Björn Otgaar
4688a8fe17
chore: cleanup for merging/ switching to later branches
2025-10-30 17:07:20 +01:00
Björn Otgaar
8990af88fb
Merge remote-tracking branch 'origin/dev' into feat/ri2cb-robot-connections
2025-10-22 11:48:21 +02:00
Pim Hutting
4da83a0a7e
Merge branch 'feat/actuation-receiver' into 'dev'
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Implement negotiation and actuation endpoints
See merge request ics/sp/2025/n25b/pepperplus-ri!5
2025-10-22 08:49:03 +00:00
Twirre Meulenbelt
9d728f78fe
Merge remote-tracking branch 'origin/dev' into feat/actuation-receiver
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# Conflicts:
# README.md
2025-10-21 13:56:57 +02:00
Twirre Meulenbelt
5631a55697
test: convert to pytest
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Instead of built-in `unittest`, now use `pytest`. Find versions that work, convert tests.
ref: N25B-168
2025-10-21 13:55:06 +02:00
2584433
5dce0e3438
Merge branch 'fix/githook-mac' into 'dev'
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fix: fixed githooks
See merge request ics/sp/2025/n25b/pepperplus-ri!7
2025-10-17 14:27:58 +00:00
2584433
670d1f0a6a
fix: fixed githooks
2025-10-17 14:27:58 +00:00
Twirre Meulenbelt
45be0366ba
style: correct and clarify docs and comments
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ref: N25B-168
2025-10-16 22:03:50 +02:00
Twirre Meulenbelt
4c3aa3a911
feat: adapt actuation receiver to state's qi_session
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Makes actuation tests pass. In main, the timing of the socket no longer contains the time to receive and send data, but only the processing time of the message handler.
ref: N25B-168
2025-10-16 21:46:46 +02:00
Twirre Meulenbelt
56c804b7eb
test: add unit tests for main and actuation receivers
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Exhaustive test cases for both classes, with 100% coverage. Adds `mock` dependency. Tests for actuation receiver do not yet pass.
ref: N25B-168
2025-10-16 21:43:24 +02:00
Twirre Meulenbelt
55483808ff
fix: use qi session from state in actuation receiver
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ref: N25B-168
2025-10-16 18:09:01 +02:00
Twirre Meulenbelt
c10fbc7c90
fix: use different port, fix endpoint name matching
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ref: N25B-168
2025-10-16 17:37:01 +02:00
Twirre Meulenbelt
23c3379bfb
refactor: use new port negotiation style
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As changed in the API document, this now uses the new port negotiation style.
ref: N25B-168
2025-10-16 17:22:04 +02:00
Twirre Meulenbelt
e12d88726d
Merge remote-tracking branch 'origin/dev' into feat/actuation-receiver
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# Conflicts:
# src/robot_interface/endpoints/socket_base.py
2025-10-16 17:01:16 +02:00
Twirre
785756683e
Merge branch 'feat/ri-receive-video' into 'dev'
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Implemented receiving video in RI from robot
See merge request ics/sp/2025/n25b/pepperplus-ri!4
2025-10-16 14:41:02 +00:00
Luijkx,S.O.H. (Storm)
0b55d5c221
style: fixed docstrings
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close: N25B-171
2025-10-16 14:06:31 +00:00
Twirre Meulenbelt
308a19bff2
fix: correct negotiate endpoint name
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Was previously "negotiation/", but the API document described it as "negotiate/". It is now "negotiate/" in the implementation as well.
ref: N25B-168
2025-10-16 15:02:01 +02:00
Storm
0c5b47ae16
refactor: removed hardcoded IP and port and moved video functions from main to the VideoSender class
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ref: N25B-171
2025-10-16 14:57:53 +02:00
Storm
a408fafc7c
docs: minor type correction in documentation start_video_rcv and video_rcv_loop
2025-10-15 17:55:29 +02:00
Storm
e3663e1327
feat: implemented receiving video image from robot
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The functionality is implemented in main.py in the functions start_video_rcv and video_rcv_loop.
close: N25B-171
2025-10-15 17:52:59 +02:00
Twirre Meulenbelt
df985a8cbc
fix: log speech commands even when Pepper SDK is not connected
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Previously, the `_handle_speech` function had an early return when no Pepper session was available, causing incoming messages not to get logged. Now messages are logged even when there is no session with the Pepper SDK.
ref: N25B-168
2025-10-15 14:58:31 +02:00
Twirre Meulenbelt
ff6abbfea1
feat: implement actuation receiver
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The ActuationReceiver connects to the Pepper robot using the Qi library. The endpoint is automatically negotiated.
ref: N25B-168
2025-10-13 22:08:43 +02:00
Twirre Meulenbelt
c6916470e9
feat: implement negotiation
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By implementing SocketBase and adding the socket to the state, the negotiation will automatically give the right endpoints.
ref: N25B-168
2025-10-13 22:06:27 +02:00
Luijkx,S.O.H. (Storm)
828871a2ad
Merge branch 'feat/comm-standardization' into 'dev'
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Implementation of standardized CB<->RI communication API
See merge request ics/sp/2025/n25b/pepperplus-ri!3
2025-10-09 16:01:30 +00:00
Twirre Meulenbelt
7cfa6b44e8
chore: add usage instructions
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Describes how to run the main program.
ref: N25B-168
2025-10-09 17:36:25 +02:00
Twirre Meulenbelt
c95d4abd77
chore: re-add the installation instructions
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These installation instructions come from the feat/cb2ri-communication branch which has been replaced by this branch.
ref: N25B-168
2025-10-09 17:28:03 +02:00
Twirre Meulenbelt
e9c6b918e0
refactor: rename EndpointBase to SocketBase
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Because 'endpoint' is also used in the messages, the name 'socket' is more descriptive.
ref: N25B-168
2025-10-09 16:24:31 +02:00
Twirre Meulenbelt
23805812d5
feat: abstract base classes for endpoints
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Introduces EndpointBase and ReceiverBase abstract base classes. Implements a ReceiverBase with the MainReceiver.
ref: N25B-168
2025-10-09 16:04:18 +02:00
Twirre Meulenbelt
c4530f0c3a
feat: basic implementation of standardized CB2RI communication API
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Based on the N25B-A-14 article, this is a stub implementation of the RI2CB communication API. It implements the ping endpoint and provides a stub for the negotiation endpoint.
ref: N25B-168
2025-10-09 13:54:34 +02:00
2584433
bc26c76437
Merge branch 'chore/correct-branch-name-regex' into 'dev'
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Correct branch hook regex
See merge request ics/sp/2025/n25b/pepperplus-ri!2
2025-10-08 15:06:00 +00:00
Twirre Meulenbelt
99776480e8
chore: correct commit hook regex
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Previously all branch names had to have two dashes. Now it can have one to six words.
ref: N25B-89
2025-10-08 16:25:51 +02:00
Björn Otgaar
da14a67791
feat: made ping system for automatic disconnection
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events, and fixed some issues.
ref: N25B-150
2025-10-08 14:30:55 +02:00
Björn Otgaar
ae60105b4d
feat: send connection message when starting up
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issue: N25B-150
2025-10-08 12:11:24 +02:00
2584433
b7c6269435
Merge branch 'feat/git-automatic-hooks' into 'dev'
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Added githooks
See merge request ics/sp/2025/n25b/pepperplus-ri!1
2025-10-07 14:55:04 +00:00
2584433
eb091968a6
Added githooks
2025-10-07 14:55:04 +00:00
Twirre Meulenbelt
c634e4b516
chore: replace print with logging and make robot conditional
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All print statements in the main program, and components used by the main program, have been replaced with appropriate logging statements. The connection to the robot now only gets made when it's possible, otherwise only the microphone will be run.
ref: N25B-119
2025-10-02 16:13:39 +02:00
Twirre Meulenbelt
2132a74321
fix: allow access to state's exit_event while exiting
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When exiting, the state's `is_initialized` flag is unset. Noticeable on Windows, when a thread tried to access the state's `exit_event` property to check whether it had been set, it would complain that the state was no longer initialized. Now, even when no longer initialized, if the `exit_event` is set, it will not raise an error when accessing this attribute.
ref: N25B-119
2025-10-01 17:34:51 +02:00
Twirre Meulenbelt
d21c7fa423
fix: always use 1 audio channel
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Before, I chose the number of audio channels that the microphone supports. Should be 1.
ref: N25B-119
2025-10-01 13:41:53 +02:00
Twirre Meulenbelt
afae6fc331
feat: stream audio to CB
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Uses PyAudio and ZeroMQ to publish audio chunks.
ref: N25B-119
2025-10-01 10:50:53 +02:00
da99b5cd62
chore: update README
2025-09-30 13:26:42 +02:00
d48ea930a1
chore: complete installation instructions
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ref: N25B-115
2025-09-30 13:16:33 +02:00
9e001da685
chore: update README and gitignore
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Add installation instructions for the development environment.
ref: N25B-115
2025-09-30 13:14:52 +02:00
a41552f7c6
feat: basic implementation of CB2RI
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Nothing fancy yet. When we receive a message through ZeroMQ's PUB/SUB
architecture, we tell the robot to say it out loud.
2025-09-27 20:41:03 +02:00
318ad5f88a
Initial commit
2025-09-27 15:46:26 +00:00
