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/core/config.py

@@ -68,7 +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)
@@ -78,6 +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.
@@ -85,7 +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/audio_sender.py

@@ -6,9 +6,16 @@ University within the Software Project course.
 """
 
 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
 
@@ -20,97 +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.
+    @abstractmethod
-    :type zmq_context: zmq.Context
+    def setup(self):
+        raise NotImplementedError()
 
-    :param port: The port to use.
+    @abstractmethod
-    :type port: int
+    def stop(self):
+        raise NotImplementedError()
 
-    :ivar thread: Thread used for sending audio.
+    @abstractmethod
-    :vartype thread: threading.Thread | None
+    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):
+    def __init__(self):
-        super(AudioSender, self).__init__(str("audio"))  # Convert future's unicode_literal to str
+        self.stream = None
-        self.create_socket(zmq_context, zmq.PUB, port)
-        self.thread = 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.
+        Setup audio stream. Will not if no microphone is available.
-
-        Will not start 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.stream = self.audio.open(
+            format=pyaudio.paFloat32,
+            channels=settings.audio_config.channels,
+            rate=settings.audio_config.sample_rate,
+            input=True,
+            input_device_index=self.microphone["index"],
+            frames_per_buffer=settings.audio_config.chunk_size,
+        )
+
+    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 wait_until_done(self):
+    def close(self):
-        """
+        self.capturer.stop()
-        Wait until the audio thread is done.
+        super(AudioSender, self).close()
 
-        Will block until `state.exit_event` is set. If the thread is not running, does nothing.
+    def stream(self):
-        """
+        while not state.exit_event.is_set():
-        if not self.thread: return
+            chunk = self.capturer.generate_chunk()
-        self.thread.join()
-        self.thread = None
 
-    def _stream(self):
+            if chunk is None or state.is_speaking:
-        """
+                continue
-        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
+            self.socket.send(chunk)
-        def open_stream():
-            return self.audio.open(
-                format=pyaudio.paFloat32,
-                channels=audio_settings.channels,
-                rate=audio_settings.sample_rate,
-                input=True,
-                input_device_index=self.microphone["index"],
-                frames_per_buffer=chunk,
-            )
-        
-        stream = None
 
-        try:
+    def choose_capturer(self):
-            # Test in case exit_event was set while waiting
+        if state.qi_session and settings.audio_config.use_pepper_microphone:
-            if not state.exit_event.is_set():
+            return QiAudioCapturer()
-                stream = open_stream()
+
-            
+        return StandaloneAudioCapturer()
-            while not state.exit_event.is_set():
-                data = stream.read(chunk)
-                if (state.is_speaking): continue  # Do not send audio while the robot is speaking
-                self.socket.send(data)
-        except IOError as e:
-            logger.error("Stopped listening: failed to get audio from microphone.", exc_info=e)
-        finally:
-            if stream:
-                try:
-                    stream.stop_stream()
-                    stream.close()
-                except IOError:
-                    pass # Ignore errors on closing

src/robot_interface/endpoints/main_receiver.py

@@ -78,30 +78,6 @@ class MainReceiver(ReceiverBase):
             return MainReceiver._handle_port_negotiation(message)
 
         return {"endpoint": "negotiate/error", "data": "The requested endpoint is not implemented."}
-    
-    @staticmethod
-    def _handle_pause(message):
-        """
-        Handle a pause request. Pauses or resumes the video and audio streams.
-
-        :param message: The pause request message.
-        :type message: dict
-
-        :return: A response dictionary indicating success.
-        :rtype: dict[str, str]
-        """
-        if message.get("data"):
-            if state.active_event.is_set():
-                state.active_event.clear()
-                return {"endpoint": "pause", "data": "Streams paused."}
-            else:
-                return {"endpoint": "pause", "data": "Streams are already paused."}
-        else:
-            if not state.active_event.is_set():
-                state.active_event.set()
-                return {"endpoint": "pause", "data": "Streams resumed."}
-            else:
-                return {"endpoint": "pause", "data": "Streams are already running."}
 
     def handle_message(self, message):
         """
@@ -119,7 +95,5 @@ class MainReceiver(ReceiverBase):
             return self._handle_ping(message)
         elif message["endpoint"].startswith("negotiate"):
             return self._handle_negotiation(message)
-        elif message["endpoint"] == "pause":
-            return self._handle_pause(message)
 
         return {"endpoint": "error", "data": "The requested endpoint is not supported."}

src/robot_interface/endpoints/video_sender.py

@@ -4,13 +4,12 @@ This program has been developed by students from the bachelor Computer Science a
 University within the Software Project course.
 © Copyright Utrecht University (Department of Information and Computing Sciences)
 """
-import struct
+
 import zmq
 import threading
 import logging
-import numpy as np
 
-import cv2
+import struct
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
@@ -39,9 +38,6 @@ class VideoSender(SocketBase):
         """
         if not state.qi_session:
             logging.info("No Qi session available. Not starting video loop.")
-            logging.info("Starting test video stream from local webcam.")
-            thread = threading.Thread(target=self.test_video_stream)
-            thread.start()
             return
 
         video = state.qi_session.service("ALVideoDevice")
@@ -55,40 +51,9 @@ class VideoSender(SocketBase):
         thread = threading.Thread(target=self.video_rcv_loop, args=(video, vid_stream_name))
         thread.start()
 
-    def test_video_stream(self):
-        """
-        Test function to send video from a local webcam instead of the robot.
-        """
-        cap = cv2.VideoCapture(0)
-        if not cap.isOpened():
-            logging.error("Could not open webcam for video stream test.")
-            return
-
-        while not state.exit_event.is_set():
-
-            ret, frame = cap.read()
-            if not ret:
-                logging.warning("Failed to read frame from webcam.")
-                continue
-
-            if cv2.waitKey(1) & 0xFF == ord('q'): # << Add this: Updates the window
-                break
-            
-            height, width, channels = frame.shape
-            
-            pixel_data = frame.tobytes()
-
-            width_bytes = struct.pack('<I', width)
-            height_bytes = struct.pack('<I', height)
-
-            self.socket.send_multipart([width_bytes, height_bytes, pixel_data])
-
-        cap.release()
-
     def video_rcv_loop(self, vid_service, vid_stream_name):
         """
         The main loop of retrieving video images from the robot.
-        Sends the image data over the ZMQ socket in 3 parts: image width, image height and raw image bytes.
 
         :param vid_service: The video service object that the active Qi session is connected to. 
         :type vid_service: Object (Qi service object)
@@ -101,18 +66,18 @@ class VideoSender(SocketBase):
                 try:
                     img = vid_service.getImageRemote(vid_stream_name)
                     if img is not None:
-                        image_bytes = img[6]
+                        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, image_bytes])
+                        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.")
-        except KeyboardInterrupt:
-            logging.info("Video receiving loop interrupted by user.")
         finally:
             vid_service.unsubscribe(vid_stream_name)
             logging.info("Unsubscribed from video stream.")

src/robot_interface/main.py

@@ -91,7 +91,6 @@ def main():
     context = zmq.Context()
 
     state.initialize()
-    state.active_event.set()
 
     try:
         main_loop(context)

src/robot_interface/state.py

@@ -56,8 +56,6 @@ class State(object):
         signal.signal(signal.SIGINT, handle_exit)
         signal.signal(signal.SIGTERM, handle_exit)
 
-        self.active_event = threading.Event()
-
         self.qi_session = get_qi_session()
 
         self.is_initialized = True

src/robot_interface/utils/get_config.py

@@ -16,6 +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.
@@ -33,7 +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/qi_utils.py

@@ -14,6 +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.
@@ -25,12 +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:

test/unit/test_audio_sender.py

@@ -33,14 +33,14 @@ 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()
+    sender.capturer.setup()
-    assert sender.thread is None
+    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):
@@ -48,19 +48,18 @@ 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()
+    sender.capturer.setup()
-    assert sender.thread is not None
-
-    sender.wait_until_done()  # Should return instantly because we didn't start a real thread
 
 
 def _fake_read(num_frames):
@@ -78,7 +77,8 @@ 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.exit_event.is_set.side_effect = [False, False, True]
+    mock_state.qi_session = None
+    mock_state.exit_event.is_set.side_effect = [False, True]
 
     mock_zmq_context = mock.Mock()
     send_socket = mock.Mock()
@@ -90,225 +90,14 @@ def test_sending_audio(mocker):
 
     sender = AudioSender(mock_zmq_context)
     sender.socket.send = send_socket
-    sender.audio.open = mock.Mock()
+    sender.capturer.audio.open = mock.Mock()
-    sender.audio.open.return_value = stream
+    sender.capturer.audio.open.return_value = stream
 
     sender.start()
-    sender.wait_until_done()
+    sender.thread.join()
 
     send_socket.assert_called()
 
-# SENDING PAUSE RESUME?
-
-def test_stream_initial_wait_exit(mocker):
-    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
-    mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
-
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.exit_event.is_set.return_value = True
-    mock_state.active_event.is_set.return_value = False
-    
-    mock_zmq_context = mock.Mock()
-
-    sender = AudioSender(mock_zmq_context)
-    sender._stream()
-
-    mock_pyaudio_instance.open.assert_not_called()
-
-def test_stream_pause_and_resume(mocker):
-    mock_stream = mock.Mock()
-    mock_stream.read.return_value = b"data"
-
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    mock_pyaudio_instance.open.return_value = mock_stream
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.active_event.is_set.return_value = False
-
-    mock_state.exit_event.is_set.side_effect = [False, False, False, True]
-
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender.socket = mock.Mock()
-
-    sender._stream()
-
-    assert mock_pyaudio_instance.open.call_count == 2
-
-    assert mock_stream.close.call_count == 2
-    assert mock_stream.stop_stream.call_count == 2
-
-    assert mock_state.active_event.wait.called
-
-def test_stream_exit_during_pause(mocker):
-    mock_stream = mock.Mock()
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    mock_pyaudio_instance.open.return_value = mock_stream
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.active_event.is_set.return_value = False
-
-    mock_state.exit_event.is_set.side_effect = [False, False, True]
-
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender._stream()
-
-    assert mock_pyaudio_instance.open.call_count == 1
-    assert mock_stream.close.call_count == 1
-
-def test_stream_read_error_recovery(mocker):
-    stream_fail = mock.Mock()
-    stream_fail.read.side_effect = IOError("Overflow")
-
-    stream_ok = mock.Mock()
-    stream_ok.read.return_value = b"data"
-
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    mock_pyaudio_instance.open.side_effect = [stream_fail, stream_ok]
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.active_event.is_set.return_value = True
-    mock_state.exit_event.is_set.side_effect = [False, False, False, True]
-
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender.socket = mock.Mock()
-    sender._stream()
-    stream_fail.close.assert_called()
-    assert mock_pyaudio_instance.open.call_count == 2
-    sender.socket.send.assert_called_with(b"data")
-
-
-def test_stream_fatal_error(mocker):
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    mock_pyaudio_instance.open.side_effect = IOError("Fatal error")
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.active_event.is_set.return_value = True
-    mock_state.exit_event.is_set.return_value = False
-
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender._stream()
-
-def test_wait_until_done(mocker):
-    mock_zmq_context = mock.Mock()
-    
-    sender = AudioSender(mock_zmq_context)
-
-    sender.wait_until_done()
-
-    mock_thread = mocker.Mock()
-    sender.thread = mock_thread
-    sender.wait_until_done()
-
-    mock_thread.join.assert_called_once()
-    assert sender.thread is None
-
-def test_stream_pause_close_error(mocker):
-    """
-    Tests that an IOError during stream closure (when pausing) is ignored,
-    covering the 'pass' statement in the pause logic.
-    """
-    mock_stream = mock.Mock()
-    mock_stream.read.return_value = b"data"
-    # Raise IOError when stopping the stream during pause
-    mock_stream.stop_stream.side_effect = IOError("Failed to stop")
-
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    mock_pyaudio_instance.open.return_value = mock_stream
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    
-    # 1. First False triggers the pause block
-    # 2. Second True resumes the loop
-    mock_state.active_event.is_set.side_effect = [False, True] 
-
-    mock_state.exit_event.is_set.side_effect = [False, False, False, True]
-
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender.socket = mock.Mock()
-
-    sender._stream()
-
-    # Verification: The error should be swallowed, and the stream should re-open
-    assert mock_stream.stop_stream.called
-    assert mock_pyaudio_instance.open.call_count == 2
-
-
-def test_stream_finally_close_error(mocker):
-    """
-    Tests that an IOError during stream closure in the finally block is ignored,
-    covering the 'pass' statement in the finally logic.
-    """
-    mock_stream = mock.Mock()
-    mock_stream.read.return_value = b"data"
-    # Raise IOError when stopping the stream at exit
-    mock_stream.stop_stream.side_effect = IOError("Cleanup failed")
-
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    mock_pyaudio_instance.open.return_value = mock_stream
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.active_event.is_set.return_value = True
-    mock_state.exit_event.is_set.side_effect = [False, False, True]
-
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender.socket = mock.Mock()
-
-    # Run
-    sender._stream()
-
-    # Assert: Should finish without raising exception despite the IOError in finally
-    assert mock_stream.stop_stream.called
-
-
-def test_stream_recovery_failure(mocker):
-    """
-    Tests the case where recovering from a read error (re-opening stream) also fails.
-    This ensures the outer try-except catches exceptions from the inner except block.
-    """
-    mock_stream_initial = mock.Mock()
-    # Trigger the read error logic
-    mock_stream_initial.read.side_effect = IOError("Read failed")
-
-    mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
-    mock_pyaudio_instance = mock_pyaudio_cls.return_value
-    
-    # First open works, Second open (recovery) fails fatally
-    mock_pyaudio_instance.open.side_effect = [
-        mock_stream_initial, 
-        IOError("Recovery failed")
-    ]
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.active_event.is_set.return_value = True
-    mock_state.exit_event.is_set.return_value = False
-
-    mock_logger = mocker.patch("robot_interface.endpoints.audio_sender.logger")
-    
-    mock_zmq_context = mock.Mock()
-    sender = AudioSender(mock_zmq_context)
-    sender.socket = mock.Mock()
-
-    sender._stream()
-
-    # Assert we hit the outer error log
-    mock_logger.error.assert_called()
-
-
 
 def test_no_sending_if_speaking(mocker):
     """
@@ -318,6 +107,7 @@ def test_no_sending_if_speaking(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()
@@ -331,11 +121,11 @@ def test_no_sending_if_speaking(mocker):
 
     sender = AudioSender(mock_zmq_context)
     sender.socket.send = send_socket
-    sender.audio.open = mock.Mock()
+    sender.capturer.audio.open = mock.Mock()
-    sender.audio.open.return_value = stream
+    sender.capturer.audio.open.return_value = stream
 
     sender.start()
-    sender.wait_until_done()
+    sender.thread.join()
 
     send_socket.assert_not_called()
 
@@ -355,6 +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()
@@ -366,11 +157,11 @@ def test_break_microphone(mocker):
 
     sender = AudioSender(mock_zmq_context)
     sender.socket.send = send_socket
-    sender.audio.open = mock.Mock()
+    sender.capturer.audio.open = mock.Mock()
-    sender.audio.open.return_value = stream
+    sender.capturer.audio.open.return_value = stream
 
     sender.start()
-    sender.wait_until_done()
+    sender.thread.join()
 
     send_socket.assert_not_called()
 
@@ -381,6 +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(
@@ -390,5 +183,5 @@ def test_pyaudio_init_failure(mocker, zmq_context):
     
     sender = AudioSender(zmq_context)
 
-    assert sender.audio is None
+    assert sender.capturer.audio is None
-    assert sender.microphone is None
+    assert sender.capturer.microphone is None

test/unit/test_get_config.py

@@ -50,3 +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_qi_utils.py

@@ -62,7 +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())
 
@@ -87,7 +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_video_sender.py

@@ -5,167 +5,128 @@ University within the Software Project course.
 © Copyright Utrecht University (Department of Information and Computing Sciences)
 """
 
+import struct
 import mock
 import pytest
 import zmq
 
 from robot_interface.endpoints.video_sender import VideoSender
+from robot_interface.state import state
+from robot_interface.core.config import settings
+
 
 @pytest.fixture
 def zmq_context():
-    """
+    """Provide a ZMQ context."""
-    Yields a real ZMQ context for socket creation.
+    yield zmq.Context()
-    """
-    context = zmq.Context()
-    yield context
-    context.term()
 
-def test_init_defaults(zmq_context, mocker):
-    """
-    Test initialization of the VideoSender.
-    """
-    # We patch settings to ensure valid port access inside the class logic, 
-    # although the default arg is evaluated at import time.
-    mocker.patch("robot_interface.endpoints.video_sender.settings")
-    
-    mock_zmq = mock.Mock()
-    sender = VideoSender(mock_zmq)
-    
-    # Verify socket type is PUB
-    assert sender.identifier == "video"
 
-def test_start_no_qi_session(mocker):
+def _patch_basics(mocker):
-    """
+    """Common patches: prevent real threads, port binds, and state errors."""
-    Test that the loop does not start if no Qi session is available.
+    mocker.patch("robot_interface.endpoints.socket_base.zmq.Socket.bind")
-    """
+    mocker.patch("robot_interface.endpoints.video_sender.threading.Thread")
-    # Mock state to return None for qi_session
+    mocker.patch.object(state, "is_initialized", True)
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
-    mock_state.qi_session = None
-    
-    mock_threading = mocker.patch("robot_interface.endpoints.video_sender.threading")
 
-    mock_zmq = mock.Mock()
+
-    sender = VideoSender(mock_zmq)
+def _patch_exit_event(mocker):
+    """Make exit_event stop the loop after one iteration."""
+    fake_event = mock.Mock()
+    fake_event.is_set.side_effect = [False, True]
+    mocker.patch.object(state, "exit_event", fake_event)
+
+
+def test_no_qi_session(zmq_context, mocker):
+    """Video loop should not start without a qi_session."""
+    _patch_basics(mocker)
+    mocker.patch.object(state, "qi_session", None)
+
+    sender = VideoSender(zmq_context)
     sender.start_video_rcv()
 
-    # Assertions
+    assert not hasattr(sender, "thread")
-    mock_threading.Thread.assert_not_called()
 
-def test_start_success(mocker):
+
-    """
+def test_video_streaming(zmq_context, mocker):
-    Test successful startup of the video receiver thread.
+    """VideoSender should send retrieved image data."""
-    """
+    _patch_basics(mocker)
-    # Mock the Qi Session and Service
+    _patch_exit_event(mocker)
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
+
-    mock_session = mock.Mock()
+    # Pepper's image buffer lives at index 6
-    mock_state.qi_session = mock_session
+    mocker.patch.object(settings.video_config, "image_buffer", 6)
-    
+
+    test_width = 320
+    test_height = 240
     mock_video_service = mock.Mock()
-    mock_session.service.return_value = mock_video_service
+    mock_video_service.getImageRemote.return_value = [test_width, test_height, None, None, None, None, b"fake_img"]
-    mock_video_service.subscribeCamera.return_value = "test_subscriber_id"
 
-    # Mock Settings
+    fake_session = mock.Mock()
-    mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
+    fake_session.service.return_value = mock_video_service
-    mock_settings.video_config.camera_index = 0
+    mocker.patch.object(state, "qi_session", fake_session)
-    mock_settings.video_config.resolution = 2
-    mock_settings.video_config.color_space = 11
-    mock_settings.video_config.fps = 30
-    mock_settings.video_config.stream_name = "test_stream"
 
-    mock_threading = mocker.patch("robot_interface.endpoints.video_sender.threading")
+    mocker.patch.object(
+        fake_session.service("ALVideoDevice"),
+        "subscribeCamera",
+        return_value="stream_name"
+    )
+
+    sender = VideoSender(zmq_context)
+    send_socket = mock.Mock()
+    sender.socket.send_multipart = send_socket
 
-    # Run
-    mock_zmq = mock.Mock()  
-    sender = VideoSender(mock_zmq)
     sender.start_video_rcv()
+    sender.video_rcv_loop(mock_video_service, "stream_name")
 
-    # Assertions
+    send_socket.assert_called_with([
-    mock_session.service.assert_called_with("ALVideoDevice")
+    struct.pack('<I', 320),
-    mock_video_service.subscribeCamera.assert_called_with("test_stream", 0, 2, 11, 30)
+    struct.pack('<I', 240),
+    b"fake_img"
+])
+
+
+def test_video_receive_error(zmq_context, mocker):
+    """Errors retrieving images should not call send()."""
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)
+
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = Exception("boom")
+
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    mocker.patch.object(state, "qi_session", fake_session)
+
+    mocker.patch.object(
+        fake_session.service("ALVideoDevice"),
+        "subscribeCamera",
+        return_value="stream_name"
+    )
+
+    sender = VideoSender(zmq_context)
+    send_socket = mock.Mock()
+    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)
     
-    mock_threading.Thread.assert_called_once()
+    # We mock the video service to raise KeyboardInterrupt when accessed
-    # Verify arguments passed to the thread target
+    mock_video_service = mock.Mock()
-    call_args = mock_threading.Thread.call_args[1]
+    mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
-    assert call_args["target"] == sender.video_rcv_loop
-    assert call_args["args"] == (mock_video_service, "test_subscriber_id")
     
-    # Ensure thread was started
+    # Mock logging to verify the specific interrupt message is logged
-    mock_threading.Thread.return_value.start.assert_called_once()
+    mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
 
-def test_video_loop_happy_path(mocker):
+    sender = VideoSender(zmq_context)
-    """
-    Test the main loop: Wait -> Get Image -> Send -> Repeat/Exit.
-    """
-    # Mock settings for image buffer index
-    mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
-    mock_settings.video_config.image_buffer = 6 
-
-    # Mock Video Service to return a fake image structure
-    # Standard NaoQi image is a list, binary data is usually at index 6
-    fake_image_data = b"binary_jpeg_data"
-    fake_image_list = [0] * 7
-    fake_image_list[6] = fake_image_data
     
-    mock_service = mock.Mock()
+    # Execute the loop
-    mock_service.getImageRemote.return_value = fake_image_list
+    sender.video_rcv_loop(mock_video_service, "stream_name")
 
-    # Mock Events: 
+    # Verify the 'finally' block executed (unsubscribe)
-    # exit_event: False (start), False (loop once), True (break)
+    mock_video_service.unsubscribe.assert_called_with("stream_name")
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
+    mock_logger.info.assert_any_call("Unsubscribed from video stream.")
-    mock_state.exit_event.is_set.side_effect = [False, False, True]
-
-    # Run
-    mock_zmq = mock.Mock()
-    sender = VideoSender(mock_zmq)
-    sender.socket = mock.Mock() # Mock the socket to verify send
-    
-    sender.video_rcv_loop(mock_service, "sub_id")
-
-    # Assertions
-    mock_state.active_event.wait.assert_called()
-    mock_service.getImageRemote.assert_called_with("sub_id")
-    sender.socket.send.assert_called_with(fake_image_data)
-
-def test_video_loop_exit_during_wait(zmq_context, mocker):
-    """
-    Test that the loop breaks immediately if exit_event is set while waiting.
-    """
-    mock_service = mock.Mock()
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
-    
-    # 1. Loop check: False (enter loop)
-    # 2. Wait happens (mock returns instantly)
-    # 3. Post-wait check: True (break)
-    mock_state.exit_event.is_set.side_effect = [False, True]
-
-    mock_zqm = mock.Mock()
-    sender = VideoSender(mock_zqm)
-    sender.video_rcv_loop(mock_service, "sub_id")
-
-    # Assert we never tried to get an image
-    mock_service.getImageRemote.assert_not_called()
-
-def test_video_loop_exception_handling(zmq_context, mocker):
-    """
-    Test that exceptions during image retrieval are caught and logged, 
-    and do not crash the thread.
-    """
-    mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
-    
-    mock_service = mock.Mock()
-    # First call raises Exception, Second call works (if we allowed it, but we exit)
-    mock_service.getImageRemote.side_effect = Exception("Camera disconnected")
-
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
-    # Loop runs once then exits
-    mock_state.exit_event.is_set.side_effect = [False, False, True]
-
-    mock_zmq = mock.Mock()
-    sender = VideoSender(mock_zmq)
-    sender.socket = mock.Mock()
-    
-    sender.video_rcv_loop(mock_service, "sub_id")
-
-    # Assertions
-    # Ensure loop didn't crash; it should have completed the iteration and checked exit_event
-    assert mock_state.exit_event.is_set.call_count >= 2