chore: implemented test video function

If there is no qi session, the webcam of the device is used to send video.

requirements.txt

@@ -7,3 +7,4 @@ sphinx
 sphinx_rtd_theme
 pre-commit
 python-dotenv
+opencv-python==4.1.2.30

src/robot_interface/endpoints/actuation_receiver.py

@@ -1,11 +1,12 @@
 from __future__ import unicode_literals  # So that we can log texts with Unicode characters
 import logging
+from threading import Thread
 
+import Queue
 import zmq
 
 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
 
@@ -32,6 +33,9 @@ class ActuationReceiver(ReceiverBase):
         self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
         self._tts_service = None
         self._animation_service = None
+        self._message_queue = Queue.Queue()
+        self.message_thread = Thread(target=self._handle_messages)
+        self.message_thread.start()
 
     def _handle_speech(self, message):
         """
@@ -58,8 +62,26 @@ class ActuationReceiver(ReceiverBase):
         if not self._tts_service:
             self._tts_service = state.qi_session.service("ALTextToSpeech")
 
-        # Returns instantly. Messages received while speaking will be queued.
+        if message.get("is_priority"):
-        getattr(qi, "async")(self._tts_service.say, text)
+            # Bypass queue and speak immediately
+            self.clear_queue()
+            self._message_queue.put(text)
+            logging.debug("Force speaking immediately: {}".format(text))
+        else: 
+            self._message_queue.put(text)
+
+    def clear_queue(self):
+        """
+        Safely drains all pending messages from the queue.
+        """
+        logging.info("Message queue size: {}".format(self._message_queue.qsize()))
+        try:
+            while True:
+                # Remove items one by one without waiting
+                self._message_queue.get_nowait()
+        except Queue.Empty:
+            pass
+        logging.info("Message queue cleared.")
 
     def _handle_gesture(self, message, is_single):
         """
@@ -122,6 +144,19 @@ class ActuationReceiver(ReceiverBase):
         if message["endpoint"] == "actuate/gesture/single":
             self._handle_gesture(message, True)
 
+    def _handle_messages(self):
+        while not state.exit_event.is_set():
+            try:
+                text = self._message_queue.get(timeout=0.1)
+                state.is_speaking = True
+                self._tts_service.say(text)
+            except Queue.Empty:
+                state.is_speaking = False
+            except RuntimeError:
+                logging.error("Lost connection to Pepper. Please check if you're connected to the "
+                              "local WiFi and restart this application.")
+                state.exit_event.set()        
+
     def endpoint_description(self):
         """
         Extend the default endpoint description with gesture tags.

src/robot_interface/endpoints/audio_sender.py

@@ -89,6 +89,7 @@ class AudioSender(SocketBase):
         try:
             while not state.exit_event.is_set():
                 data = stream.read(chunk)
+                if (state.is_speaking): continue  # Do not send audio while the robot is speaking
                 self.socket.send(data)
         except IOError as e:
             logger.error("Stopped listening: failed to get audio from microphone.", exc_info=e)

src/robot_interface/endpoints/video_sender.py

@@ -1,11 +1,13 @@
 import zmq
 import threading
 import logging
+import cv2
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
 from robot_interface.core.config import settings
 
+
 class VideoSender(SocketBase):
     """
     Video sender endpoint, responsible for sending video frames.
@@ -27,7 +29,9 @@ class VideoSender(SocketBase):
         Will not start if no qi session is available.
         """
         if not state.qi_session:
-            logging.info("No Qi session available. Not starting video loop.")
+            logging.info("No Qi session available. Starting video from webcam.")
+            thread = threading.Thread(target=self.test_video_stream)
+            thread.start()
             return
 
         video = state.qi_session.service("ALVideoDevice")
@@ -58,3 +62,29 @@ class VideoSender(SocketBase):
                 self.socket.send(img[settings.video_config.image_buffer])
             except:
                 logging.warn("Failed to retrieve video image from robot.")
+
+    def test_video_stream(self):
+        """
+        Test function to send video from local webcam instead of the robot.
+        """
+        cap = cv2.VideoCapture(0)
+        if not cap.isOpened():
+            logging.error("Could not open webcam for video stream test.")
+            return
+
+        while not state.exit_event.is_set():
+
+            ret, frame = cap.read()
+            if not ret:
+                logging.warning("Failed to read frame from webcam.")
+                continue
+
+            cv2.waitKey(1)
+            
+            small_frame = cv2.resize(frame, (320, 240), interpolation=cv2.INTER_AREA)
+            encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 70]
+            _, buffer = cv2.imencode('.jpg', small_frame, encode_param)
+
+            self.socket.send(buffer.tobytes())
+
+        cap.release()

src/robot_interface/state.py

@@ -30,6 +30,7 @@ class State(object):
         self.exit_event = None
         self.sockets = []  
         self.qi_session = None 
+        self.is_speaking = False
 
     def initialize(self):
         """

test/conftest.py

@@ -0,0 +1,10 @@
+from mock import patch, MagicMock
+
+import pytest
+
+
+@pytest.fixture(autouse=True)
+def mock_zmq_context():
+    with patch("zmq.Context") as mock:
+        mock.instance.return_value = MagicMock()
+        yield mock

test/unit/test_actuation_receiver.py

@@ -20,46 +20,109 @@ def zmq_context():
     yield context
 
 
-def test_handle_unimplemented_endpoint(zmq_context):
+def test_force_speech_clears_queue(mocker):
     """
-    Tests that the ``ActuationReceiver.handle_message`` method can
+    Tests that a force speech message clears the existing queue
-    handle an unknown or unimplemented endpoint without raising an error.
+    and places the high-priority message at the front.
     """
-    receiver = ActuationReceiver(zmq_context)
+    mocker.patch("threading.Thread")
-    # Should not error
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi 
+
+    mock_tts_service = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_tts_service
+
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    receiver._message_queue.put("old_message_1")
+    receiver._message_queue.put("old_message_2")
+    
+    assert receiver._message_queue.qsize() == 2
+
+    force_msg = {
+        "endpoint": "actuate/speech", 
+        "data": "Emergency Notification",
+        "is_priority": True,
+    }
+    receiver.handle_message(force_msg)
+
+    assert receiver._message_queue.qsize() == 1
+    queued_item = receiver._message_queue.get()
+    assert queued_item == "Emergency Notification"
+
+
+def test_handle_unimplemented_endpoint(mocker):
+    """
+    Tests handling of unknown endpoints.
+    """
+    mocker.patch("threading.Thread")
+    
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
     receiver.handle_message({
         "endpoint": "some_endpoint_that_definitely_does_not_exist",
         "data": None,
     })
 
 
-def test_speech_message_no_data(zmq_context, mocker):
+def test_speech_message_no_data(mocker):
     """
-    Tests that the message handler logs a warning when a speech actuation
+    Tests that if the message data is empty, the receiver returns immediately
-    request (`actuate/speech`) is received but contains empty string data.
+    WITHOUT attempting to access the global robot state or session.
     """
-    mock_warn = mocker.patch("logging.warn")
+    # 1. Prevent background threads from running
+    mocker.patch("threading.Thread")
     
-    receiver = ActuationReceiver(zmq_context)
+    # 2. Mock the global state object
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+
+    # 3. Create a PropertyMock to track whenever 'qi_session' is accessed
+    # We attach it to the class type of the mock so it acts like a real property
+    mock_session_prop = mock.PropertyMock(return_value=None)
+    type(mock_state).qi_session = mock_session_prop
+
+    # 4. Initialize Receiver (Mocking the context to avoid ZMQ errors)
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # 5. Send empty data
     receiver.handle_message({"endpoint": "actuate/speech", "data": ""})
 
-    mock_warn.assert_called_with(mock.ANY)
+    # 6. Assertion: 
+    # Because the code does `if not text: return` BEFORE `if not state.qi_session`,
+    # the state property should NEVER be read.
+    mock_session_prop.assert_not_called()
 
 
-def test_speech_message_invalid_data(zmq_context, mocker):
+def test_speech_message_invalid_data(mocker):
     """
-    Tests that the message handler logs a warning when a speech actuation
+    Tests that if the message data is not a string, the function returns.     
-    request (`actuate/speech`) is received with data that is not a string (e.g., a boolean).
+    :param mocker: Description
     """
-    mock_warn = mocker.patch("logging.warn")
+    mocker.patch("threading.Thread")
+
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+
+    mock_session_prop = mock.PropertyMock(return_value=None)
+    type(mock_state).qi_session = mock_session_prop
+
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
     
-    receiver = ActuationReceiver(zmq_context)
     receiver.handle_message({"endpoint": "actuate/speech", "data": True})
 
-    mock_warn.assert_called_with(mock.ANY)
+    # Because the code does `if not text: return` BEFORE `if not state.qi_session`,
+    # the state property should NEVER be read.
+    mock_session_prop.assert_not_called()
 
-
+def test_speech_no_qi(mocker):
-def test_speech_no_qi(zmq_context, mocker):
     """
     Tests the actuation receiver's behavior when processing a speech request
     but the global state does not have an active QI session.
@@ -69,16 +132,21 @@ def test_speech_no_qi(zmq_context, mocker):
     mock_qi_session = mock.PropertyMock(return_value=None)
     type(mock_state).qi_session = mock_qi_session
 
-    receiver = ActuationReceiver(zmq_context)
+    mock_tts_service = mock.Mock()
+
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    receiver._tts_service = mock_tts_service
+
     receiver._handle_speech({"endpoint": "actuate/speech", "data": "Some message to speak."})
 
-    mock_qi_session.assert_called()
+    receiver._tts_service.assert_not_called()
 
 
-def test_speech(zmq_context, mocker):
+def test_speech(mocker):
     """
     Tests the core speech actuation functionality by mocking the QI TextToSpeech
-    service and verifying that it is called correctly.
+    service and verifying that the received message is put into the queue.
     """
     mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
 
@@ -89,17 +157,182 @@ def test_speech(zmq_context, mocker):
     mock_state.qi_session = mock.Mock()
     mock_state.qi_session.service.return_value = mock_tts_service
 
-    receiver = ActuationReceiver(zmq_context)
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+
     receiver._tts_service = None
     receiver._handle_speech({"endpoint": "actuate/speech", "data": "Some message to speak."})
 
-    mock_state.qi_session.service.assert_called_once_with("ALTextToSpeech")
+    assert receiver._message_queue.qsize() == 1
 
-    getattr(mock_qi, "async").assert_called_once()
+    queued_item = receiver._message_queue.get()
-    call_args = getattr(mock_qi, "async").call_args[0]
+    assert queued_item == "Some message to speak."
-    assert call_args[0] == mock_tts_service.say
-    assert call_args[1] == "Some message to speak."
 
+def test_speech_priority(mocker):
+    """
+    Tests that a priority speech message is handled correctly by clearing the queue
+    and placing the priority message at the front.
+    """
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    mock_tts_service = mock.Mock()
+    mock_state.qi_session = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_tts_service
+
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+
+    receiver._message_queue.put("old_message_1")
+    receiver._message_queue.put("old_message_2")
+
+    assert receiver._message_queue.qsize() == 2
+
+    priority_msg = {
+        "endpoint": "actuate/speech", 
+        "data": "Urgent Message",
+        "is_priority": True,
+    }
+    receiver._handle_speech(priority_msg)
+
+    assert receiver._message_queue.qsize() == 1
+    queued_item = receiver._message_queue.get()
+    assert queued_item == "Urgent Message"
+
+def test_handle_messages_loop(mocker):
+    """
+    Tests the background consumer loop (_handle_messages) processing an item.
+    Runs SYNCHRONOUSLY to ensure coverage tools pick up the lines.
+    """
+    # Patch Thread so the real background thread NEVER starts automatically
+    mocker.patch("threading.Thread")
+
+    # Mock state
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+        
+    # Setup initial speaking state to False (covers "Started speaking" print)
+    mock_state.is_speaking = False
+    
+    # Mock the TextToSpeech service
+    mock_tts_service = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_tts_service
+    
+    # Initialize receiver (Thread is patched, so no thread starts)
+    # Use Mock Context to avoid ZMQ errors
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # Manually inject service (since lazy loading might handle it, but this is safer)
+    receiver._tts_service = mock_tts_service
+
+    # This ensures the while loop iterates exactly once
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    # Put an item in the queue
+    receiver._message_queue.put("Hello World")
+
+    # RUN MANUALLY in the main thread
+    # This executes the code: while -> try -> get -> if print -> speaking=True -> say
+    receiver._handle_messages()
+
+    # Assertions
+    assert receiver._message_queue.empty()
+    mock_tts_service.say.assert_called_with("Hello World")
+    assert mock_state.is_speaking is True
+
+
+def test_handle_messages_queue_empty(mocker):
+    """
+    Tests the Queue.Empty exception handler in the consumer loop.
+    This covers the logic that resets 'state.is_speaking' to False.
+    """
+    # Prevent the real background thread from starting
+    mocker.patch("threading.Thread")
+
+    # Mock the state object
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+        
+    # Setup 'is_speaking' property mock
+    # We set return_value=True so the code enters the 'if state.is_speaking:' block.
+    # We use PropertyMock to track when this attribute is set.
+    type(mock_state).is_speaking = True
+    
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # This ensures the while loop body runs exactly once for our test
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    # Force get() to raise Queue.Empty immediately (simulate timeout)
+    # We patch the 'get' method on the specific queue instance of our receiver
+    #mocker.patch.object(receiver._message_queue, 'get', side_effect=Queue.Empty)
+    
+    # Run the loop logic manually (synchronously)
+    receiver._handle_messages()
+
+    # Final Assertion: Verify is_speaking was set to False
+    # The code execution order is: read (returns True) -> print -> set (to False)
+    # assert_called_with checks the arguments of the LAST call, which is the setter.
+    assert mock_state.is_speaking is False
+
+
+def test_handle_messages_runtime_error(mocker):
+    """
+    Tests the RuntimeError exception handler (e.g. lost WiFi connection).
+    Uses a Mock ZMQ context to avoid 'Address already in use' errors.
+    """
+    # Patch Thread so we don't accidentally spawn real threads
+    mocker.patch("threading.Thread")
+    
+    # Mock the state and logging
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+        
+    # Use a MOCK ZMQ context. 
+    # This prevents the receiver from trying to bind to a real TCP port.
+    mock_zmq_ctx = mock.Mock()
+    
+    # Initialize receiver with the mock context
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    receiver._message_queue.put("Test Message")
+    
+    # Setup: ...BUT the service raises RuntimeError when asked to speak
+    mock_tts = mock.Mock()
+    mock_tts.say.side_effect = RuntimeError("Connection lost")
+    receiver._tts_service = mock_tts
+    
+    # Run the loop logic manually
+    receiver._handle_messages()
+    
+    # Assertions
+    assert mock_state.exit_event.is_set.called
+
+def test_clear_queue(mocker):
+    """
+    Tests that the clear_queue method properly drains all items from the message queue.
+    """
+    mocker.patch("threading.Thread")
+    
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # Populate the queue with multiple items
+    receiver._message_queue.put("msg1")
+    receiver._message_queue.put("msg2")
+    receiver._message_queue.put("msg3")
+    
+    assert receiver._message_queue.qsize() == 3
+
+    # Clear the queue
+    receiver.clear_queue()
+
+    # Assert the queue is empty
+    assert receiver._message_queue.qsize() == 0
 
 def test_gesture_no_data(zmq_context, mocker):
     receiver = ActuationReceiver(zmq_context)

test/unit/test_audio_sender.py

@@ -78,6 +78,7 @@ def test_sending_audio(mocker):
     mock_zmq_context = mock.Mock()
     send_socket = mock.Mock()
     
+    mock_state.is_speaking = False
     # If there's something wrong with the microphone, it will raise an IOError when `read`ing.
     stream = mock.Mock()
     stream.read = _fake_read
@@ -93,6 +94,36 @@ def test_sending_audio(mocker):
     send_socket.assert_called()
 
 
+def test_no_sending_if_speaking(mocker):
+    """
+    Tests the successful sending of audio data over a ZeroMQ socket.
+    """
+    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
+    mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    mock_zmq_context = mock.Mock()
+    send_socket = mock.Mock()
+    
+    mock_state.is_speaking = True
+
+    # If there's something wrong with the microphone, it will raise an IOError when `read`ing.
+    stream = mock.Mock()
+    stream.read = _fake_read
+
+    sender = AudioSender(mock_zmq_context)
+    sender.socket.send = send_socket
+    sender.audio.open = mock.Mock()
+    sender.audio.open.return_value = stream
+
+    sender.start()
+    sender.wait_until_done()
+
+    send_socket.assert_not_called()
+
+
 def _fake_read_error(num_frames):
     """
     Helper function to simulate an I/O error during microphone stream reading.

test/unit/test_video_sender.py

@@ -97,3 +97,120 @@ def test_video_receive_error(zmq_context, mocker):
     sender.video_rcv_loop(mock_video_service, "stream_name")
 
     send_socket.assert_not_called()
+
+def test_video_stream_camera_fail(zmq_context, mocker):
+    """
+    Test that the function logs an error and returns early if
+    the webcam cannot be opened.
+    """
+    _patch_basics(mocker)
+    
+    # Mock cv2 and logging
+    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
+    mock_logging = mocker.patch("robot_interface.endpoints.video_sender.logging")
+
+    # Setup the mock capture to fail isOpened()
+    mock_cap = mock.Mock()
+    mock_cap.isOpened.return_value = False
+    mock_cv2.VideoCapture.return_value = mock_cap
+
+    sender = VideoSender(zmq_context)
+    sender.test_video_stream()
+
+    # Assertions
+    mock_cv2.VideoCapture.assert_called_with(0)
+    
+    # Ensure the loop was never entered and cleanup didn't happen
+    assert not mock_cap.read.called
+    assert not mock_cap.release.called
+
+
+def test_video_stream_read_fail(zmq_context, mocker):
+    """
+    Test that the function logs a warning and continues the loop 
+    if a specific frame fails to read.
+    """
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)  # Run loop exactly once
+
+    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
+    mock_logging = mocker.patch("robot_interface.endpoints.video_sender.logging")
+
+    # Setup capture to open successfully, but fail the read()
+    mock_cap = mock.Mock()
+    mock_cap.isOpened.return_value = True
+    # Return (False, None) simulating a failed frame read
+    mock_cap.read.return_value = (False, None)
+    mock_cv2.VideoCapture.return_value = mock_cap
+
+    sender = VideoSender(zmq_context)
+    # Mock the socket to ensure nothing is sent
+    sender.socket = mock.Mock()
+
+    sender.test_video_stream()
+    
+    # Ensure we skipped the processing steps
+    assert not mock_cv2.resize.called
+    assert not sender.socket.send.called
+    
+    # Ensure cleanup happened at the end
+    mock_cap.release.assert_called_once()
+
+
+def test_video_stream_success(zmq_context, mocker):
+    """
+    Test the happy path: Frame read -> Resize -> Encode -> Send.
+    """
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)  # Run loop exactly once
+
+    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
+    
+    # Setup constants usually found in cv2
+    mock_cv2.IMWRITE_JPEG_QUALITY = 1
+    mock_cv2.INTER_AREA = 2
+
+    # Setup capture to work perfectly
+    mock_cap = mock.Mock()
+    mock_cap.isOpened.return_value = True
+    fake_frame = "original_frame_data"
+    mock_cap.read.return_value = (True, fake_frame)
+    mock_cv2.VideoCapture.return_value = mock_cap
+
+    # Setup Resize and Encode
+    mock_cv2.resize.return_value = "small_frame_data"
+    
+    # Mock buffer behavior
+    mock_buffer = mock.Mock()
+    mock_buffer.tobytes.return_value = b"encoded_bytes"
+    # imencode returns (retval, buffer)
+    mock_cv2.imencode.return_value = (True, mock_buffer)
+
+    sender = VideoSender(zmq_context)
+    sender.socket = mock.Mock()
+
+    sender.test_video_stream()
+
+    # Assertions
+    # 1. Check waitKey (the 1ms delay)
+    mock_cv2.waitKey.assert_called_with(1)
+
+    # 2. Check Resize logic
+    mock_cv2.resize.assert_called_with(
+        fake_frame, 
+        (320, 240), 
+        interpolation=mock_cv2.INTER_AREA
+    )
+
+    # 3. Check Encode logic
+    mock_cv2.imencode.assert_called_with(
+        '.jpg', 
+        "small_frame_data", 
+        [mock_cv2.IMWRITE_JPEG_QUALITY, 70]
+    )
+
+    # 4. Check Socket Send
+    sender.socket.send.assert_called_with(b"encoded_bytes")
+
+    # 5. Check Cleanup
+    mock_cap.release.assert_called_once()