feat: implemented force speech functionality in RI and refactored actuation_receiver tests

Before actuation_receiver tests started a receiver with real zmq context. This led to flaky tests because of port congestion issues.

ref: N25B-386

.env.example

@@ -1,25 +0,0 @@
-# Example .env file. To use, make a copy, call it ".env" (i.e. removing the ".example" suffix), then you edit values.
-# To make a variable apply, uncomment it (remove the "#" in front of the line).
-
-# First, some variables that are likely to be configured:
-
-# The hostname or IP address of the Control Backend.
-AGENT__CONTROL_BACKEND_HOST=localhost
-
-
-
-# Variables that are unlikely to be configured, you can probably ignore these:
-
-#AGENT__ACTUATION_RECEIVER_PORT=
-#AGENT__MAIN_RECEIVER_PORT=
-#AGENT__VIDEO_SENDER_PORT=
-#AGENT__AUDIO_SENDER_PORT=
-#VIDEO__CAMERA_INDEX=
-#VIDEO__RESOLUTION=
-#VIDEO__COLOR_SPACE=
-#VIDEO__FPS=
-#VIDEO__STREAM_NAME=
-#VIDEO__IMAGE_BUFFER=
-#AUDIO__SAMPLE_RATE=
-#AUDIO__CHUNK_SIZE=
-#AUDIO__CHANNELS=

README.md

@@ -39,15 +39,10 @@ On Windows:
 $env:PYTHONPATH="src"; python -m robot_interface.main
 ```
 
-### Program Arguments
-
-If you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
+With both, if you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
 
 There's also a `--microphone` argument that can be used to choose a microphone to use. If not given, the program will try the default microphone. If you don't know the name of the microphone, pass the argument with any value, and it will list the names of available microphones.
 
-### Environment Variables
-
-You may use environment variables to change settings. Make a copy of the [`.env.example`](.env.example) file, name it `.env` and put it in the root directory. The file itself describes how to do the configuration.
 
 
 ## Testing

requirements.txt

@@ -6,4 +6,3 @@ pytest-cov<3.0.0
 sphinx
 sphinx_rtd_theme
 pre-commit
-python-dotenv

src/robot_interface/core/config.py

@@ -1,101 +1,95 @@
 from __future__ import unicode_literals
 
-from robot_interface.utils.get_config import get_config
-
 
 class AgentSettings(object):
     """
     Agent port configuration.
 
-    :ivar control_backend_host: Hostname of the control backend, defaults to "localhost".
-    :vartype control_backend_host: string
-    :ivar actuation_receiver_port: Port for receiving actuation commands, defaults to 5557.
-    :vartype actuation_receiver_port: int
-    :ivar main_receiver_port: Port for receiving main messages, defaults to 5555.
+    :ivar actuating_receiver_port: Port for receiving actuation commands.
+    :vartype actuating_receiver_port: int
+    :ivar main_receiver_port: Port for receiving main messages.
     :vartype main_receiver_port: int
-    :ivar video_sender_port: Port used for sending video frames, defaults to 5556.
+    :ivar video_sender_port: Port used for sending video frames.
     :vartype video_sender_port: int
-    :ivar audio_sender_port: Port used for sending audio data, defaults to 5558.
+    :ivar audio_sender_port: Port used for sending audio data.
     :vartype audio_sender_port: int
     """
     def __init__(
-        self,
-        control_backend_host=None,
-        actuation_receiver_port=None,
-        main_receiver_port=None,
-        video_sender_port=None,
-        audio_sender_port=None,
+        self, 
+        actuating_receiver_port=5557, 
+        main_receiver_port=5555,
+        video_sender_port=5556, 
+        audio_sender_port=5558,
     ):
-        self.control_backend_host = get_config(control_backend_host, "AGENT__CONTROL_BACKEND_HOST", "localhost")
-        self.actuation_receiver_port = get_config(actuation_receiver_port, "AGENT__ACTUATION_RECEIVER_PORT", 5557, int)
-        self.main_receiver_port = get_config(main_receiver_port, "AGENT__MAIN_RECEIVER_PORT", 5555, int)
-        self.video_sender_port = get_config(video_sender_port, "AGENT__VIDEO_SENDER_PORT", 5556, int)
-        self.audio_sender_port = get_config(audio_sender_port, "AGENT__AUDIO_SENDER_PORT", 5558, int)
+        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.
 
-    :ivar camera_index: Index of the camera used, defaults to 0.
+    :ivar camera_index: Index of the camera used.
     :vartype camera_index: int
-    :ivar resolution: Video resolution mode, defaults to 2.
+    :ivar resolution: Video resolution mode.
     :vartype resolution: int
-    :ivar color_space: Color space identifier, defaults to 11.
+    :ivar color_space: Color space identifier.
     :vartype color_space: int
-    :ivar fps: Frames per second of the video stream, defaults to 15.
+    :ivar fps: Frames per second of the video stream.
     :vartype fps: int
-    :ivar stream_name: Name of the video stream, defaults to "Pepper Video".
+    :ivar stream_name: Name of the video stream.
     :vartype stream_name: str
-    :ivar image_buffer: Internal buffer size for video frames, defaults to 6.
+    :ivar image_buffer: Internal buffer size for video frames.
     :vartype image_buffer: int
     """
     def __init__(
         self,
-        camera_index=None,
-        resolution=None,
-        color_space=None,
-        fps=None,
-        stream_name=None,
-        image_buffer=None,
+        camera_index=0,
+        resolution=2,
+        color_space=11,
+        fps=15,
+        stream_name="Pepper Video",
+        image_buffer=6,
     ):
-        self.camera_index = get_config(camera_index, "VIDEO__CAMERA_INDEX", 0, int)
-        self.resolution = get_config(resolution, "VIDEO__RESOLUTION", 2, int)
-        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 11, int)
-        self.fps = get_config(fps, "VIDEO__FPS", 15, int)
-        self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
-        self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)
+        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.
 
-    :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
+    :ivar sample_rate: Audio sampling rate in Hz.
     :vartype sample_rate: int
-    :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
+    :ivar chunk_size: Size of audio chunks to capture/process.
     :vartype chunk_size: int
-    :ivar channels: Number of audio channels, defaults to 1.
+    :ivar channels: Number of audio channels.
     :vartype channels: int
     """
-    def __init__(self, sample_rate=None, chunk_size=None, channels=None):
-        self.sample_rate = get_config(sample_rate, "AUDIO__SAMPLE_RATE", 16000, int)
-        self.chunk_size = get_config(chunk_size, "AUDIO__CHUNK_SIZE", 512, int)
-        self.channels = get_config(channels, "AUDIO__CHANNELS", 1, int)
+    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 system configuration.
 
-    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds, defaults to 100.
+    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
     :vartype poll_timeout_ms: int
-    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds, defaults to 50.
+    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds.
     :vartype max_handler_time_ms: int
     """
-    def __init__(self, poll_timeout_ms=None, max_handler_time_ms=None):
-        self.poll_timeout_ms = get_config(poll_timeout_ms, "MAIN__POLL_TIMEOUT_MS", 100, int)
-        self.max_handler_time_ms = get_config(max_handler_time_ms, "MAIN__MAX_HANDLER_TIME_MS", 50, int)
+    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):

src/robot_interface/endpoints/actuation_receiver.py

@@ -1,13 +1,15 @@
 from __future__ import unicode_literals  # So that we can log texts with Unicode characters
 import logging
+import time
+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
 
 
 class ActuationReceiver(ReceiverBase):
@@ -22,16 +24,15 @@ class ActuationReceiver(ReceiverBase):
 
     :ivar _tts_service: The text-to-speech service object from the Qi session.
     :vartype _tts_service: qi.Session | None
-
-    :ivar _animation_service: The animation/gesture service object from the Qi session.
-    :vartype _animation_service: qi.Session | None
     """
-    def __init__(self, zmq_context, port=settings.agent_settings.actuation_receiver_port):
+    def __init__(self, zmq_context, port=settings.agent_settings.actuating_receiver_port):
         super(ActuationReceiver, self).__init__("actuation")
         self.create_socket(zmq_context, zmq.SUB, port)
         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):
         """
@@ -58,55 +59,25 @@ 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.
-        getattr(qi, "async")(self._tts_service.say, text)
+        if (message.get("is_priority")):
+            # 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 _handle_gesture(self, message, is_single):
+    def clear_queue(self):
         """
-        Handle a gesture actuation request.
-        
-        :param message: The gesture to do, must contain properties "endpoint" and "data".
-        :type message: dict
-
-        :param is_single: Whether it's a specific single gesture or a gesture tag.
-        :type is_single: bool
+        Safely drains all pending messages from the queue.
         """
-
-        gesture = message.get("data")
-        if not gesture:
-            logging.warn("Received gesture to do, but it lacks data.")
-            return
-
-        if not isinstance(gesture, (str, unicode)):
-            logging.warn("Received gesture to do but it is not a string.")
-            return
-
-        logging.debug("Received gesture to do: {}".format(gesture))
-
-        if is_single:
-            if gesture not in GestureTags.single_gestures:
-                logging.warn("Received single gesture to do, but it does not exist in settings")
-                return
-        else:
-            if gesture not in GestureTags.tags:
-                logging.warn("Received single tag to do, but it does not exist in settings")
-                return
-
-        if not state.qi_session: return
-        # If state has a qi_session, we know that we can import qi
-        import qi  # Takes a while only the first time it's imported
-
-        if not self._animation_service:
-            self._animation_service = state.qi_session.service("ALAnimationPlayer")
-
-        # Play the gesture. Pepper comes with predefined animations like "Wave", "Greet", "Clap"
-        # You can also create custom animations using Choregraphe and upload them to the robot.
-        if is_single:
-            logging.debug("Playing single gesture: {}".format(gesture))
-            getattr(qi, "async")(self._animation_service.run, gesture)
-        else:
-            logging.debug("Playing tag gesture: {}".format(gesture))
-            getattr(qi, "async")(self._animation_service.runTag, gesture)
+        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_message(self, message):
         """
@@ -117,18 +88,18 @@ class ActuationReceiver(ReceiverBase):
         """
         if message["endpoint"] == "actuate/speech":
             self._handle_speech(message)
-        if message["endpoint"] == "actuate/gesture/tag":
-            self._handle_gesture(message, False)
-        if message["endpoint"] == "actuate/gesture/single":
-            self._handle_gesture(message, True)
 
-    def endpoint_description(self):
-        """
-        Extend the default endpoint description with gesture tags.
-        Returned during negotiate/ports so the CB knows available gestures.
-        """
-        desc = super(ActuationReceiver, self).endpoint_description()
-        desc["gestures"] = GestureTags.tags
-        desc["basic_gestures"] = GestureTags.basic_gestures
-        desc["single_gestures"] = GestureTags.single_gestures
-        return desc
+    def _handle_messages(self):
+        while not state.exit_event.is_set():
+            try:
+                text = self._message_queue.get(timeout=0.1)
+                if not state.is_speaking: print("Started speaking.")
+                state.is_speaking = True
+                self._tts_service.say(text)
+            except Queue.Empty:
+                if state.is_speaking: print("Finished speaking.")
+                state.is_speaking = False
+            except RuntimeError:
+                logging.warn("Lost connection to Pepper. Please check if you're connected to the local WiFi and restart this application.")
+                state.exit_event.set()
+

src/robot_interface/endpoints/gesture_settings.py

@@ -1,425 +0,0 @@
-class GestureTags:
-    tags = ["above", "affirmative", "afford", "agitated", "all", "allright", "alright", "any", 
-            "assuage", "assuage", "attemper", "back", "bashful", "beg", "beseech", "blank", 
-            "body language", "bored", "bow", "but", "call", "calm", "choose", "choice", "cloud", 
-            "cogitate", "cool", "crazy", "disappointed", "down", "earth", "empty", "embarrassed", 
-            "enthusiastic", "entire", "estimate", "except", "exalted", "excited", "explain", "far", 
-            "field", "floor", "forlorn", "friendly", "front", "frustrated", "gentle", "gift", 
-            "give", "ground", "happy", "hello", "her", "here", "hey", "hi", "him", "hopeless", 
-            "hysterical", "I", "implore", "indicate", "joyful", "me", "meditate", "modest", 
-            "negative", "nervous", "no", "not know", "nothing", "offer", "ok", "once upon a time", 
-            "oppose", "or", "pacify", "pick", "placate", "please", "present", "proffer", "quiet", 
-            "reason", "refute", "reject", "rousing", "sad", "select", "shamefaced", "show", 
-            "show sky", "sky", "soothe", "sun", "supplicate", "tablet", "tall", "them", "there", 
-            "think", "timid", "top", "unless", "up", "upstairs", "void", "warm", "winner", "yeah", 
-            "yes", "yoo-hoo", "you", "your", "zero", "zestful"]
-    
-    basic_gestures = [
-        "animations/Stand/Gestures/Hey_1",
-        "animations/Stand/Emotions/Neutral/Puzzled_1",
-        "animations/Stand/Gestures/Explain_4",
-        "animations/Stand/Gestures/You_1"
-        "animations/Stand/Emotions/Positive/Happy_1",
-        "animations/Stand/Emotions/Positive/Laugh_2",
-        "animations/Stand/Emotions/Neutral/Lonely_1",
-        "animations/Stand/Emotions/Negative/Surprise_1",
-        "animations/Stand/Emotions/Negative/Hurt_2",
-        "animations/Stand/Emotions/Negative/Angry_4",
-    ]
-
-    single_gestures = [
-        "animations/Stand/BodyTalk/Listening/Listening_1",
-        "animations/Stand/BodyTalk/Listening/Listening_2",
-        "animations/Stand/BodyTalk/Listening/Listening_3",
-        "animations/Stand/BodyTalk/Listening/Listening_4",
-        "animations/Stand/BodyTalk/Listening/Listening_5",
-        "animations/Stand/BodyTalk/Listening/Listening_6",
-        "animations/Stand/BodyTalk/Listening/Listening_7",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_1",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_10",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_11",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_12",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_13",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_14",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_15",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_16",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_2",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_3",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_4",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_5",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_6",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_7",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_8",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_9",
-        "animations/Stand/BodyTalk/Thinking/Remember_1",
-        "animations/Stand/BodyTalk/Thinking/Remember_2",
-        "animations/Stand/BodyTalk/Thinking/Remember_3",
-        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_1",
-        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_2",
-        "animations/Stand/Emotions/Negative/Angry_1",
-        "animations/Stand/Emotions/Negative/Angry_2",
-        "animations/Stand/Emotions/Negative/Angry_3",
-        "animations/Stand/Emotions/Negative/Angry_4",
-        "animations/Stand/Emotions/Negative/Anxious_1",
-        "animations/Stand/Emotions/Negative/Bored_1",
-        "animations/Stand/Emotions/Negative/Bored_2",
-        "animations/Stand/Emotions/Negative/Disappointed_1",
-        "animations/Stand/Emotions/Negative/Exhausted_1",
-        "animations/Stand/Emotions/Negative/Exhausted_2",
-        "animations/Stand/Emotions/Negative/Fear_1",
-        "animations/Stand/Emotions/Negative/Fear_2",
-        "animations/Stand/Emotions/Negative/Fearful_1",
-        "animations/Stand/Emotions/Negative/Frustrated_1",
-        "animations/Stand/Emotions/Negative/Humiliated_1",
-        "animations/Stand/Emotions/Negative/Hurt_1",
-        "animations/Stand/Emotions/Negative/Hurt_2",
-        "animations/Stand/Emotions/Negative/Late_1",
-        "animations/Stand/Emotions/Negative/Sad_1",
-        "animations/Stand/Emotions/Negative/Sad_2",
-        "animations/Stand/Emotions/Negative/Shocked_1",
-        "animations/Stand/Emotions/Negative/Sorry_1",
-        "animations/Stand/Emotions/Negative/Surprise_1",
-        "animations/Stand/Emotions/Negative/Surprise_2",
-        "animations/Stand/Emotions/Negative/Surprise_3",
-        "animations/Stand/Emotions/Neutral/Alienated_1",
-        "animations/Stand/Emotions/Neutral/AskForAttention_1",
-        "animations/Stand/Emotions/Neutral/AskForAttention_2",
-        "animations/Stand/Emotions/Neutral/AskForAttention_3",
-        "animations/Stand/Emotions/Neutral/Cautious_1",
-        "animations/Stand/Emotions/Neutral/Confused_1",
-        "animations/Stand/Emotions/Neutral/Determined_1",
-        "animations/Stand/Emotions/Neutral/Embarrassed_1",
-        "animations/Stand/Emotions/Neutral/Hesitation_1",
-        "animations/Stand/Emotions/Neutral/Innocent_1",
-        "animations/Stand/Emotions/Neutral/Lonely_1",
-        "animations/Stand/Emotions/Neutral/Mischievous_1",
-        "animations/Stand/Emotions/Neutral/Puzzled_1",
-        "animations/Stand/Emotions/Neutral/Sneeze",
-        "animations/Stand/Emotions/Neutral/Stubborn_1",
-        "animations/Stand/Emotions/Neutral/Suspicious_1",
-        "animations/Stand/Emotions/Positive/Amused_1",
-        "animations/Stand/Emotions/Positive/Confident_1",
-        "animations/Stand/Emotions/Positive/Ecstatic_1",
-        "animations/Stand/Emotions/Positive/Enthusiastic_1",
-        "animations/Stand/Emotions/Positive/Excited_1",
-        "animations/Stand/Emotions/Positive/Excited_2",
-        "animations/Stand/Emotions/Positive/Excited_3",
-        "animations/Stand/Emotions/Positive/Happy_1",
-        "animations/Stand/Emotions/Positive/Happy_2",
-        "animations/Stand/Emotions/Positive/Happy_3",
-        "animations/Stand/Emotions/Positive/Happy_4",
-        "animations/Stand/Emotions/Positive/Hungry_1",
-        "animations/Stand/Emotions/Positive/Hysterical_1",
-        "animations/Stand/Emotions/Positive/Interested_1",
-        "animations/Stand/Emotions/Positive/Interested_2",
-        "animations/Stand/Emotions/Positive/Laugh_1",
-        "animations/Stand/Emotions/Positive/Laugh_2",
-        "animations/Stand/Emotions/Positive/Laugh_3",
-        "animations/Stand/Emotions/Positive/Mocker_1",
-        "animations/Stand/Emotions/Positive/Optimistic_1",
-        "animations/Stand/Emotions/Positive/Peaceful_1",
-        "animations/Stand/Emotions/Positive/Proud_1",
-        "animations/Stand/Emotions/Positive/Proud_2",
-        "animations/Stand/Emotions/Positive/Proud_3",
-        "animations/Stand/Emotions/Positive/Relieved_1",
-        "animations/Stand/Emotions/Positive/Shy_1",
-        "animations/Stand/Emotions/Positive/Shy_2",
-        "animations/Stand/Emotions/Positive/Sure_1",
-        "animations/Stand/Emotions/Positive/Winner_1",
-        "animations/Stand/Emotions/Positive/Winner_2",
-        "animations/Stand/Gestures/Angry_1",
-        "animations/Stand/Gestures/Angry_2",
-        "animations/Stand/Gestures/Angry_3",
-        "animations/Stand/Gestures/BowShort_1",
-        "animations/Stand/Gestures/BowShort_2",
-        "animations/Stand/Gestures/BowShort_3",
-        "animations/Stand/Gestures/But_1",
-        "animations/Stand/Gestures/CalmDown_1",
-        "animations/Stand/Gestures/CalmDown_2",
-        "animations/Stand/Gestures/CalmDown_3",
-        "animations/Stand/Gestures/CalmDown_4",
-        "animations/Stand/Gestures/CalmDown_5",
-        "animations/Stand/Gestures/CalmDown_6",
-        "animations/Stand/Gestures/Choice_1",
-        "animations/Stand/Gestures/ComeOn_1",
-        "animations/Stand/Gestures/Confused_1",
-        "animations/Stand/Gestures/Confused_2",
-        "animations/Stand/Gestures/CountFive_1",
-        "animations/Stand/Gestures/CountFour_1",
-        "animations/Stand/Gestures/CountMore_1",
-        "animations/Stand/Gestures/CountOne_1",
-        "animations/Stand/Gestures/CountThree_1",
-        "animations/Stand/Gestures/CountTwo_1",
-        "animations/Stand/Gestures/Desperate_1",
-        "animations/Stand/Gestures/Desperate_2",
-        "animations/Stand/Gestures/Desperate_3",
-        "animations/Stand/Gestures/Desperate_4",
-        "animations/Stand/Gestures/Desperate_5",
-        "animations/Stand/Gestures/DontUnderstand_1",
-        "animations/Stand/Gestures/Enthusiastic_3",
-        "animations/Stand/Gestures/Enthusiastic_4",
-        "animations/Stand/Gestures/Enthusiastic_5",
-        "animations/Stand/Gestures/Everything_1",
-        "animations/Stand/Gestures/Everything_2",
-        "animations/Stand/Gestures/Everything_3",
-        "animations/Stand/Gestures/Everything_4",
-        "animations/Stand/Gestures/Everything_6",
-        "animations/Stand/Gestures/Excited_1",
-        "animations/Stand/Gestures/Explain_1",
-        "animations/Stand/Gestures/Explain_10",
-        "animations/Stand/Gestures/Explain_11",
-        "animations/Stand/Gestures/Explain_2",
-        "animations/Stand/Gestures/Explain_3",
-        "animations/Stand/Gestures/Explain_4",
-        "animations/Stand/Gestures/Explain_5",
-        "animations/Stand/Gestures/Explain_6",
-        "animations/Stand/Gestures/Explain_7",
-        "animations/Stand/Gestures/Explain_8",
-        "animations/Stand/Gestures/Far_1",
-        "animations/Stand/Gestures/Far_2",
-        "animations/Stand/Gestures/Far_3",
-        "animations/Stand/Gestures/Follow_1",
-        "animations/Stand/Gestures/Give_1",
-        "animations/Stand/Gestures/Give_2",
-        "animations/Stand/Gestures/Give_3",
-        "animations/Stand/Gestures/Give_4",
-        "animations/Stand/Gestures/Give_5",
-        "animations/Stand/Gestures/Give_6",
-        "animations/Stand/Gestures/Great_1",
-        "animations/Stand/Gestures/HeSays_1",
-        "animations/Stand/Gestures/HeSays_2",
-        "animations/Stand/Gestures/HeSays_3",
-        "animations/Stand/Gestures/Hey_1",
-        "animations/Stand/Gestures/Hey_10",
-        "animations/Stand/Gestures/Hey_2",
-        "animations/Stand/Gestures/Hey_3",
-        "animations/Stand/Gestures/Hey_4",
-        "animations/Stand/Gestures/Hey_6",
-        "animations/Stand/Gestures/Hey_7",
-        "animations/Stand/Gestures/Hey_8",
-        "animations/Stand/Gestures/Hey_9",
-        "animations/Stand/Gestures/Hide_1",
-        "animations/Stand/Gestures/Hot_1",
-        "animations/Stand/Gestures/Hot_2",
-        "animations/Stand/Gestures/IDontKnow_1",
-        "animations/Stand/Gestures/IDontKnow_2",
-        "animations/Stand/Gestures/IDontKnow_3",
-        "animations/Stand/Gestures/IDontKnow_4",
-        "animations/Stand/Gestures/IDontKnow_5",
-        "animations/Stand/Gestures/IDontKnow_6",
-        "animations/Stand/Gestures/Joy_1",
-        "animations/Stand/Gestures/Kisses_1",
-        "animations/Stand/Gestures/Look_1",
-        "animations/Stand/Gestures/Look_2",
-        "animations/Stand/Gestures/Maybe_1",
-        "animations/Stand/Gestures/Me_1",
-        "animations/Stand/Gestures/Me_2",
-        "animations/Stand/Gestures/Me_4",
-        "animations/Stand/Gestures/Me_7",
-        "animations/Stand/Gestures/Me_8",
-        "animations/Stand/Gestures/Mime_1",
-        "animations/Stand/Gestures/Mime_2",
-        "animations/Stand/Gestures/Next_1",
-        "animations/Stand/Gestures/No_1",
-        "animations/Stand/Gestures/No_2",
-        "animations/Stand/Gestures/No_3",
-        "animations/Stand/Gestures/No_4",
-        "animations/Stand/Gestures/No_5",
-        "animations/Stand/Gestures/No_6",
-        "animations/Stand/Gestures/No_7",
-        "animations/Stand/Gestures/No_8",
-        "animations/Stand/Gestures/No_9",
-        "animations/Stand/Gestures/Nothing_1",
-        "animations/Stand/Gestures/Nothing_2",
-        "animations/Stand/Gestures/OnTheEvening_1",
-        "animations/Stand/Gestures/OnTheEvening_2",
-        "animations/Stand/Gestures/OnTheEvening_3",
-        "animations/Stand/Gestures/OnTheEvening_4",
-        "animations/Stand/Gestures/OnTheEvening_5",
-        "animations/Stand/Gestures/Please_1",
-        "animations/Stand/Gestures/Please_2",
-        "animations/Stand/Gestures/Please_3",
-        "animations/Stand/Gestures/Reject_1",
-        "animations/Stand/Gestures/Reject_2",
-        "animations/Stand/Gestures/Reject_3",
-        "animations/Stand/Gestures/Reject_4",
-        "animations/Stand/Gestures/Reject_5",
-        "animations/Stand/Gestures/Reject_6",
-        "animations/Stand/Gestures/Salute_1",
-        "animations/Stand/Gestures/Salute_2",
-        "animations/Stand/Gestures/Salute_3",
-        "animations/Stand/Gestures/ShowFloor_1",
-        "animations/Stand/Gestures/ShowFloor_2",
-        "animations/Stand/Gestures/ShowFloor_3",
-        "animations/Stand/Gestures/ShowFloor_4",
-        "animations/Stand/Gestures/ShowFloor_5",
-        "animations/Stand/Gestures/ShowSky_1",
-        "animations/Stand/Gestures/ShowSky_10",
-        "animations/Stand/Gestures/ShowSky_11",
-        "animations/Stand/Gestures/ShowSky_12",
-        "animations/Stand/Gestures/ShowSky_2",
-        "animations/Stand/Gestures/ShowSky_3",
-        "animations/Stand/Gestures/ShowSky_4",
-        "animations/Stand/Gestures/ShowSky_5",
-        "animations/Stand/Gestures/ShowSky_6",
-        "animations/Stand/Gestures/ShowSky_7",
-        "animations/Stand/Gestures/ShowSky_8",
-        "animations/Stand/Gestures/ShowSky_9",
-        "animations/Stand/Gestures/ShowTablet_1",
-        "animations/Stand/Gestures/ShowTablet_2",
-        "animations/Stand/Gestures/ShowTablet_3",
-        "animations/Stand/Gestures/Shy_1",
-        "animations/Stand/Gestures/Stretch_1",
-        "animations/Stand/Gestures/Stretch_2",
-        "animations/Stand/Gestures/Surprised_1",
-        "animations/Stand/Gestures/TakePlace_1",
-        "animations/Stand/Gestures/TakePlace_2",
-        "animations/Stand/Gestures/Take_1",
-        "animations/Stand/Gestures/Thinking_1",
-        "animations/Stand/Gestures/Thinking_2",
-        "animations/Stand/Gestures/Thinking_3",
-        "animations/Stand/Gestures/Thinking_4",
-        "animations/Stand/Gestures/Thinking_5",
-        "animations/Stand/Gestures/Thinking_6",
-        "animations/Stand/Gestures/Thinking_7",
-        "animations/Stand/Gestures/Thinking_8",
-        "animations/Stand/Gestures/This_1",
-        "animations/Stand/Gestures/This_10",
-        "animations/Stand/Gestures/This_11",
-        "animations/Stand/Gestures/This_12",
-        "animations/Stand/Gestures/This_13",
-        "animations/Stand/Gestures/This_14",
-        "animations/Stand/Gestures/This_15",
-        "animations/Stand/Gestures/This_2",
-        "animations/Stand/Gestures/This_3",
-        "animations/Stand/Gestures/This_4",
-        "animations/Stand/Gestures/This_5",
-        "animations/Stand/Gestures/This_6",
-        "animations/Stand/Gestures/This_7",
-        "animations/Stand/Gestures/This_8",
-        "animations/Stand/Gestures/This_9",
-        "animations/Stand/Gestures/WhatSThis_1",
-        "animations/Stand/Gestures/WhatSThis_10",
-        "animations/Stand/Gestures/WhatSThis_11",
-        "animations/Stand/Gestures/WhatSThis_12",
-        "animations/Stand/Gestures/WhatSThis_13",
-        "animations/Stand/Gestures/WhatSThis_14",
-        "animations/Stand/Gestures/WhatSThis_15",
-        "animations/Stand/Gestures/WhatSThis_16",
-        "animations/Stand/Gestures/WhatSThis_2",
-        "animations/Stand/Gestures/WhatSThis_3",
-        "animations/Stand/Gestures/WhatSThis_4",
-        "animations/Stand/Gestures/WhatSThis_5",
-        "animations/Stand/Gestures/WhatSThis_6",
-        "animations/Stand/Gestures/WhatSThis_7",
-        "animations/Stand/Gestures/WhatSThis_8",
-        "animations/Stand/Gestures/WhatSThis_9",
-        "animations/Stand/Gestures/Whisper_1",
-        "animations/Stand/Gestures/Wings_1",
-        "animations/Stand/Gestures/Wings_2",
-        "animations/Stand/Gestures/Wings_3",
-        "animations/Stand/Gestures/Wings_4",
-        "animations/Stand/Gestures/Wings_5",
-        "animations/Stand/Gestures/Yes_1",
-        "animations/Stand/Gestures/Yes_2",
-        "animations/Stand/Gestures/Yes_3",
-        "animations/Stand/Gestures/YouKnowWhat_1",
-        "animations/Stand/Gestures/YouKnowWhat_2",
-        "animations/Stand/Gestures/YouKnowWhat_3",
-        "animations/Stand/Gestures/YouKnowWhat_4",
-        "animations/Stand/Gestures/YouKnowWhat_5",
-        "animations/Stand/Gestures/YouKnowWhat_6",
-        "animations/Stand/Gestures/You_1",
-        "animations/Stand/Gestures/You_2",
-        "animations/Stand/Gestures/You_3",
-        "animations/Stand/Gestures/You_4",
-        "animations/Stand/Gestures/You_5",
-        "animations/Stand/Gestures/Yum_1",
-        "animations/Stand/Reactions/EthernetOff_1",
-        "animations/Stand/Reactions/EthernetOn_1",
-        "animations/Stand/Reactions/Heat_1",
-        "animations/Stand/Reactions/Heat_2",
-        "animations/Stand/Reactions/LightShine_1",
-        "animations/Stand/Reactions/LightShine_2",
-        "animations/Stand/Reactions/LightShine_3",
-        "animations/Stand/Reactions/LightShine_4",
-        "animations/Stand/Reactions/SeeColor_1",
-        "animations/Stand/Reactions/SeeColor_2",
-        "animations/Stand/Reactions/SeeColor_3",
-        "animations/Stand/Reactions/SeeSomething_1",
-        "animations/Stand/Reactions/SeeSomething_3",
-        "animations/Stand/Reactions/SeeSomething_4",
-        "animations/Stand/Reactions/SeeSomething_5",
-        "animations/Stand/Reactions/SeeSomething_6",
-        "animations/Stand/Reactions/SeeSomething_7",
-        "animations/Stand/Reactions/SeeSomething_8",
-        "animations/Stand/Reactions/ShakeBody_1",
-        "animations/Stand/Reactions/ShakeBody_2",
-        "animations/Stand/Reactions/ShakeBody_3",
-        "animations/Stand/Reactions/TouchHead_1",
-        "animations/Stand/Reactions/TouchHead_2",
-        "animations/Stand/Reactions/TouchHead_3",
-        "animations/Stand/Reactions/TouchHead_4",
-        "animations/Stand/Waiting/AirGuitar_1",
-        "animations/Stand/Waiting/BackRubs_1",
-        "animations/Stand/Waiting/Bandmaster_1",
-        "animations/Stand/Waiting/Binoculars_1",
-        "animations/Stand/Waiting/BreathLoop_1",
-        "animations/Stand/Waiting/BreathLoop_2",
-        "animations/Stand/Waiting/BreathLoop_3",
-        "animations/Stand/Waiting/CallSomeone_1",
-        "animations/Stand/Waiting/Drink_1",
-        "animations/Stand/Waiting/DriveCar_1",
-        "animations/Stand/Waiting/Fitness_1",
-        "animations/Stand/Waiting/Fitness_2",
-        "animations/Stand/Waiting/Fitness_3",
-        "animations/Stand/Waiting/FunnyDancer_1",
-        "animations/Stand/Waiting/HappyBirthday_1",
-        "animations/Stand/Waiting/Helicopter_1",
-        "animations/Stand/Waiting/HideEyes_1",
-        "animations/Stand/Waiting/HideHands_1",
-        "animations/Stand/Waiting/Innocent_1",
-        "animations/Stand/Waiting/Knight_1",
-        "animations/Stand/Waiting/KnockEye_1",
-        "animations/Stand/Waiting/KungFu_1",
-        "animations/Stand/Waiting/LookHand_1",
-        "animations/Stand/Waiting/LookHand_2",
-        "animations/Stand/Waiting/LoveYou_1",
-        "animations/Stand/Waiting/Monster_1",
-        "animations/Stand/Waiting/MysticalPower_1",
-        "animations/Stand/Waiting/PlayHands_1",
-        "animations/Stand/Waiting/PlayHands_2",
-        "animations/Stand/Waiting/PlayHands_3",
-        "animations/Stand/Waiting/Relaxation_1",
-        "animations/Stand/Waiting/Relaxation_2",
-        "animations/Stand/Waiting/Relaxation_3",
-        "animations/Stand/Waiting/Relaxation_4",
-        "animations/Stand/Waiting/Rest_1",
-        "animations/Stand/Waiting/Robot_1",
-        "animations/Stand/Waiting/ScratchBack_1",
-        "animations/Stand/Waiting/ScratchBottom_1",
-        "animations/Stand/Waiting/ScratchEye_1",
-        "animations/Stand/Waiting/ScratchHand_1",
-        "animations/Stand/Waiting/ScratchHead_1",
-        "animations/Stand/Waiting/ScratchLeg_1",
-        "animations/Stand/Waiting/ScratchTorso_1",
-        "animations/Stand/Waiting/ShowMuscles_1",
-        "animations/Stand/Waiting/ShowMuscles_2",
-        "animations/Stand/Waiting/ShowMuscles_3",
-        "animations/Stand/Waiting/ShowMuscles_4",
-        "animations/Stand/Waiting/ShowMuscles_5",
-        "animations/Stand/Waiting/ShowSky_1",
-        "animations/Stand/Waiting/ShowSky_2",
-        "animations/Stand/Waiting/SpaceShuttle_1",
-        "animations/Stand/Waiting/Stretch_1",
-        "animations/Stand/Waiting/Stretch_2",
-        "animations/Stand/Waiting/TakePicture_1",
-        "animations/Stand/Waiting/Taxi_1",
-        "animations/Stand/Waiting/Think_1",
-        "animations/Stand/Waiting/Think_2",
-        "animations/Stand/Waiting/Think_3",
-        "animations/Stand/Waiting/Think_4",
-        "animations/Stand/Waiting/Waddle_1",
-        "animations/Stand/Waiting/Waddle_2",
-        "animations/Stand/Waiting/WakeUp_1",
-        "animations/Stand/Waiting/Zombie_1"]         

src/robot_interface/endpoints/main_receiver.py

@@ -5,7 +5,6 @@ from robot_interface.state import state
 
 from robot_interface.core.config import settings
 
-
 class MainReceiver(ReceiverBase):
     """
     The main receiver endpoint, responsible for handling ping and negotiation requests.
@@ -13,12 +12,10 @@ class MainReceiver(ReceiverBase):
     :param zmq_context: The ZeroMQ context to use.
     :type zmq_context: zmq.Context
 
-    :param port: The port to use, defaults to value in `settings.agent_settings.main_receiver_port`.
+    :param port: The port to use.
     :type port: int
     """
-    def __init__(self, zmq_context, port=None):
-        if port is None:
-            port = settings.agent_settings.main_receiver_port
+    def __init__(self, zmq_context, port=settings.agent_settings.main_receiver_port):
         super(MainReceiver, self).__init__("main")
         self.create_socket(zmq_context, zmq.REP, port, bind=False)
 

src/robot_interface/endpoints/socket_base.py

@@ -2,8 +2,6 @@ from abc import ABCMeta
 
 import zmq
 
-from robot_interface.core.config import settings
-
 
 class SocketBase(object):
     """
@@ -61,7 +59,7 @@ class SocketBase(object):
         if bind:
             self.socket.bind("tcp://*:{}".format(port))
         else:
-            self.socket.connect("tcp://{}:{}".format(settings.agent_settings.control_backend_host, port))
+            self.socket.connect("tcp://localhost:{}".format(port))
 
     def close(self):
         """Close the ZeroMQ socket."""

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):
         """

src/robot_interface/utils/get_config.py

@@ -1,32 +0,0 @@
-import os
-from dotenv import load_dotenv
-
-load_dotenv()
-
-
-def get_config(value, env, default, cast=None):
-    """
-    Small utility to get a configuration value, returns `value` if it is not None, else it will try to get the
-    environment variable cast with `cast`. If the environment variable is not set, it will return `default`.
-
-    :param value: The value to check.
-    :type value: Any
-    :param env: The environment variable to check.
-    :type env: string
-    :param default: The default value to return if the environment variable is not set.
-    :type default: Any
-    :param cast: A function to use to cast the environment variable. Must support string input.
-    :type cast: Callable[[Any], Any], optional
-
-    :return: The value, the environment variable value, or the default.
-    :rtype: Any
-    """
-    if value is not None:
-        return value
-
-    env = os.environ.get(env, default)
-
-    if cast is None:
-        return env
-
-    return cast(env)

test/integration/test_config.py

@@ -1,32 +0,0 @@
-from mock import patch, mock
-
-from robot_interface.core.config import Settings
-from robot_interface.endpoints.main_receiver import MainReceiver
-
-
-def test_environment_variables(monkeypatch):
-    """
-    When environment variables are set, creating settings should use these.
-    """
-    monkeypatch.setenv("AGENT__CONTROL_BACKEND_HOST", "some_value_that_should_be_different")
-
-    settings = Settings()
-
-    assert settings.agent_settings.control_backend_host == "some_value_that_should_be_different"
-
-
-@patch("robot_interface.endpoints.main_receiver.settings")
-@patch("robot_interface.endpoints.socket_base.settings")
-def test_create_endpoint_custom_host(base_settings, main_settings):
-    """
-    When a custom host is given in the settings, check that an endpoint's socket connects to it.
-    """
-    fake_context = mock.Mock()
-    fake_socket = mock.Mock()
-    fake_context.socket.return_value = fake_socket
-    base_settings.agent_settings.control_backend_host = "not_localhost"
-    main_settings.agent_settings.main_receiver_port = 9999
-
-    _ = MainReceiver(fake_context)
-
-    fake_socket.connect.assert_called_once_with("tcp://not_localhost:9999")

test/unit/test_actuation_receiver.py

@@ -3,9 +3,8 @@ import sys
 import mock
 import pytest
 import zmq
-
+import Queue
 from robot_interface.endpoints.actuation_receiver import ActuationReceiver
-from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 @pytest.fixture
@@ -19,47 +18,107 @@ def zmq_context():
     context = zmq.Context()
     yield context
 
+def test_force_speech_clears_queue(mocker):
+    """
+    Tests that a force speech message clears the existing queue
+    and places the high-priority message at the front.
+    """
+    mocker.patch("threading.Thread")
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi 
 
-def test_handle_unimplemented_endpoint(zmq_context):
+    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 that the ``ActuationReceiver.handle_message`` method can
-    handle an unknown or unimplemented endpoint without raising an error.
+    Tests handling of unknown endpoints.
     """
-    receiver = ActuationReceiver(zmq_context)
-    # Should not error
+    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
-    request (`actuate/speech`) is received but contains empty string data.
+    Tests that if the message data is empty, the receiver returns immediately
+    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")
+    
+    # 2. Mock the global state object
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
 
-    receiver = ActuationReceiver(zmq_context)
+    # 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
-    request (`actuate/speech`) is received with data that is not a string (e.g., a boolean).
+    Tests that if the message data is not a string, the function returns.     
+    :param mocker: Description
     """
-    mock_warn = mocker.patch("logging.warn")
+    mocker.patch("threading.Thread")
 
-    receiver = ActuationReceiver(zmq_context)
+    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.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(zmq_context, mocker):
+def test_speech_no_qi(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 +128,21 @@ 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")
 
@@ -89,165 +153,179 @@ 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()
-    call_args = getattr(mock_qi, "async").call_args[0]
-    assert call_args[0] == mock_tts_service.say
-    assert call_args[1] == "Some message to speak."
+    queued_item = receiver._message_queue.get()
+    assert queued_item == "Some message to speak."
 
-
-def test_gesture_no_data(zmq_context, mocker):
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": ""}, True)
-    # Just ensuring no crash
-
-
-def test_gesture_invalid_data(zmq_context, mocker):
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": 123}, True)
-    # No crash expected
-
-
-def test_gesture_single_not_found(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["wave", "bow"]  # allowed single gestures
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
-    # No crash expected
-
-
-def test_gesture_tag_not_found(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["happy", "sad"]
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "not_a_tag"}, False)
-    # No crash expected
-
-
-def test_gesture_no_qi_session(zmq_context, mocker):
+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_state.qi_session = None
 
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["hello"]
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
-    # No crash, path returns early
-
-
-def test_gesture_single_success(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
     mock_qi = mock.Mock()
     sys.modules["qi"] = mock_qi
 
-    # Setup gesture settings
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["wave"]
-
-    mock_animation_service = mock.Mock()
+    mock_tts_service = mock.Mock()
     mock_state.qi_session = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
+    mock_state.qi_session.service.return_value = mock_tts_service
 
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
 
-    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
-    getattr(mock_qi, "async").assert_called_once()
-    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
-    assert getattr(mock_qi, "async").call_args[0][1] == "wave"
+    receiver._message_queue.put("old_message_1")
+    receiver._message_queue.put("old_message_2")
 
+    assert receiver._message_queue.qsize() == 2
 
-def test_gesture_tag_success(zmq_context, mocker):
+    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")
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
+        
+    # 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
 
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["greeting"]
+    # This ensures the while loop iterates exactly once
+    mock_state.exit_event.is_set.side_effect = [False, True]
 
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
+    # Put an item in the queue
+    receiver._message_queue.put("Hello World")
 
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
+    # RUN MANUALLY in the main thread
+    # This executes the code: while -> try -> get -> if print -> speaking=True -> say
+    receiver._handle_messages()
 
-    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
-    getattr(mock_qi, "async").assert_called_once()
-    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.runTag
-    assert getattr(mock_qi, "async").call_args[0][1] == "greeting"
+    # 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_message_all_routes(zmq_context, mocker):
+def test_handle_messages_queue_empty(mocker):
     """
-    Ensures all handle_message endpoint branches route correctly.
+    Tests the Queue.Empty exception handler in the consumer loop.
+    This covers the logic that resets 'state.is_speaking' to False.
     """
-    receiver = ActuationReceiver(zmq_context)
+    # Prevent the real background thread from starting
+    mocker.patch("threading.Thread")
 
-    mock_speech = mocker.patch.object(receiver, "_handle_speech")
-    mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
-
-    receiver.handle_message({"endpoint": "actuate/speech", "data": "hi"})
-    receiver.handle_message({"endpoint": "actuate/gesture/tag", "data": "greeting"})
-    receiver.handle_message({"endpoint": "actuate/gesture/single", "data": "wave"})
-
-    mock_speech.assert_called_once()
-    assert mock_gesture.call_count == 2
-
-
-def test_endpoint_description(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["happy"]
-    mock_tags.single_gestures = ["wave"]
-
-    receiver = ActuationReceiver(zmq_context)
-    desc = receiver.endpoint_description()
-
-    assert "gestures" in desc
-    assert desc["gestures"] == ["happy"]
-
-    assert "single_gestures" in desc
-    assert desc["single_gestures"] == ["wave"]
-
-
-def test_gesture_single_real_gesturetags(zmq_context, mocker):
-    """
-    Uses the real GestureTags (no mocking) to ensure the receiver
-    references GestureTags.single_gestures correctly.
-    """
-    # Ensure qi session exists so we pass the early return
+    # Mock the state object
     mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_state.qi_session = mock.Mock()
+        
+    # 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]
 
-    # Mock qi.async to avoid real async calls
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
+    # 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()
 
-    # Mock animation service
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
+    # 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
 
-    receiver = ActuationReceiver(zmq_context)
 
-    # Pick a real gesture from GestureTags.single_gestures
-    assert len(GestureTags.single_gestures) > 0, "GestureTags.single_gestures must not be empty"
-    gesture = GestureTags.single_gestures[0]
+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._handle_gesture(
-        {"endpoint": "actuate/gesture/single", "data": gesture},
-        is_single=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
 
-    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
-    getattr(mock_qi, "async").assert_called_once()
-    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
-    assert getattr(mock_qi, "async").call_args[0][1] == gesture
+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

test/unit/test_get_config.py

@@ -1,45 +0,0 @@
-from robot_interface.utils.get_config import get_config
-
-
-def test_get_config_prefers_explicit_value(monkeypatch):
-    """
-    When a direct value is provided it should be returned without reading the environment.
-    """
-    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
-
-    result = get_config("explicit", "GET_CONFIG_TEST", "default")
-
-    assert result == "explicit"
-
-
-def test_get_config_returns_env_value(monkeypatch):
-    """
-    If value is None the environment variable should be used.
-    """
-    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
-
-    result = get_config(None, "GET_CONFIG_TEST", "default")
-
-    assert result == "from-env"
-
-
-def test_get_config_casts_env_value(monkeypatch):
-    """
-    The env value should be cast when a cast function is provided.
-    """
-    monkeypatch.setenv("GET_CONFIG_PORT", "1234")
-
-    result = get_config(None, "GET_CONFIG_PORT", 0, int)
-
-    assert result == 1234
-
-
-def test_get_config_casts_default_when_env_missing(monkeypatch):
-    """
-    When the env var is missing it should fall back to the default and still apply the cast.
-    """
-    monkeypatch.delenv("GET_CONFIG_MISSING", raising=False)
-
-    result = get_config(None, "GET_CONFIG_MISSING", "42", int)
-
-    assert result == 42