
             logging.info("No Qi session available. Not starting video loop.")

src/robot_interface/state.py

@@ -14,16 +14,16 @@ class State(object):
     detect this via the `exit_event` property being set.
 
     :ivar is_initialized: Flag indicating whether the state setup (exit handlers, QI session) has completed.
-    :type is_initialized: bool
+    :vartype is_initialized: bool
 
     :ivar exit_event: A thread event used to signal all threads that the program is shutting down.
-    :type exit_event: threading.Event | None
+    :vartype exit_event: threading.Event | None
 
     :ivar sockets: A list of ZeroMQ socket wrappers (`SocketBase`) that need to be closed during deinitialization.
-    :type sockets: List[SocketBase]
+    :vartype sockets: List[SocketBase]
 
     :ivar qi_session: The QI session object used for interaction with the robot/platform services.
-    :type qi_session: None | ssl.SSLSession
+    :vartype qi_session: None | qi.Session
     """
     def __init__(self):
         self.is_initialized = False

src/robot_interface/utils/timeblock.py

@@ -7,13 +7,22 @@ class TimeBlock(object):
     limit, or if no limit is given, the callback will be called with the time that the block took.
 
     :param callback: The callback function that is called when the block of code is over,
-    unless the code block did not exceed the time limit.
+        unless the code block did not exceed the time limit.
     :type callback: Callable[[float], None]
 
     :param limit_ms: The number of milliseconds the block of code is allowed to take. If it
-    exceeds this time, or if it's None, the callback function will be called with the time the
-    block took.
+        exceeds this time, or if it's None, the callback function will be called with the time the
+        block took.
     :type limit_ms: int | None
+
+    :ivar limit_ms: The number of milliseconds the block of code is allowed to take.
+    :vartype limit_ms: float | None
+
+    :ivar callback: The callback function that is called when the block of code is over.
+    :vartype callback: Callable[[float], None]
+
+    ivar start: The start time of the block, set when entering the context.
+    :vartype start: float | None
     """
     def __init__(self, callback, limit_ms=None):
         self.limit_ms = float(limit_ms) if limit_ms is not None else None