test: make audio sender tests pass

fix: send video

See merge request ics/sp/2025/n25b/pepperplus-ri!28

.env.example

@@ -6,6 +6,9 @@
 # The hostname or IP address of the Control Backend.
 AGENT__CONTROL_BACKEND_HOST=localhost
 
+# Whether to use Pepper's microphone when Pepper is connected.
+AUDIO__USE_PEPPER_MICROPHONE=true
+
 
 
 # Variables that are unlikely to be configured, you can probably ignore these:

requirements.txt

@@ -7,3 +7,5 @@ sphinx
 sphinx_rtd_theme
 pre-commit
 python-dotenv
+numpy<=1.16.6
+enum34

src/robot_interface/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

src/robot_interface/core/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

src/robot_interface/core/config.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from __future__ import unicode_literals
 
 from robot_interface.utils.get_config import get_config
@@ -61,7 +68,7 @@ class VideoConfig(object):
     ):
         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.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 13, 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)
@@ -71,6 +78,8 @@ class AudioConfig(object):
     """
     Audio configuration constants.
 
+    :ivar use_pepper_microphone: Whether to use Pepper's microphone or not, defaults to True.
+    :vartype use_pepper_microphone: bool
     :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
     :vartype sample_rate: int
     :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
@@ -78,7 +87,14 @@ class AudioConfig(object):
     :ivar channels: Number of audio channels, defaults to 1.
     :vartype channels: int
     """
-    def __init__(self, sample_rate=None, chunk_size=None, channels=None):
+    def __init__(
+        self,
+        use_pepper_microphone=None,
+        sample_rate=None,
+        chunk_size=None,
+        channels=None,
+    ):
+        self.use_pepper_microphone = get_config(use_pepper_microphone, "AUDIO__USE_PEPPER_MICROPHONE", True, bool)
         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)

src/robot_interface/endpoints/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

src/robot_interface/endpoints/actuation_receiver.py

@@ -1,6 +1,12 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from __future__ import unicode_literals  # So that we can log texts with Unicode characters
 import logging
-import time
 from threading import Thread
 
 import Queue
@@ -8,7 +14,6 @@ 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
 
@@ -36,11 +41,8 @@ class ActuationReceiver(ReceiverBase):
         self._tts_service = None
         self._animation_service = None
         self._message_queue = Queue.Queue()
-        self._gesture_queue = Queue.Queue()
         self.message_thread = Thread(target=self._handle_messages)
         self.message_thread.start()
-        self.gesture_thread = Thread(target=self._handle_gestures)
-        self.gesture_thread.start()
 
     def _handle_speech(self, message):
         """
@@ -67,7 +69,7 @@ class ActuationReceiver(ReceiverBase):
         if not self._tts_service:
             self._tts_service = state.qi_session.service("ALTextToSpeech")
 
-        if (message.get("is_priority")):
+        if message.get("is_priority"):
             # Bypass queue and speak immediately
             self.clear_queue()
             self._message_queue.put(text)
@@ -75,7 +77,6 @@ class ActuationReceiver(ReceiverBase):
         else: 
             self._message_queue.put(text)
 
-
     def clear_queue(self):
         """
         Safely drains all pending messages from the queue.
@@ -89,21 +90,6 @@ class ActuationReceiver(ReceiverBase):
             pass
         logging.info("Message queue cleared.")
 
-    def clear_gesture_queue(self):
-        """
-        Safely drains all pending gestures from the gesture queue.
-        """
-        logging.info("Gesture queue size: {}".format(self._gesture_queue.qsize()))
-        try:
-            while True:
-                # Remove items one by one without waiting
-                self._gesture_queue.get_nowait()
-        except Queue.Empty:
-            pass
-        logging.info("Gesture queue cleared.")
-        logging.info("Gesture queue size: {}".format(self._gesture_queue.qsize()))
-
-
     def _handle_gesture(self, message, is_single):
         """
         Handle a gesture actuation request.
@@ -144,16 +130,12 @@ class ActuationReceiver(ReceiverBase):
 
         # 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 (message.get("is_priority")):
-            # Clear queue and play
-            self.clear_gesture_queue()
-            logging.debug("Force playing gesture immediately: {}".format(gesture))
         if is_single:
-            logging.debug("Adding single gesture to queue: {}".format(gesture))
+            logging.debug("Playing single gesture: {}".format(gesture))
+            getattr(qi, "async")(self._animation_service.run, gesture)
         else:
-            logging.debug("Adding tag gesture to queue: {}".format(gesture))
-        self._gesture_queue.put(gesture)
-
+            logging.debug("Playing tag gesture: {}".format(gesture))
+            getattr(qi, "async")(self._animation_service.runTag, gesture)
 
     def handle_message(self, message):
         """
@@ -173,26 +155,14 @@ class ActuationReceiver(ReceiverBase):
         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() 
-    
-    def _handle_gestures(self):
-        while not state.exit_event.is_set():
-            try:
-                gesture = self._gesture_queue.get(timeout=0.1)
-                self._animation_service.run(gesture)
-            except Queue.Empty:
-                pass
-            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()       
+                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):
         """

src/robot_interface/endpoints/audio_sender.py

@@ -1,7 +1,21 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from __future__ import unicode_literals  # So that `logging` can use Unicode characters in names
+
+import audioop
+
+import enum
+from abc import ABCMeta, abstractmethod
 import threading
 import logging
+import Queue
 
+import numpy as np
 import pyaudio
 import zmq
 
@@ -13,85 +27,219 @@ from robot_interface.core.config import settings
 logger = logging.getLogger(__name__)
 
 
-class AudioSender(SocketBase):
+class AudioCapturer(object):
     """
-    Audio sender endpoint, responsible for sending microphone audio data.
+    Interface for audio capturers.
+    """
+    __metaclass__ = ABCMeta
 
-    :param zmq_context: The ZeroMQ context to use.
-    :type zmq_context: zmq.Context
+    @abstractmethod
+    def setup(self):
+        raise NotImplementedError()
 
-    :param port: The port to use.
-    :type port: int
+    @abstractmethod
+    def stop(self):
+        raise NotImplementedError()
 
-    :ivar thread: Thread used for sending audio.
-    :vartype thread: threading.Thread | None
+    @abstractmethod
+    def generate_chunk(self):
+        raise NotImplementedError()
+
+class SampleRate(enum.Enum):
+    """
+    Sample rate to use in Hz.
+    """
+    LOW = 16000
+    HIGH = 48000
+
+class PepperMicrophone(enum.Enum):
+    """
+    Which of Pepper's microphones to use. In our case, some of the mics were damages/didn't work
+    well, so we choose to only use the fron right. If you have a Pepper robot with all working mics,
+    you might wish to use all microphones, to improve overall audio quality.
+    """
+    ALL = 0
+    LEFT = 1
+    RIGHT = 2
+    FRONT_LEFT = 3
+    FRONT_RIGHT = 4
+
+
+class QiAudioCapturer(AudioCapturer):
+    # Some of this class' methods have docstrings as binary strings. Keep them that way, otherwise
+    #  ``qi.Session.registerService`` will give RuntimeErrors.
+    def __init__(self, sample_rate=SampleRate.LOW, mic=PepperMicrophone.FRONT_RIGHT,
+                 deinterleaved=0):
+        """
+        :raises RuntimeError: If there is no Qi session available.
+        :raises ValueError: If the given arguments are not compatible.
+        """
+        self.session = state.qi_session
+        if not self.session:
+            raise RuntimeError("Cannot capture from qi device, no qi session available.")
+
+        if sample_rate == SampleRate.HIGH and mic != PepperMicrophone.ALL:
+            raise RuntimeError("For 48000 Hz, you must select all microphones.")
+        if mic == PepperMicrophone.ALL and sample_rate != SampleRate.HIGH:
+            raise RuntimeError("For using all microphones, 48000 Hz is required.")
+
+        self.audio = self.session.service("ALAudioDevice")
+
+        self.service_name = "ZmqAudioStreamer"
+        self.sample_rate = sample_rate
+        self.mic = mic
+        self.deinterleaved = deinterleaved
+
+        self.overflow = np.empty(0, dtype=np.float32)
+
+        self.q = Queue.Queue()
+
+        self._rate_state = None
+
+    def setup(self):
+        b"""
+        :raises RuntimeError: If no Qi session is available or if the session is not compatible with audio streaming.
+        """
+        assert self.session is not None
+        logger.info("Listening with Pepper's microphone.")
+        self.session.registerService(self.service_name, self)
+        self.audio.setClientPreferences(self.service_name, self.sample_rate.value, self.mic.value,
+                                        self.deinterleaved)
+        self.audio.subscribe(self.service_name)
+
+    def stop(self):
+        b"""
+        Stop the audio capturer.
+        """
+        try:
+            self.audio.unsubscribe(self.service_name)
+        except:
+            pass
+
+    def generate_chunk(self):
+        try:
+            chunk = self.q.get(True, 0.1)
+            return chunk
+        except Queue.Empty:
+            return None
+
+    # Callback invoked by NAOqi
+    def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, inputBuffer):
+        raw_pcm = bytes(inputBuffer)
+
+        pcm_i16 = np.frombuffer(raw_pcm, dtype=np.int16)
+
+        # Make mono channel (if it was 4 channels)
+        pcm_i32_mono = self._make_mono(pcm_i16.astype(np.int32), nbOfChannels)
+
+        # Resample (if it was 48k)
+        pcm_i32_mono_16k, self._rate_state = audioop.ratecv(pcm_i32_mono.tobytes(), 4, 1,
+                                                            self.sample_rate.value,
+                                                            SampleRate.LOW.value, self._rate_state)
+        pcm_f32_mono_16k = (np.frombuffer(pcm_i32_mono_16k, dtype=np.int32).astype(np.float32) /
+                            32768.0)
+
+        # Attach overflow
+        pcm_f32_mono_16k = np.append(self.overflow, pcm_f32_mono_16k)
+
+        for i in range(len(pcm_f32_mono_16k) // 512):
+            self.q.put_nowait(pcm_f32_mono_16k[i * 512 : (i + 1) * 512].tobytes())
+
+        self.overflow = pcm_f32_mono_16k[len(pcm_f32_mono_16k) // 512 * 512 :]
+
+    def _make_mono(self, frag, channels):
+        return frag.reshape(-1, channels).mean(axis=1, dtype=np.int32)
+
+
+class StandaloneAudioCapturer(AudioCapturer):
+    """
+    Audio capturer that uses a microphone from the local device, can be chosen with the
+    ``--microphone`` program argument.
 
     :ivar audio: PyAudio instance.
     :vartype audio: pyaudio.PyAudio | None
 
     :ivar microphone: Selected microphone information.
     :vartype microphone: dict | None
+
+    :ivar stream: PyAudio stream instance. None until ``setup()`` is called, remaining None if setup
+        fails for any reason.
+    :vartype stream: pyaudio.Stream | None
     """
-    def __init__(self, zmq_context, port=settings.agent_settings.audio_sender_port):
-        super(AudioSender, self).__init__(str("audio"))  # Convert future's unicode_literal to str
-        self.create_socket(zmq_context, zmq.PUB, port)
-        self.thread = None
+    def __init__(self):
+        self.stream = None
 
         try:
             self.audio = pyaudio.PyAudio()
             self.microphone = choose_mic(self.audio)
         except IOError as e:
-            logger.warning("PyAudio is not available.", exc_info=e)
+            logger.warning("PyAudio is not available. Won't be able to send audio.", exc_info=True)
             self.audio = None
             self.microphone = None
 
-    def start(self):
+    def setup(self):
         """
-        Start sending audio in a different thread.
-
-        Will not start if no microphone is available.
+        Setup audio stream. Will not if no microphone is available.
         """
         if not self.microphone:
             logger.info("Not listening: no microphone available.")
             return
 
         logger.info("Listening with microphone \"{}\".".format(self.microphone["name"]))
-        self.thread = threading.Thread(target=self._stream)
-        self.thread.start()
-
-    def wait_until_done(self):
-        """
-        Wait until the audio thread is done.
-
-        Will block until `state.exit_event` is set. If the thread is not running, does nothing.
-        """
-        if not self.thread: return
-        self.thread.join()
-        self.thread = None
-
-    def _stream(self):
-        """
-        Internal method to continuously read audio from the microphone and send it over the socket.
-        """
-        audio_settings = settings.audio_config
-        chunk = audio_settings.chunk_size # 320 at 16000 Hz is 20ms, 512 is required for Silero-VAD
-
-        # Docs say this only raises an error if neither `input` nor `output` is True
-        stream = self.audio.open(
+        self.stream = self.audio.open(
             format=pyaudio.paFloat32,
-            channels=audio_settings.channels,
-            rate=audio_settings.sample_rate,
+            channels=settings.audio_config.channels,
+            rate=settings.audio_config.sample_rate,
             input=True,
             input_device_index=self.microphone["index"],
-            frames_per_buffer=chunk,
+            frames_per_buffer=settings.audio_config.chunk_size,
         )
 
-        try:
-            while not state.exit_event.is_set():
-                data = stream.read(chunk)
-                self.socket.send(data)
-        except IOError as e:
-            logger.error("Stopped listening: failed to get audio from microphone.", exc_info=e)
-        finally:
-            stream.stop_stream()
-            stream.close()
+    def stop(self):
+        """
+        Close the audio stream.
+        """
+        if not self.stream: return
+        self.stream.stop_stream()
+        self.stream.close()
+
+    def generate_chunk(self):
+        """
+        :return: Audio frames from the microphone of size ``settings.audio_config.chunk_size``.
+        :rtype: bytes.
+        :raises IOError: If reading from the audio stream fails.
+        """
+        return self.stream.read(settings.audio_config.chunk_size)
+
+
+class AudioSender(SocketBase):
+    def __init__(self, zmq_context, port=settings.agent_settings.audio_sender_port):
+        super(AudioSender, self).__init__(str("audio"))
+        self.create_socket(zmq_context, zmq.PUB, port)
+
+        self.thread = threading.Thread(target=self.stream)
+
+        self.capturer = self.choose_capturer()
+
+    def start(self):
+        self.capturer.setup()
+        self.thread.start()
+
+    def close(self):
+        self.capturer.stop()
+        super(AudioSender, self).close()
+
+    def stream(self):
+        while not state.exit_event.is_set():
+            chunk = self.capturer.generate_chunk()
+
+            if chunk is None or state.is_speaking:
+                continue
+
+            self.socket.send(chunk)
+
+    def choose_capturer(self):
+        if state.qi_session and settings.audio_config.use_pepper_microphone:
+            return QiAudioCapturer()
+
+        return StandaloneAudioCapturer()

src/robot_interface/endpoints/gesture_settings.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 class GestureTags:
     tags = ["above", "affirmative", "afford", "agitated", "all", "allright", "alright", "any", 
             "assuage", "assuage", "attemper", "back", "bashful", "beg", "beseech", "blank", 

src/robot_interface/endpoints/main_receiver.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import zmq
 
 from robot_interface.endpoints.receiver_base import ReceiverBase

src/robot_interface/endpoints/receiver_base.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from abc import ABCMeta, abstractmethod
 
 from robot_interface.endpoints.socket_base import SocketBase

src/robot_interface/endpoints/socket_base.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from abc import ABCMeta
 
 import zmq

src/robot_interface/endpoints/video_sender.py

@@ -1,11 +1,21 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import zmq
 import threading
 import logging
 
+import struct
+
 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.
@@ -18,7 +28,7 @@ class VideoSender(SocketBase):
     """
     def __init__(self, zmq_context, port=settings.agent_settings.video_sender_port):
         super(VideoSender, self).__init__("video")
-        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
+        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.SNDHWM,3)])
     
     def start_video_rcv(self):
         """
@@ -51,10 +61,23 @@ class VideoSender(SocketBase):
         :param vid_stream_name: The name of a camera subscription on the video service object vid_service
         :type vid_stream_name: str
         """
-        while not state.exit_event.is_set():
-            try:
-                img = vid_service.getImageRemote(vid_stream_name)
-                #Possibly limit images sent if queuing issues arise
-                self.socket.send(img[settings.video_config.image_buffer])
-            except:
-                logging.warn("Failed to retrieve video image from robot.")
+        try:
+            while not state.exit_event.is_set():
+                try:
+                    img = vid_service.getImageRemote(vid_stream_name)
+                    if img is not None:
+                        raw_data = img[6]
+                        width = img[0]
+                        height = img[1]
+
+                        width_bytes = struct.pack('<I', width)
+                        height_bytes = struct.pack('<I', height)
+
+                        self.socket.send_multipart([width_bytes, height_bytes, raw_data])
+                except KeyboardInterrupt:
+                    logging.info("Video receiving loop interrupted by user.")
+                except:
+                    logging.warn("Failed to retrieve video image from robot.")
+        finally:
+            vid_service.unsubscribe(vid_stream_name)
+            logging.info("Unsubscribed from video stream.")

src/robot_interface/main.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import logging
 
 from robot_interface.endpoints.audio_sender import AudioSender

src/robot_interface/state.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import logging
 import signal
 import threading

src/robot_interface/utils/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

src/robot_interface/utils/get_config.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import os
 from dotenv import load_dotenv
 
@@ -9,6 +16,8 @@ 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`.
 
+    Special handling for booleans, which are only true if the value of the variable is "true" or "yes", ignoring capitalization.
+
     :param value: The value to check.
     :type value: Any
     :param env: The environment variable to check.
@@ -26,7 +35,14 @@ def get_config(value, env, default, cast=None):
 
     env = os.environ.get(env, default)
 
-    if cast is None:
+    if cast is None or env is None:
         return env
 
+    if cast == bool:
+        if isinstance(env, bool):
+            return env
+        if not isinstance(default, bool):
+            raise ValueError("Default value must be a boolean if the cast type is a boolean.")
+        return env.lower() == "true" or env.lower() == "yes"
+
     return cast(env)

src/robot_interface/utils/microphone.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from __future__ import unicode_literals  # So that `print` can print Unicode characters in names
 import logging
 import sys

src/robot_interface/utils/qi_utils.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import logging
 import sys
 
@@ -7,6 +14,20 @@ except ImportError:
     qi = None
 
 
+def _get_qi_url():
+    """
+    Get the Qi URL from the command line arguments, or None if not given.
+    """
+    if "--qi-url" in sys.argv:
+        return sys.argv[sys.argv.index("--qi-url") + 1]
+
+    for arg in sys.argv:
+        if arg.startswith("--qi-url="):
+            return arg[len("--qi-url="):]
+
+    return None
+
+
 def get_qi_session():
     """
     Create and return a Qi session if available.
@@ -18,12 +39,13 @@ def get_qi_session():
         logging.info("Unable to import qi. Running in stand-alone mode.")
         return None
 
-    if "--qi-url" not in sys.argv:
+    qi_url = _get_qi_url()
+    if qi_url is None:
         logging.info("No Qi URL argument given. Running in stand-alone mode.")
         return None
 
     try:
-        app = qi.Application()
+        app = qi.Application(["--qi-url", qi_url, "--qi-listen-url", "tcp://0.0.0.0:0"])
         app.start()
         return app.session
     except RuntimeError:

src/robot_interface/utils/timeblock.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import time
 
 

test/common/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

test/common/microphone_utils.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from __future__ import unicode_literals  # So that we can format strings with Unicode characters
 import random
 import sys

test/conftest.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from mock import patch, MagicMock
 
 import pytest

test/integration/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

test/integration/test_config.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from mock import patch, mock
 
 from robot_interface.core.config import Settings

test/integration/test_microphone_utils.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import pyaudio
 
 import pytest

test/unit/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""

test/unit/test_actuation_receiver.py

@@ -1,13 +1,32 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import sys
 
-import time
 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
+def zmq_context():
+    """
+    A pytest fixture that creates and yields a ZMQ context.
+
+    :return: An initialized ZeroMQ context.
+    :rtype: zmq.Context
+    """
+    context = zmq.Context()
+    yield context
+
+
 def test_force_speech_clears_queue(mocker):
     """
     Tests that a force speech message clears the existing queue
@@ -42,6 +61,7 @@ def test_force_speech_clears_queue(mocker):
     queued_item = receiver._message_queue.get()
     assert queued_item == "Emergency Notification"
 
+
 def test_handle_unimplemented_endpoint(mocker):
     """
     Tests handling of unknown endpoints.
@@ -57,6 +77,7 @@ def test_handle_unimplemented_endpoint(mocker):
         "data": None,
     })
 
+
 def test_speech_message_no_data(mocker):
     """
     Tests that if the message data is empty, the receiver returns immediately
@@ -214,7 +235,7 @@ def test_handle_messages_loop(mocker):
     receiver._tts_service = mock_tts_service
 
     # This ensures the while loop iterates exactly once
-    mock_state.exit_event.is_set.side_effect = [False, True, True , True, True]
+    mock_state.exit_event.is_set.side_effect = [False, True]
 
     # Put an item in the queue
     receiver._message_queue.put("Hello World")
@@ -229,24 +250,40 @@ def test_handle_messages_loop(mocker):
     assert mock_state.is_speaking is True
 
 
-def test_handle_gestures_runtime_error(mocker):
+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")
-    
-    # Use a side_effect that returns False then True thereafter
-    mock_state.exit_event.is_set.side_effect = [False, True, True, True, True]
+        
+    # 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)
     
-    # ... rest of your setup ...
-    mock_anim = mock.Mock()
-    mock_anim.run.side_effect = RuntimeError("Wifi Lost")
-    receiver._animation_service = mock_anim
+    # 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)
     
-    receiver._gesture_queue.put("wave")
-    
-    receiver._handle_gestures()
+    # 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):
     """
@@ -266,7 +303,7 @@ def test_handle_messages_runtime_error(mocker):
     # Initialize receiver with the mock context
     receiver = ActuationReceiver(mock_zmq_ctx)
     
-    mock_state.exit_event.is_set.side_effect = [False, True, True, True ]
+    mock_state.exit_event.is_set.side_effect = [False, True]
 
     receiver._message_queue.put("Test Message")
     
@@ -304,61 +341,54 @@ def test_clear_queue(mocker):
     # Assert the queue is empty
     assert receiver._message_queue.qsize() == 0
 
-def test_gesture_no_data(mocker):
-    mock_zmq = mock.Mock()
-    receiver = ActuationReceiver(mock_zmq)
+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(mocker):
-    mock_zmq = mock.Mock()
-    receiver = ActuationReceiver(mock_zmq)
+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(mocker):
-    mock_zmq = mock.Mock()
+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(mock_zmq)
+
+    receiver = ActuationReceiver(zmq_context)
     receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
     # No crash expected
 
 
-def test_gesture_tag_not_found(mocker):
-    mock_zmq = mock.Mock()
+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(mock_zmq)
+    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( mocker):
-    mock_zmq = mock.Mock()
+def test_gesture_no_qi_session(zmq_context, mocker):
     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(mock_zmq)
+    receiver = ActuationReceiver(zmq_context)
     receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
     # No crash, path returns early
 
 
-def test_gesture_single_success(mocker):
-    mock_zmq = mock.Mock()
+def test_gesture_single_success(zmq_context, mocker):
     mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    # Allow loops to run
-    mock_state.exit_event.is_set.return_value = False 
-
     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"]
 
@@ -366,25 +396,17 @@ def test_gesture_single_success(mocker):
     mock_state.qi_session = mock.Mock()
     mock_state.qi_session.service.return_value = mock_animation_service
 
-    receiver = ActuationReceiver(mock_zmq)
+    receiver = ActuationReceiver(zmq_context)
     receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
 
-    time.sleep(0.2) 
-
-    mock_state.qi_session.service.assert_called_with("ALAnimationPlayer")
-    mock_animation_service.run.assert_called_with("wave")
-
-    # CLEANUP: Signal exit AND join threads
-    mock_state.exit_event.is_set.return_value = True
-    receiver.message_thread.join(timeout=1.0)
-    receiver.gesture_thread.join(timeout=1.0)
+    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"
 
 
-def test_gesture_tag_success(mocker):
-    mock_zmq = mock.Mock()
+def test_gesture_tag_success(zmq_context, mocker):
     mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_state.exit_event.is_set.return_value = False
-
     mock_qi = mock.Mock()
     sys.modules["qi"] = mock_qi
 
@@ -395,26 +417,21 @@ def test_gesture_tag_success(mocker):
     mock_state.qi_session = mock.Mock()
     mock_state.qi_session.service.return_value = mock_animation_service
 
-    receiver = ActuationReceiver(mock_zmq)
+    receiver = ActuationReceiver(zmq_context)
     receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
 
-    time.sleep(0.2)
-
-    mock_state.qi_session.service.assert_called_with("ALAnimationPlayer")
-    mock_animation_service.run.assert_called_with("greeting")
-    
-    # CLEANUP: Signal exit AND join threads
-    mock_state.exit_event.is_set.return_value = True
-    receiver.message_thread.join(timeout=1.0)
-    receiver.gesture_thread.join(timeout=1.0)
+    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"
 
 
-def test_handle_message_all_routes(mocker):
+def test_handle_message_all_routes(zmq_context, mocker):
     """
     Ensures all handle_message endpoint branches route correctly.
     """
-    mock_zmq = mock.Mock()
-    receiver = ActuationReceiver(mock_zmq)
+    receiver = ActuationReceiver(zmq_context)
+
     mock_speech = mocker.patch.object(receiver, "_handle_speech")
     mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
 
@@ -426,13 +443,12 @@ def test_handle_message_all_routes(mocker):
     assert mock_gesture.call_count == 2
 
 
-def test_endpoint_description(mocker):
-    mock_zmq = mock.Mock()
+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(mock_zmq)
+    receiver = ActuationReceiver(zmq_context)
     desc = receiver.endpoint_description()
 
     assert "gestures" in desc
@@ -442,20 +458,26 @@ def test_endpoint_description(mocker):
     assert desc["single_gestures"] == ["wave"]
 
 
-def test_gesture_single_real_gesturetags(mocker):
-    mock_zmq = mock.Mock()
+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_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
     mock_state.qi_session = mock.Mock()
-    mock_state.exit_event.is_set.return_value = False
 
+    # Mock qi.async to avoid real async calls
     mock_qi = mock.Mock()
     sys.modules["qi"] = mock_qi
 
+    # Mock animation service
     mock_animation_service = mock.Mock()
     mock_state.qi_session.service.return_value = mock_animation_service
 
-    receiver = ActuationReceiver(mock_zmq)
+    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]
 
@@ -464,85 +486,8 @@ def test_gesture_single_real_gesturetags(mocker):
         is_single=True,
     )
 
-    time.sleep(0.2)
-    mock_state.qi_session.service.assert_called_with("ALAnimationPlayer")
-    mock_animation_service.run.assert_called_with(gesture)
+    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
 
-    # CLEANUP: Signal exit AND join threads
-    mock_state.exit_event.is_set.return_value = True
-    receiver.message_thread.join(timeout=1.0)
-    receiver.gesture_thread.join(timeout=1.0)
-
-def test_clear_gesture_queue(mocker):
-    # Prevent background threads from eating the items
-    mocker.patch("threading.Thread")
-    
-    mock_zmq_ctx = mock.Mock()
-    receiver = ActuationReceiver(mock_zmq_ctx)
-    
-    # Populate the queue
-    receiver._gesture_queue.put("gesture1")
-    receiver._gesture_queue.put("gesture2")
-    
-    assert receiver._gesture_queue.qsize() == 2
-
-    # Clear the queue
-    receiver.clear_gesture_queue()
-
-    # Assert the queue is empty
-    assert receiver._gesture_queue.qsize() == 0
-
-
-def test_gesture_priority_clears_queue(mocker):
-    mocker.patch("threading.Thread")
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    
-    # Mock QI and Tags so valid checks pass
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["urgent_wave"]
-    
-    # Setup Animation Service
-    mock_anim = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_anim
-
-    mock_zmq_ctx = mock.Mock()
-    receiver = ActuationReceiver(mock_zmq_ctx)
-    
-    # Pre-fill queue with "slow" gestures
-    receiver._gesture_queue.put("slow_gesture_1")
-    receiver._gesture_queue.put("slow_gesture_2")
-    
-    assert receiver._gesture_queue.qsize() == 2
-
-    # Send priority gesture
-    priority_msg = {
-        "endpoint": "actuate/gesture/single", 
-        "data": "urgent_wave",
-        "is_priority": True,
-    }
-    receiver._handle_gesture(priority_msg, is_single=True)
-
-    # Assert old items are gone and only new one remains
-    assert receiver._gesture_queue.qsize() == 1
-    assert receiver._gesture_queue.get() == "urgent_wave"
-
-
-def test_handle_gestures_loop_empty(mocker):
-    mocker.patch("threading.Thread")
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    
-    mock_zmq_ctx = mock.Mock()
-    receiver = ActuationReceiver(mock_zmq_ctx)
-    
-    # Run loop exactly once
-    mock_state.exit_event.is_set.side_effect = [False, True, True, True]
-    
-    # We don't put anything in the queue, so .get(timeout=0.1) will raise Queue.Empty.
-    # The code should catch it and pass.
-    receiver._handle_gestures()
-    
-    # If we reached here without raising an exception, the test passes.
-    # We can assert that the queue is still valid/empty.
-    assert receiver._gesture_queue.empty()

test/unit/test_audio_sender.py

@@ -1,4 +1,10 @@
-# coding=utf-8
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import os
 
 import mock
@@ -27,35 +33,33 @@ def test_no_microphone(zmq_context, mocker):
     mock_info_logger = mocker.patch("robot_interface.endpoints.audio_sender.logger.info")
     mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
     mock_choose_mic.return_value = None
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.qi_session = None
 
     sender = AudioSender(zmq_context)
-    assert sender.microphone is None
+    assert sender.capturer.microphone is None
 
-    sender.start()
-    assert sender.thread is None
+    sender.capturer.setup()
     mock_info_logger.assert_called()
 
-    sender.wait_until_done()  # Should return early because we didn't start a thread
-
 
 def test_unicode_mic_name(zmq_context, mocker):
     """
     Tests the robustness of the `AudioSender` when handling microphone names
     that contain Unicode characters.
     """
-    mocker.patch("robot_interface.endpoints.audio_sender.threading")
     mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
-    mock_choose_mic.return_value = {"name": u"• Some Unicode name"}
+    mock_choose_mic.return_value = {"name": u"• Some Unicode name", "index": 0L}
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.qi_session = None
 
     sender = AudioSender(zmq_context)
-    assert sender.microphone is not None
+    assert sender.capturer.microphone is not None
+    sender.capturer.audio.open = mock.Mock(return_value=mock.Mock())
 
-    # `.start()` logs the name of the microphone. It should not give an error if it contains Unicode
+    # `.setup()` logs the name of the microphone. It should not give an error if it contains Unicode
     #  symbols.
-    sender.start()
-    assert sender.thread is not None
-
-    sender.wait_until_done()  # Should return instantly because we didn't start a real thread
+    sender.capturer.setup()
 
 
 def _fake_read(num_frames):
@@ -73,10 +77,43 @@ def test_sending_audio(mocker):
     mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
 
     mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.qi_session = None
     mock_state.exit_event.is_set.side_effect = [False, True]
 
     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
+
+    sender = AudioSender(mock_zmq_context)
+    sender.socket.send = send_socket
+    sender.capturer.audio.open = mock.Mock()
+    sender.capturer.audio.open.return_value = stream
+
+    sender.start()
+    sender.thread.join()
+
+    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.qi_session = None
+    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()
@@ -84,13 +121,13 @@ def test_sending_audio(mocker):
 
     sender = AudioSender(mock_zmq_context)
     sender.socket.send = send_socket
-    sender.audio.open = mock.Mock()
-    sender.audio.open.return_value = stream
+    sender.capturer.audio.open = mock.Mock()
+    sender.capturer.audio.open.return_value = stream
 
     sender.start()
-    sender.wait_until_done()
+    sender.thread.join()
 
-    send_socket.assert_called()
+    send_socket.assert_not_called()
 
 
 def _fake_read_error(num_frames):
@@ -108,6 +145,7 @@ def test_break_microphone(mocker):
     mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
 
     mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.qi_session = None
     mock_state.exit_event.is_set.side_effect = [False, True]
 
     mock_zmq_context = mock.Mock()
@@ -119,11 +157,11 @@ def test_break_microphone(mocker):
 
     sender = AudioSender(mock_zmq_context)
     sender.socket.send = send_socket
-    sender.audio.open = mock.Mock()
-    sender.audio.open.return_value = stream
+    sender.capturer.audio.open = mock.Mock()
+    sender.capturer.audio.open.return_value = stream
 
     sender.start()
-    sender.wait_until_done()
+    sender.thread.join()
 
     send_socket.assert_not_called()
 
@@ -134,6 +172,8 @@ def test_pyaudio_init_failure(mocker, zmq_context):
     """
     # Prevent binding the ZMQ socket
     mocker.patch("robot_interface.endpoints.audio_sender.AudioSender.create_socket")
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.qi_session = None
 
     # Simulate PyAudio() failing
     mocker.patch(
@@ -143,5 +183,5 @@ def test_pyaudio_init_failure(mocker, zmq_context):
     
     sender = AudioSender(zmq_context)
 
-    assert sender.audio is None
-    assert sender.microphone is None
+    assert sender.capturer.audio is None
+    assert sender.capturer.microphone is None

test/unit/test_get_config.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 from robot_interface.utils.get_config import get_config
 
 
@@ -43,3 +50,58 @@ def test_get_config_casts_default_when_env_missing(monkeypatch):
     result = get_config(None, "GET_CONFIG_MISSING", "42", int)
 
     assert result == 42
+
+
+def test_get_config_unset_boolean_default(monkeypatch):
+    """
+    When the env var is a boolean, and it's not set, ensure it uses the default value.
+    """
+    monkeypatch.delenv("SOME_BOOLEAN_VARIABLE", raising=False)
+
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == False
+
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == True
+
+
+def test_get_config_true_boolean(monkeypatch):
+    """
+    When the env var is a boolean, and its value is "true", "TRUE", "yes", etc., it should return true.
+    """
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "TRUE")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "true")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "yes")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "YES")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "TrUE")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+
+def test_get_config_false_boolean(monkeypatch):
+    """
+    When the env var is a boolean, and its value is not "true", "TRUE", "yes", etc., it should return False.
+    """
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "FALSE")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == False
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "false")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == False
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "anything, tbh")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == False

test/unit/test_main.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import pytest
 import threading
 import zmq

test/unit/test_main_receiver.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import mock
 import pytest
 import zmq

test/unit/test_microphone_utils.py

@@ -1,4 +1,10 @@
-# coding=utf-8
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import mock
 import pytest
 

test/unit/test_qi_utils.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import sys
 
 # Import module under test
@@ -55,7 +62,7 @@ def test_get_qi_session_runtime_error(monkeypatch):
             raise RuntimeError("boom")
 
     class FakeQi:
-        Application = lambda self=None: FakeApp()
+        Application = lambda *args, **kwargs: FakeApp()
 
     reload_qi_utils_with(FakeQi())
 
@@ -80,7 +87,7 @@ def test_get_qi_session_success(monkeypatch):
             return True
 
     class FakeQi:
-        Application = lambda self=None: FakeApp()
+        Application = lambda *args, **kwargs: FakeApp()
 
     reload_qi_utils_with(FakeQi())
 

test/unit/test_reciever_base.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import pytest
 from robot_interface.endpoints.receiver_base import ReceiverBase
 

test/unit/test_socket_base.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import mock
 import zmq
 from robot_interface.endpoints.socket_base import SocketBase

test/unit/test_state.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import threading
 import signal
 import pytest

test/unit/test_time_block.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import time
 
 import mock

test/unit/test_video_sender.py

@@ -1,5 +1,11 @@
-# coding=utf-8
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
 
+import struct
 import mock
 import pytest
 import zmq
@@ -48,8 +54,10 @@ def test_video_streaming(zmq_context, mocker):
     # Pepper's image buffer lives at index 6
     mocker.patch.object(settings.video_config, "image_buffer", 6)
 
+    test_width = 320
+    test_height = 240
     mock_video_service = mock.Mock()
-    mock_video_service.getImageRemote.return_value = [None]*6 + ["fake_img"]
+    mock_video_service.getImageRemote.return_value = [test_width, test_height, None, None, None, None, b"fake_img"]
 
     fake_session = mock.Mock()
     fake_session.service.return_value = mock_video_service
@@ -63,12 +71,16 @@ def test_video_streaming(zmq_context, mocker):
 
     sender = VideoSender(zmq_context)
     send_socket = mock.Mock()
-    sender.socket.send = send_socket
+    sender.socket.send_multipart = send_socket
 
     sender.start_video_rcv()
     sender.video_rcv_loop(mock_video_service, "stream_name")
 
-    send_socket.assert_called_with("fake_img")
+    send_socket.assert_called_with([
+    struct.pack('<I', 320),
+    struct.pack('<I', 240),
+    b"fake_img"
+])
 
 
 def test_video_receive_error(zmq_context, mocker):
@@ -91,9 +103,30 @@ def test_video_receive_error(zmq_context, mocker):
 
     sender = VideoSender(zmq_context)
     send_socket = mock.Mock()
-    sender.socket.send = send_socket
+    sender.socket.send_multipart = send_socket
 
     sender.start_video_rcv()
     sender.video_rcv_loop(mock_video_service, "stream_name")
 
     send_socket.assert_not_called()
+
+def test_video_loop_keyboard_interrupt(zmq_context, mocker):
+    """Video loop should handle KeyboardInterrupt gracefully and unsubscribe."""
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)
+    
+    # We mock the video service to raise KeyboardInterrupt when accessed
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
+    
+    # Mock logging to verify the specific interrupt message is logged
+    mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
+
+    sender = VideoSender(zmq_context)
+    
+    # Execute the loop
+    sender.video_rcv_loop(mock_video_service, "stream_name")
+
+    # Verify the 'finally' block executed (unsubscribe)
+    mock_video_service.unsubscribe.assert_called_with("stream_name")
+    mock_logger.info.assert_any_call("Unsubscribed from video stream.")