pepperplus/pepperplus-ri
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83099a28103d833dc17d5204d25e74e0e887feaa
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44 Commits

Author SHA1 Message Date
JobvAlewijk
83099a2810 chore: modified into req reply socket on 5559 2026-01-17 14:01:32 +01:00
JobvAlewijk
4e9afbaaf5 Merge branch 'dev' of ssh://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-ri into feat/face-detection 2026-01-16 16:48:51 +01:00
Luijkx,S.O.H. (Storm)
e51cf8fe65 feat: implemented forced speech and speech queue 2026-01-14 14:26:38 +00:00
JobvAlewijk
49386ef8cd feat: communicate face to CB 
Had to do some weird socket stuff

ref: N25B-397
 2026-01-12 14:25:10 +01:00
JobvAlewijk
3b470c8f29 feat: fully working face detection 
ref: N25B-397
 2026-01-07 17:56:21 +01:00
JobvAlewijk
b8f71f6bee feat: base face detection 
ref: N25B-397
 2026-01-04 18:56:04 +01:00
JobvAlewijk
a8fe887c48 feat: gestures to ri 2025-12-16 08:35:26 +00:00
Twirre Meulenbelt
3a259c1170 feat: add environment variables and docs 
ref: N25B-352
 2025-12-10 13:28:13 +01:00
Twirre Meulenbelt
a53871360e docs: remove duplicate and double space 
ref: N25B-298
 2025-11-22 19:32:50 +01:00
Pim Hutting
c1e92feba7 Apply 1 suggestion(s) to 1 file(s) 
Co-authored-by: Kasper Marinus <k.marinus@students.uu.nl>
 2025-11-22 12:37:39 +00:00
Pim Hutting
6859451bf9 Apply 1 suggestion(s) to 1 file(s) 
Co-authored-by: Twirre <s.a.meulenbelt@students.uu.nl>
 2025-11-22 12:36:34 +00:00
Twirre Meulenbelt
64c6f0addb docs: make doc generator understand multi line 
ref: N25B-298
 2025-11-22 12:44:13 +01:00
Pim Hutting
c53307530b chore: applied all feedback 
close: N25B-298
 2025-11-22 11:45:32 +01:00
Pim Hutting
051f904576 chore: add documentation RI 
Code functionality left unchanged, only added docs where missing

close: N25B-298
 2025-11-21 16:35:40 +01:00
Storm
9dd39d2048 docs: added auto-generation of documentation 
ref: N25B-270
 2025-11-19 13:49:50 +01:00
Twirre Meulenbelt
c691e279cd style: two lines between top level declarations 
ref: N25B-236
 2025-11-14 15:13:48 +01:00
Pim Hutting
16b64e41c8 style: applied style suggestions 
close: N25B-236
 2025-11-14 14:12:14 +00:00
Pim Hutting
643d7b919c fix: made all tests pass 
before some tests failed because of a faulty edit
to microphone util

ref: N25B-236
 2025-11-09 16:00:36 +01:00
Pim Hutting
4402b21a73 refactor: added config file and moved constants 
- Moved hardcoded configuration constants to a dedicated config.py file.
- Created VideoConfig, AudioConfig, MainConfig, and Settings classes in config.py

ref: N25B-236
 2025-11-09 15:43:22 +01:00
Twirre Meulenbelt
fab5127cac feat: add application parameter to choose a custom microphone 
ref: N25B-119
 2025-11-02 16:12:56 +01:00
Twirre Meulenbelt
9ea446275e fix: allow speaking text with Unicode characters 
When speaking, the actuation receiver logs the message to speak. If the message includes Unicode characters, it will now no longer crash.

ref: N25B-119
 2025-11-02 14:59:16 +01:00
Twirre Meulenbelt
a6a12a5886 fix: remove unused qi import 
It had already been made so that the VideoSender does not depend on `qi`, but the import was not yet removed.

ref: N25B-119
 2025-11-02 14:58:32 +01:00
Twirre Meulenbelt
0499cd8a24 feat: send audio 
AudioSender runs in a separate thread to send audio from the microphone.

ref: N25B-119
 2025-10-22 15:10:27 +02:00
Twirre Meulenbelt
1e3e077029 fix: disallow selecting non-microphone audio device 
Previously any audio device was allowed to be selected as microphone. Now, only ones with at least one input channel can be selected.

ref: N25B-119
 2025-10-22 13:24:46 +02:00
Twirre Meulenbelt
0f60f67ab9 feat: add microphone selection utils 
Providing two functions, one to choose the default microphone, the other to choose a microphone interactively. With tests.

ref: N25B-119
 2025-10-22 11:44:51 +02:00
Twirre Meulenbelt
45be0366ba style: correct and clarify docs and comments 
ref: N25B-168
 2025-10-16 22:03:50 +02:00
Twirre Meulenbelt
4c3aa3a911 feat: adapt actuation receiver to state's qi_session 
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 
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 
ref: N25B-168
 2025-10-16 18:09:01 +02:00
Twirre Meulenbelt
c10fbc7c90 fix: use different port, fix endpoint name matching 
ref: N25B-168
 2025-10-16 17:37:01 +02:00
Twirre Meulenbelt
23c3379bfb refactor: use new port negotiation style 
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 
# Conflicts:
#	src/robot_interface/endpoints/socket_base.py
 2025-10-16 17:01:16 +02:00
Luijkx,S.O.H. (Storm)
0b55d5c221 style: fixed docstrings 
close: N25B-171
 2025-10-16 14:06:31 +00:00
Twirre Meulenbelt
308a19bff2 fix: correct negotiate endpoint name 
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 
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 
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 
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 
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 
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
Twirre Meulenbelt
c95d4abd77 chore: re-add the installation instructions 
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 
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 
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 
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