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

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

ref: N25B-386

.env.example

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

README.md

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

requirements.txt

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

src/robot_interface/__init__.py

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,108 +1,95 @@
-# -*- 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
-
 
 class AgentSettings(object):
     """
     Agent port configuration.
 
-    :ivar control_backend_host: Hostname of the control backend, defaults to "localhost".
-    :vartype control_backend_host: string
-    :ivar actuation_receiver_port: Port for receiving actuation commands, defaults to 5557.
-    :vartype actuation_receiver_port: int
-    :ivar main_receiver_port: Port for receiving main messages, defaults to 5555.
+    :ivar actuating_receiver_port: Port for receiving actuation commands.
+    :vartype actuating_receiver_port: int
+    :ivar main_receiver_port: Port for receiving main messages.
     :vartype main_receiver_port: int
-    :ivar video_sender_port: Port used for sending video frames, defaults to 5556.
+    :ivar video_sender_port: Port used for sending video frames.
     :vartype video_sender_port: int
-    :ivar audio_sender_port: Port used for sending audio data, defaults to 5558.
+    :ivar audio_sender_port: Port used for sending audio data.
     :vartype audio_sender_port: int
     """
     def __init__(
-        self,
-        control_backend_host=None,
-        actuation_receiver_port=None,
-        main_receiver_port=None,
-        video_sender_port=None,
-        audio_sender_port=None,
+        self, 
+        actuating_receiver_port=5557, 
+        main_receiver_port=5555,
+        video_sender_port=5556, 
+        audio_sender_port=5558,
     ):
-        self.control_backend_host = get_config(control_backend_host, "AGENT__CONTROL_BACKEND_HOST", "localhost")
-        self.actuation_receiver_port = get_config(actuation_receiver_port, "AGENT__ACTUATION_RECEIVER_PORT", 5557, int)
-        self.main_receiver_port = get_config(main_receiver_port, "AGENT__MAIN_RECEIVER_PORT", 5555, int)
-        self.video_sender_port = get_config(video_sender_port, "AGENT__VIDEO_SENDER_PORT", 5556, int)
-        self.audio_sender_port = get_config(audio_sender_port, "AGENT__AUDIO_SENDER_PORT", 5558, int)
+        self.actuating_receiver_port = actuating_receiver_port
+        self.main_receiver_port = main_receiver_port
+        self.video_sender_port = video_sender_port
+        self.audio_sender_port = audio_sender_port
 
 
 class VideoConfig(object):
     """
     Video configuration constants.
 
-    :ivar camera_index: Index of the camera used, defaults to 0.
+    :ivar camera_index: Index of the camera used.
     :vartype camera_index: int
-    :ivar resolution: Video resolution mode, defaults to 2.
+    :ivar resolution: Video resolution mode.
     :vartype resolution: int
-    :ivar color_space: Color space identifier, defaults to 11.
+    :ivar color_space: Color space identifier.
     :vartype color_space: int
-    :ivar fps: Frames per second of the video stream, defaults to 15.
+    :ivar fps: Frames per second of the video stream.
     :vartype fps: int
-    :ivar stream_name: Name of the video stream, defaults to "Pepper Video".
+    :ivar stream_name: Name of the video stream.
     :vartype stream_name: str
-    :ivar image_buffer: Internal buffer size for video frames, defaults to 6.
+    :ivar image_buffer: Internal buffer size for video frames.
     :vartype image_buffer: int
     """
     def __init__(
         self,
-        camera_index=None,
-        resolution=None,
-        color_space=None,
-        fps=None,
-        stream_name=None,
-        image_buffer=None,
+        camera_index=0,
+        resolution=2,
+        color_space=11,
+        fps=15,
+        stream_name="Pepper Video",
+        image_buffer=6,
     ):
-        self.camera_index = get_config(camera_index, "VIDEO__CAMERA_INDEX", 0, int)
-        self.resolution = get_config(resolution, "VIDEO__RESOLUTION", 2, int)
-        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 11, int)
-        self.fps = get_config(fps, "VIDEO__FPS", 15, int)
-        self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
-        self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)
+        self.camera_index = camera_index
+        self.resolution = resolution
+        self.color_space = color_space
+        self.fps = fps
+        self.stream_name = stream_name  
+        self.image_buffer  = image_buffer
 
 
 class AudioConfig(object):
     """
     Audio configuration constants.
 
-    :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
+    :ivar sample_rate: Audio sampling rate in Hz.
     :vartype sample_rate: int
-    :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
+    :ivar chunk_size: Size of audio chunks to capture/process.
     :vartype chunk_size: int
-    :ivar channels: Number of audio channels, defaults to 1.
+    :ivar channels: Number of audio channels.
     :vartype channels: int
     """
-    def __init__(self, sample_rate=None, chunk_size=None, channels=None):
-        self.sample_rate = get_config(sample_rate, "AUDIO__SAMPLE_RATE", 16000, int)
-        self.chunk_size = get_config(chunk_size, "AUDIO__CHUNK_SIZE", 512, int)
-        self.channels = get_config(channels, "AUDIO__CHANNELS", 1, int)
+    def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
+        self.sample_rate = sample_rate
+        self.chunk_size = chunk_size
+        self.channels = channels
 
 
 class MainConfig(object):
     """
     Main system configuration.
 
-    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds, defaults to 100.
+    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
     :vartype poll_timeout_ms: int
-    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds, defaults to 50.
+    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds.
     :vartype max_handler_time_ms: int
     """
-    def __init__(self, poll_timeout_ms=None, max_handler_time_ms=None):
-        self.poll_timeout_ms = get_config(poll_timeout_ms, "MAIN__POLL_TIMEOUT_MS", 100, int)
-        self.max_handler_time_ms = get_config(max_handler_time_ms, "MAIN__MAX_HANDLER_TIME_MS", 50, int)
+    def __init__(self, poll_timeout_ms=100, max_handler_time_ms=50):
+        self.poll_timeout_ms = poll_timeout_ms
+        self.max_handler_time_ms = max_handler_time_ms
 
 
 class Settings(object):

src/robot_interface/endpoints/__init__.py

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,12 +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)
-"""
-
 from __future__ import unicode_literals  # So that we can log texts with Unicode characters
 import logging
+import time
 from threading import Thread
 
 import Queue
@@ -14,8 +8,8 @@ import zmq
 
 from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
+
 from robot_interface.core.config import settings
-from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 class ActuationReceiver(ReceiverBase):
@@ -30,16 +24,12 @@ class ActuationReceiver(ReceiverBase):
 
     :ivar _tts_service: The text-to-speech service object from the Qi session.
     :vartype _tts_service: qi.Session | None
-
-    :ivar _animation_service: The animation/gesture service object from the Qi session.
-    :vartype _animation_service: qi.Session | None
     """
-    def __init__(self, zmq_context, port=settings.agent_settings.actuation_receiver_port):
+    def __init__(self, zmq_context, port=settings.agent_settings.actuating_receiver_port):
         super(ActuationReceiver, self).__init__("actuation")
         self.create_socket(zmq_context, zmq.SUB, port)
         self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
         self._tts_service = None
-        self._animation_service = None
         self._message_queue = Queue.Queue()
         self.message_thread = Thread(target=self._handle_messages)
         self.message_thread.start()
@@ -69,7 +59,7 @@ 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)
@@ -81,7 +71,6 @@ class ActuationReceiver(ReceiverBase):
         """
         Safely drains all pending messages from the queue.
         """
-        logging.info("Message queue size: {}".format(self._message_queue.qsize()))
         try:
             while True:
                 # Remove items one by one without waiting
@@ -90,53 +79,6 @@ class ActuationReceiver(ReceiverBase):
             pass
         logging.info("Message queue cleared.")
 
-    def _handle_gesture(self, message, is_single):
-        """
-        Handle a gesture actuation request.
-        
-        :param message: The gesture to do, must contain properties "endpoint" and "data".
-        :type message: dict
-
-        :param is_single: Whether it's a specific single gesture or a gesture tag.
-        :type is_single: bool
-        """
-
-        gesture = message.get("data")
-        if not gesture:
-            logging.warn("Received gesture to do, but it lacks data.")
-            return
-
-        if not isinstance(gesture, (str, unicode)):
-            logging.warn("Received gesture to do but it is not a string.")
-            return
-
-        logging.debug("Received gesture to do: {}".format(gesture))
-
-        if is_single:
-            if gesture not in GestureTags.single_gestures:
-                logging.warn("Received single gesture to do, but it does not exist in settings")
-                return
-        else:
-            if gesture not in GestureTags.tags:
-                logging.warn("Received single tag to do, but it does not exist in settings")
-                return
-
-        if not state.qi_session: return
-        # If state has a qi_session, we know that we can import qi
-        import qi  # Takes a while only the first time it's imported
-
-        if not self._animation_service:
-            self._animation_service = state.qi_session.service("ALAnimationPlayer")
-
-        # Play the gesture. Pepper comes with predefined animations like "Wave", "Greet", "Clap"
-        # You can also create custom animations using Choregraphe and upload them to the robot.
-        if is_single:
-            logging.debug("Playing single gesture: {}".format(gesture))
-            getattr(qi, "async")(self._animation_service.run, gesture)
-        else:
-            logging.debug("Playing tag gesture: {}".format(gesture))
-            getattr(qi, "async")(self._animation_service.runTag, gesture)
-
     def handle_message(self, message):
         """
         Handle an actuation/speech message with the receiver.
@@ -146,30 +88,18 @@ class ActuationReceiver(ReceiverBase):
         """
         if message["endpoint"] == "actuate/speech":
             self._handle_speech(message)
-        if message["endpoint"] == "actuate/gesture/tag":
-            self._handle_gesture(message, False)
-        if message["endpoint"] == "actuate/gesture/single":
-            self._handle_gesture(message, True)
 
     def _handle_messages(self):
         while not state.exit_event.is_set():
             try:
                 text = self._message_queue.get(timeout=0.1)
+                if not state.is_speaking: print("Started speaking.")
                 state.is_speaking = True
                 self._tts_service.say(text)
             except Queue.Empty:
+                if state.is_speaking: print("Finished speaking.")
                 state.is_speaking = False
             except RuntimeError:
-                logging.error("Lost connection to Pepper. Please check if you're connected to the "
-                              "local WiFi and restart this application.")
-                state.exit_event.set()        
+                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 endpoint_description(self):
-        """
-        Extend the default endpoint description with gesture tags.
-        Returned during negotiate/ports so the CB knows available gestures.
-        """
-        desc = super(ActuationReceiver, self).endpoint_description()
-        desc["gestures"] = GestureTags.tags
-        desc["single_gestures"] = GestureTags.single_gestures
-        return desc

src/robot_interface/endpoints/audio_sender.py

@@ -1,10 +1,3 @@
-# -*- 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 threading
 import logging
@@ -84,33 +77,21 @@ class AudioSender(SocketBase):
         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
-        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
+        stream = 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,
+        )
 
         try:
-            # Test in case exit_event was set while waiting
-            if not state.exit_event.is_set():
-                stream = open_stream()
-            
             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
+            stream.stop_stream()
+            stream.close()

src/robot_interface/endpoints/gesture_settings.py

@@ -1,419 +0,0 @@
-# -*- 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", 
-            "body language", "bored", "bow", "but", "call", "calm", "choose", "choice", "cloud", 
-            "cogitate", "cool", "crazy", "disappointed", "down", "earth", "empty", "embarrassed", 
-            "enthusiastic", "entire", "estimate", "except", "exalted", "excited", "explain", "far", 
-            "field", "floor", "forlorn", "friendly", "front", "frustrated", "gentle", "gift", 
-            "give", "ground", "happy", "hello", "her", "here", "hey", "hi", "him", "hopeless", 
-            "hysterical", "I", "implore", "indicate", "joyful", "me", "meditate", "modest", 
-            "negative", "nervous", "no", "not know", "nothing", "offer", "ok", "once upon a time", 
-            "oppose", "or", "pacify", "pick", "placate", "please", "present", "proffer", "quiet", 
-            "reason", "refute", "reject", "rousing", "sad", "select", "shamefaced", "show", 
-            "show sky", "sky", "soothe", "sun", "supplicate", "tablet", "tall", "them", "there", 
-            "think", "timid", "top", "unless", "up", "upstairs", "void", "warm", "winner", "yeah", 
-            "yes", "yoo-hoo", "you", "your", "zero", "zestful"]
-    
-    single_gestures = [
-        "animations/Stand/BodyTalk/Listening/Listening_1",
-        "animations/Stand/BodyTalk/Listening/Listening_2",
-        "animations/Stand/BodyTalk/Listening/Listening_3",
-        "animations/Stand/BodyTalk/Listening/Listening_4",
-        "animations/Stand/BodyTalk/Listening/Listening_5",
-        "animations/Stand/BodyTalk/Listening/Listening_6",
-        "animations/Stand/BodyTalk/Listening/Listening_7",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_1",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_10",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_11",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_12",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_13",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_14",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_15",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_16",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_2",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_3",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_4",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_5",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_6",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_7",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_8",
-        "animations/Stand/BodyTalk/Speaking/BodyTalk_9",
-        "animations/Stand/BodyTalk/Thinking/Remember_1",
-        "animations/Stand/BodyTalk/Thinking/Remember_2",
-        "animations/Stand/BodyTalk/Thinking/Remember_3",
-        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_1",
-        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_2",
-        "animations/Stand/Emotions/Negative/Angry_1",
-        "animations/Stand/Emotions/Negative/Angry_2",
-        "animations/Stand/Emotions/Negative/Angry_3",
-        "animations/Stand/Emotions/Negative/Angry_4",
-        "animations/Stand/Emotions/Negative/Anxious_1",
-        "animations/Stand/Emotions/Negative/Bored_1",
-        "animations/Stand/Emotions/Negative/Bored_2",
-        "animations/Stand/Emotions/Negative/Disappointed_1",
-        "animations/Stand/Emotions/Negative/Exhausted_1",
-        "animations/Stand/Emotions/Negative/Exhausted_2",
-        "animations/Stand/Emotions/Negative/Fear_1",
-        "animations/Stand/Emotions/Negative/Fear_2",
-        "animations/Stand/Emotions/Negative/Fearful_1",
-        "animations/Stand/Emotions/Negative/Frustrated_1",
-        "animations/Stand/Emotions/Negative/Humiliated_1",
-        "animations/Stand/Emotions/Negative/Hurt_1",
-        "animations/Stand/Emotions/Negative/Hurt_2",
-        "animations/Stand/Emotions/Negative/Late_1",
-        "animations/Stand/Emotions/Negative/Sad_1",
-        "animations/Stand/Emotions/Negative/Sad_2",
-        "animations/Stand/Emotions/Negative/Shocked_1",
-        "animations/Stand/Emotions/Negative/Sorry_1",
-        "animations/Stand/Emotions/Negative/Surprise_1",
-        "animations/Stand/Emotions/Negative/Surprise_2",
-        "animations/Stand/Emotions/Negative/Surprise_3",
-        "animations/Stand/Emotions/Neutral/Alienated_1",
-        "animations/Stand/Emotions/Neutral/AskForAttention_1",
-        "animations/Stand/Emotions/Neutral/AskForAttention_2",
-        "animations/Stand/Emotions/Neutral/AskForAttention_3",
-        "animations/Stand/Emotions/Neutral/Cautious_1",
-        "animations/Stand/Emotions/Neutral/Confused_1",
-        "animations/Stand/Emotions/Neutral/Determined_1",
-        "animations/Stand/Emotions/Neutral/Embarrassed_1",
-        "animations/Stand/Emotions/Neutral/Hesitation_1",
-        "animations/Stand/Emotions/Neutral/Innocent_1",
-        "animations/Stand/Emotions/Neutral/Lonely_1",
-        "animations/Stand/Emotions/Neutral/Mischievous_1",
-        "animations/Stand/Emotions/Neutral/Puzzled_1",
-        "animations/Stand/Emotions/Neutral/Sneeze",
-        "animations/Stand/Emotions/Neutral/Stubborn_1",
-        "animations/Stand/Emotions/Neutral/Suspicious_1",
-        "animations/Stand/Emotions/Positive/Amused_1",
-        "animations/Stand/Emotions/Positive/Confident_1",
-        "animations/Stand/Emotions/Positive/Ecstatic_1",
-        "animations/Stand/Emotions/Positive/Enthusiastic_1",
-        "animations/Stand/Emotions/Positive/Excited_1",
-        "animations/Stand/Emotions/Positive/Excited_2",
-        "animations/Stand/Emotions/Positive/Excited_3",
-        "animations/Stand/Emotions/Positive/Happy_1",
-        "animations/Stand/Emotions/Positive/Happy_2",
-        "animations/Stand/Emotions/Positive/Happy_3",
-        "animations/Stand/Emotions/Positive/Happy_4",
-        "animations/Stand/Emotions/Positive/Hungry_1",
-        "animations/Stand/Emotions/Positive/Hysterical_1",
-        "animations/Stand/Emotions/Positive/Interested_1",
-        "animations/Stand/Emotions/Positive/Interested_2",
-        "animations/Stand/Emotions/Positive/Laugh_1",
-        "animations/Stand/Emotions/Positive/Laugh_2",
-        "animations/Stand/Emotions/Positive/Laugh_3",
-        "animations/Stand/Emotions/Positive/Mocker_1",
-        "animations/Stand/Emotions/Positive/Optimistic_1",
-        "animations/Stand/Emotions/Positive/Peaceful_1",
-        "animations/Stand/Emotions/Positive/Proud_1",
-        "animations/Stand/Emotions/Positive/Proud_2",
-        "animations/Stand/Emotions/Positive/Proud_3",
-        "animations/Stand/Emotions/Positive/Relieved_1",
-        "animations/Stand/Emotions/Positive/Shy_1",
-        "animations/Stand/Emotions/Positive/Shy_2",
-        "animations/Stand/Emotions/Positive/Sure_1",
-        "animations/Stand/Emotions/Positive/Winner_1",
-        "animations/Stand/Emotions/Positive/Winner_2",
-        "animations/Stand/Gestures/Angry_1",
-        "animations/Stand/Gestures/Angry_2",
-        "animations/Stand/Gestures/Angry_3",
-        "animations/Stand/Gestures/BowShort_1",
-        "animations/Stand/Gestures/BowShort_2",
-        "animations/Stand/Gestures/BowShort_3",
-        "animations/Stand/Gestures/But_1",
-        "animations/Stand/Gestures/CalmDown_1",
-        "animations/Stand/Gestures/CalmDown_2",
-        "animations/Stand/Gestures/CalmDown_3",
-        "animations/Stand/Gestures/CalmDown_4",
-        "animations/Stand/Gestures/CalmDown_5",
-        "animations/Stand/Gestures/CalmDown_6",
-        "animations/Stand/Gestures/Choice_1",
-        "animations/Stand/Gestures/ComeOn_1",
-        "animations/Stand/Gestures/Confused_1",
-        "animations/Stand/Gestures/Confused_2",
-        "animations/Stand/Gestures/CountFive_1",
-        "animations/Stand/Gestures/CountFour_1",
-        "animations/Stand/Gestures/CountMore_1",
-        "animations/Stand/Gestures/CountOne_1",
-        "animations/Stand/Gestures/CountThree_1",
-        "animations/Stand/Gestures/CountTwo_1",
-        "animations/Stand/Gestures/Desperate_1",
-        "animations/Stand/Gestures/Desperate_2",
-        "animations/Stand/Gestures/Desperate_3",
-        "animations/Stand/Gestures/Desperate_4",
-        "animations/Stand/Gestures/Desperate_5",
-        "animations/Stand/Gestures/DontUnderstand_1",
-        "animations/Stand/Gestures/Enthusiastic_3",
-        "animations/Stand/Gestures/Enthusiastic_4",
-        "animations/Stand/Gestures/Enthusiastic_5",
-        "animations/Stand/Gestures/Everything_1",
-        "animations/Stand/Gestures/Everything_2",
-        "animations/Stand/Gestures/Everything_3",
-        "animations/Stand/Gestures/Everything_4",
-        "animations/Stand/Gestures/Everything_6",
-        "animations/Stand/Gestures/Excited_1",
-        "animations/Stand/Gestures/Explain_1",
-        "animations/Stand/Gestures/Explain_10",
-        "animations/Stand/Gestures/Explain_11",
-        "animations/Stand/Gestures/Explain_2",
-        "animations/Stand/Gestures/Explain_3",
-        "animations/Stand/Gestures/Explain_4",
-        "animations/Stand/Gestures/Explain_5",
-        "animations/Stand/Gestures/Explain_6",
-        "animations/Stand/Gestures/Explain_7",
-        "animations/Stand/Gestures/Explain_8",
-        "animations/Stand/Gestures/Far_1",
-        "animations/Stand/Gestures/Far_2",
-        "animations/Stand/Gestures/Far_3",
-        "animations/Stand/Gestures/Follow_1",
-        "animations/Stand/Gestures/Give_1",
-        "animations/Stand/Gestures/Give_2",
-        "animations/Stand/Gestures/Give_3",
-        "animations/Stand/Gestures/Give_4",
-        "animations/Stand/Gestures/Give_5",
-        "animations/Stand/Gestures/Give_6",
-        "animations/Stand/Gestures/Great_1",
-        "animations/Stand/Gestures/HeSays_1",
-        "animations/Stand/Gestures/HeSays_2",
-        "animations/Stand/Gestures/HeSays_3",
-        "animations/Stand/Gestures/Hey_1",
-        "animations/Stand/Gestures/Hey_10",
-        "animations/Stand/Gestures/Hey_2",
-        "animations/Stand/Gestures/Hey_3",
-        "animations/Stand/Gestures/Hey_4",
-        "animations/Stand/Gestures/Hey_6",
-        "animations/Stand/Gestures/Hey_7",
-        "animations/Stand/Gestures/Hey_8",
-        "animations/Stand/Gestures/Hey_9",
-        "animations/Stand/Gestures/Hide_1",
-        "animations/Stand/Gestures/Hot_1",
-        "animations/Stand/Gestures/Hot_2",
-        "animations/Stand/Gestures/IDontKnow_1",
-        "animations/Stand/Gestures/IDontKnow_2",
-        "animations/Stand/Gestures/IDontKnow_3",
-        "animations/Stand/Gestures/IDontKnow_4",
-        "animations/Stand/Gestures/IDontKnow_5",
-        "animations/Stand/Gestures/IDontKnow_6",
-        "animations/Stand/Gestures/Joy_1",
-        "animations/Stand/Gestures/Kisses_1",
-        "animations/Stand/Gestures/Look_1",
-        "animations/Stand/Gestures/Look_2",
-        "animations/Stand/Gestures/Maybe_1",
-        "animations/Stand/Gestures/Me_1",
-        "animations/Stand/Gestures/Me_2",
-        "animations/Stand/Gestures/Me_4",
-        "animations/Stand/Gestures/Me_7",
-        "animations/Stand/Gestures/Me_8",
-        "animations/Stand/Gestures/Mime_1",
-        "animations/Stand/Gestures/Mime_2",
-        "animations/Stand/Gestures/Next_1",
-        "animations/Stand/Gestures/No_1",
-        "animations/Stand/Gestures/No_2",
-        "animations/Stand/Gestures/No_3",
-        "animations/Stand/Gestures/No_4",
-        "animations/Stand/Gestures/No_5",
-        "animations/Stand/Gestures/No_6",
-        "animations/Stand/Gestures/No_7",
-        "animations/Stand/Gestures/No_8",
-        "animations/Stand/Gestures/No_9",
-        "animations/Stand/Gestures/Nothing_1",
-        "animations/Stand/Gestures/Nothing_2",
-        "animations/Stand/Gestures/OnTheEvening_1",
-        "animations/Stand/Gestures/OnTheEvening_2",
-        "animations/Stand/Gestures/OnTheEvening_3",
-        "animations/Stand/Gestures/OnTheEvening_4",
-        "animations/Stand/Gestures/OnTheEvening_5",
-        "animations/Stand/Gestures/Please_1",
-        "animations/Stand/Gestures/Please_2",
-        "animations/Stand/Gestures/Please_3",
-        "animations/Stand/Gestures/Reject_1",
-        "animations/Stand/Gestures/Reject_2",
-        "animations/Stand/Gestures/Reject_3",
-        "animations/Stand/Gestures/Reject_4",
-        "animations/Stand/Gestures/Reject_5",
-        "animations/Stand/Gestures/Reject_6",
-        "animations/Stand/Gestures/Salute_1",
-        "animations/Stand/Gestures/Salute_2",
-        "animations/Stand/Gestures/Salute_3",
-        "animations/Stand/Gestures/ShowFloor_1",
-        "animations/Stand/Gestures/ShowFloor_2",
-        "animations/Stand/Gestures/ShowFloor_3",
-        "animations/Stand/Gestures/ShowFloor_4",
-        "animations/Stand/Gestures/ShowFloor_5",
-        "animations/Stand/Gestures/ShowSky_1",
-        "animations/Stand/Gestures/ShowSky_10",
-        "animations/Stand/Gestures/ShowSky_11",
-        "animations/Stand/Gestures/ShowSky_12",
-        "animations/Stand/Gestures/ShowSky_2",
-        "animations/Stand/Gestures/ShowSky_3",
-        "animations/Stand/Gestures/ShowSky_4",
-        "animations/Stand/Gestures/ShowSky_5",
-        "animations/Stand/Gestures/ShowSky_6",
-        "animations/Stand/Gestures/ShowSky_7",
-        "animations/Stand/Gestures/ShowSky_8",
-        "animations/Stand/Gestures/ShowSky_9",
-        "animations/Stand/Gestures/ShowTablet_1",
-        "animations/Stand/Gestures/ShowTablet_2",
-        "animations/Stand/Gestures/ShowTablet_3",
-        "animations/Stand/Gestures/Shy_1",
-        "animations/Stand/Gestures/Stretch_1",
-        "animations/Stand/Gestures/Stretch_2",
-        "animations/Stand/Gestures/Surprised_1",
-        "animations/Stand/Gestures/TakePlace_1",
-        "animations/Stand/Gestures/TakePlace_2",
-        "animations/Stand/Gestures/Take_1",
-        "animations/Stand/Gestures/Thinking_1",
-        "animations/Stand/Gestures/Thinking_2",
-        "animations/Stand/Gestures/Thinking_3",
-        "animations/Stand/Gestures/Thinking_4",
-        "animations/Stand/Gestures/Thinking_5",
-        "animations/Stand/Gestures/Thinking_6",
-        "animations/Stand/Gestures/Thinking_7",
-        "animations/Stand/Gestures/Thinking_8",
-        "animations/Stand/Gestures/This_1",
-        "animations/Stand/Gestures/This_10",
-        "animations/Stand/Gestures/This_11",
-        "animations/Stand/Gestures/This_12",
-        "animations/Stand/Gestures/This_13",
-        "animations/Stand/Gestures/This_14",
-        "animations/Stand/Gestures/This_15",
-        "animations/Stand/Gestures/This_2",
-        "animations/Stand/Gestures/This_3",
-        "animations/Stand/Gestures/This_4",
-        "animations/Stand/Gestures/This_5",
-        "animations/Stand/Gestures/This_6",
-        "animations/Stand/Gestures/This_7",
-        "animations/Stand/Gestures/This_8",
-        "animations/Stand/Gestures/This_9",
-        "animations/Stand/Gestures/WhatSThis_1",
-        "animations/Stand/Gestures/WhatSThis_10",
-        "animations/Stand/Gestures/WhatSThis_11",
-        "animations/Stand/Gestures/WhatSThis_12",
-        "animations/Stand/Gestures/WhatSThis_13",
-        "animations/Stand/Gestures/WhatSThis_14",
-        "animations/Stand/Gestures/WhatSThis_15",
-        "animations/Stand/Gestures/WhatSThis_16",
-        "animations/Stand/Gestures/WhatSThis_2",
-        "animations/Stand/Gestures/WhatSThis_3",
-        "animations/Stand/Gestures/WhatSThis_4",
-        "animations/Stand/Gestures/WhatSThis_5",
-        "animations/Stand/Gestures/WhatSThis_6",
-        "animations/Stand/Gestures/WhatSThis_7",
-        "animations/Stand/Gestures/WhatSThis_8",
-        "animations/Stand/Gestures/WhatSThis_9",
-        "animations/Stand/Gestures/Whisper_1",
-        "animations/Stand/Gestures/Wings_1",
-        "animations/Stand/Gestures/Wings_2",
-        "animations/Stand/Gestures/Wings_3",
-        "animations/Stand/Gestures/Wings_4",
-        "animations/Stand/Gestures/Wings_5",
-        "animations/Stand/Gestures/Yes_1",
-        "animations/Stand/Gestures/Yes_2",
-        "animations/Stand/Gestures/Yes_3",
-        "animations/Stand/Gestures/YouKnowWhat_1",
-        "animations/Stand/Gestures/YouKnowWhat_2",
-        "animations/Stand/Gestures/YouKnowWhat_3",
-        "animations/Stand/Gestures/YouKnowWhat_4",
-        "animations/Stand/Gestures/YouKnowWhat_5",
-        "animations/Stand/Gestures/YouKnowWhat_6",
-        "animations/Stand/Gestures/You_1",
-        "animations/Stand/Gestures/You_2",
-        "animations/Stand/Gestures/You_3",
-        "animations/Stand/Gestures/You_4",
-        "animations/Stand/Gestures/You_5",
-        "animations/Stand/Gestures/Yum_1",
-        "animations/Stand/Reactions/EthernetOff_1",
-        "animations/Stand/Reactions/EthernetOn_1",
-        "animations/Stand/Reactions/Heat_1",
-        "animations/Stand/Reactions/Heat_2",
-        "animations/Stand/Reactions/LightShine_1",
-        "animations/Stand/Reactions/LightShine_2",
-        "animations/Stand/Reactions/LightShine_3",
-        "animations/Stand/Reactions/LightShine_4",
-        "animations/Stand/Reactions/SeeColor_1",
-        "animations/Stand/Reactions/SeeColor_2",
-        "animations/Stand/Reactions/SeeColor_3",
-        "animations/Stand/Reactions/SeeSomething_1",
-        "animations/Stand/Reactions/SeeSomething_3",
-        "animations/Stand/Reactions/SeeSomething_4",
-        "animations/Stand/Reactions/SeeSomething_5",
-        "animations/Stand/Reactions/SeeSomething_6",
-        "animations/Stand/Reactions/SeeSomething_7",
-        "animations/Stand/Reactions/SeeSomething_8",
-        "animations/Stand/Reactions/ShakeBody_1",
-        "animations/Stand/Reactions/ShakeBody_2",
-        "animations/Stand/Reactions/ShakeBody_3",
-        "animations/Stand/Reactions/TouchHead_1",
-        "animations/Stand/Reactions/TouchHead_2",
-        "animations/Stand/Reactions/TouchHead_3",
-        "animations/Stand/Reactions/TouchHead_4",
-        "animations/Stand/Waiting/AirGuitar_1",
-        "animations/Stand/Waiting/BackRubs_1",
-        "animations/Stand/Waiting/Bandmaster_1",
-        "animations/Stand/Waiting/Binoculars_1",
-        "animations/Stand/Waiting/BreathLoop_1",
-        "animations/Stand/Waiting/BreathLoop_2",
-        "animations/Stand/Waiting/BreathLoop_3",
-        "animations/Stand/Waiting/CallSomeone_1",
-        "animations/Stand/Waiting/Drink_1",
-        "animations/Stand/Waiting/DriveCar_1",
-        "animations/Stand/Waiting/Fitness_1",
-        "animations/Stand/Waiting/Fitness_2",
-        "animations/Stand/Waiting/Fitness_3",
-        "animations/Stand/Waiting/FunnyDancer_1",
-        "animations/Stand/Waiting/HappyBirthday_1",
-        "animations/Stand/Waiting/Helicopter_1",
-        "animations/Stand/Waiting/HideEyes_1",
-        "animations/Stand/Waiting/HideHands_1",
-        "animations/Stand/Waiting/Innocent_1",
-        "animations/Stand/Waiting/Knight_1",
-        "animations/Stand/Waiting/KnockEye_1",
-        "animations/Stand/Waiting/KungFu_1",
-        "animations/Stand/Waiting/LookHand_1",
-        "animations/Stand/Waiting/LookHand_2",
-        "animations/Stand/Waiting/LoveYou_1",
-        "animations/Stand/Waiting/Monster_1",
-        "animations/Stand/Waiting/MysticalPower_1",
-        "animations/Stand/Waiting/PlayHands_1",
-        "animations/Stand/Waiting/PlayHands_2",
-        "animations/Stand/Waiting/PlayHands_3",
-        "animations/Stand/Waiting/Relaxation_1",
-        "animations/Stand/Waiting/Relaxation_2",
-        "animations/Stand/Waiting/Relaxation_3",
-        "animations/Stand/Waiting/Relaxation_4",
-        "animations/Stand/Waiting/Rest_1",
-        "animations/Stand/Waiting/Robot_1",
-        "animations/Stand/Waiting/ScratchBack_1",
-        "animations/Stand/Waiting/ScratchBottom_1",
-        "animations/Stand/Waiting/ScratchEye_1",
-        "animations/Stand/Waiting/ScratchHand_1",
-        "animations/Stand/Waiting/ScratchHead_1",
-        "animations/Stand/Waiting/ScratchLeg_1",
-        "animations/Stand/Waiting/ScratchTorso_1",
-        "animations/Stand/Waiting/ShowMuscles_1",
-        "animations/Stand/Waiting/ShowMuscles_2",
-        "animations/Stand/Waiting/ShowMuscles_3",
-        "animations/Stand/Waiting/ShowMuscles_4",
-        "animations/Stand/Waiting/ShowMuscles_5",
-        "animations/Stand/Waiting/ShowSky_1",
-        "animations/Stand/Waiting/ShowSky_2",
-        "animations/Stand/Waiting/SpaceShuttle_1",
-        "animations/Stand/Waiting/Stretch_1",
-        "animations/Stand/Waiting/Stretch_2",
-        "animations/Stand/Waiting/TakePicture_1",
-        "animations/Stand/Waiting/Taxi_1",
-        "animations/Stand/Waiting/Think_1",
-        "animations/Stand/Waiting/Think_2",
-        "animations/Stand/Waiting/Think_3",
-        "animations/Stand/Waiting/Think_4",
-        "animations/Stand/Waiting/Waddle_1",
-        "animations/Stand/Waiting/Waddle_2",
-        "animations/Stand/Waiting/WakeUp_1",
-        "animations/Stand/Waiting/Zombie_1"]         

src/robot_interface/endpoints/main_receiver.py

@@ -1,10 +1,3 @@
-# -*- 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
@@ -12,7 +5,6 @@ from robot_interface.state import state
 
 from robot_interface.core.config import settings
 
-
 class MainReceiver(ReceiverBase):
     """
     The main receiver endpoint, responsible for handling ping and negotiation requests.
@@ -20,12 +12,10 @@ class MainReceiver(ReceiverBase):
     :param zmq_context: The ZeroMQ context to use.
     :type zmq_context: zmq.Context
 
-    :param port: The port to use, defaults to value in `settings.agent_settings.main_receiver_port`.
+    :param port: The port to use.
     :type port: int
     """
-    def __init__(self, zmq_context, port=None):
-        if port is None:
-            port = settings.agent_settings.main_receiver_port
+    def __init__(self, zmq_context, port=settings.agent_settings.main_receiver_port):
         super(MainReceiver, self).__init__("main")
         self.create_socket(zmq_context, zmq.REP, port, bind=False)
 
@@ -78,30 +68,6 @@ 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 +85,5 @@ 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/receiver_base.py

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,16 +1,7 @@
-# -*- 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
 
-from robot_interface.core.config import settings
-
 
 class SocketBase(object):
     """
@@ -68,7 +59,7 @@ class SocketBase(object):
         if bind:
             self.socket.bind("tcp://*:{}".format(port))
         else:
-            self.socket.connect("tcp://{}:{}".format(settings.agent_settings.control_backend_host, port))
+            self.socket.connect("tcp://localhost:{}".format(port))
 
     def close(self):
         """Close the ZeroMQ socket."""

src/robot_interface/endpoints/video_sender.py

@@ -1,22 +1,11 @@
-# -*- 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 zmq
 import threading
 import logging
-import numpy as np
-
-import cv2
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
 from robot_interface.core.config import settings
 
-
 class VideoSender(SocketBase):
     """
     Video sender endpoint, responsible for sending video frames.
@@ -29,7 +18,7 @@ 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.SNDHWM,3)])
+        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
     
     def start_video_rcv(self):
         """
@@ -39,9 +28,6 @@ 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 +41,9 @@ 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)
@@ -96,23 +51,10 @@ 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
         """
-        try:
-            while not state.exit_event.is_set():
-                try:
-                    img = vid_service.getImageRemote(vid_stream_name)
-                    if img is not None:
-                        image_bytes = 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])
-                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.")
+        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.")

src/robot_interface/main.py

@@ -1,10 +1,3 @@
-# -*- 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
@@ -91,7 +84,6 @@ def main():
     context = zmq.Context()
 
     state.initialize()
-    state.active_event.set()
 
     try:
         main_loop(context)

src/robot_interface/state.py

@@ -1,10 +1,3 @@
-# -*- 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
@@ -56,8 +49,6 @@ 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/__init__.py

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,39 +0,0 @@
-# -*- 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
-
-load_dotenv()
-
-
-def get_config(value, env, default, cast=None):
-    """
-    Small utility to get a configuration value, returns `value` if it is not None, else it will try to get the
-    environment variable cast with `cast`. If the environment variable is not set, it will return `default`.
-
-    :param value: The value to check.
-    :type value: Any
-    :param env: The environment variable to check.
-    :type env: string
-    :param default: The default value to return if the environment variable is not set.
-    :type default: Any
-    :param cast: A function to use to cast the environment variable. Must support string input.
-    :type cast: Callable[[Any], Any], optional
-
-    :return: The value, the environment variable value, or the default.
-    :rtype: Any
-    """
-    if value is not None:
-        return value
-
-    env = os.environ.get(env, default)
-
-    if cast is None:
-        return env
-
-    return cast(env)

src/robot_interface/utils/microphone.py

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,10 +1,3 @@
-# -*- 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
 

src/robot_interface/utils/timeblock.py

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,17 +0,0 @@
-# -*- 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
-
-
-@pytest.fixture(autouse=True)
-def mock_zmq_context():
-    with patch("zmq.Context") as mock:
-        mock.instance.return_value = MagicMock()
-        yield mock

test/integration/__init__.py

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,39 +0,0 @@
-# -*- 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
-from robot_interface.endpoints.main_receiver import MainReceiver
-
-
-def test_environment_variables(monkeypatch):
-    """
-    When environment variables are set, creating settings should use these.
-    """
-    monkeypatch.setenv("AGENT__CONTROL_BACKEND_HOST", "some_value_that_should_be_different")
-
-    settings = Settings()
-
-    assert settings.agent_settings.control_backend_host == "some_value_that_should_be_different"
-
-
-@patch("robot_interface.endpoints.main_receiver.settings")
-@patch("robot_interface.endpoints.socket_base.settings")
-def test_create_endpoint_custom_host(base_settings, main_settings):
-    """
-    When a custom host is given in the settings, check that an endpoint's socket connects to it.
-    """
-    fake_context = mock.Mock()
-    fake_socket = mock.Mock()
-    fake_context.socket.return_value = fake_socket
-    base_settings.agent_settings.control_backend_host = "not_localhost"
-    main_settings.agent_settings.main_receiver_port = 9999
-
-    _ = MainReceiver(fake_context)
-
-    fake_socket.connect.assert_called_once_with("tcp://not_localhost:9999")

test/integration/test_microphone_utils.py

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,6 +0,0 @@
-# -*- 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

@@ -1,18 +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 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
@@ -26,7 +18,6 @@ def zmq_context():
     context = zmq.Context()
     yield context
 
-
 def test_force_speech_clears_queue(mocker):
     """
     Tests that a force speech message clears the existing queue
@@ -61,7 +52,6 @@ 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.
@@ -77,7 +67,6 @@ 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
@@ -339,155 +328,4 @@ def test_clear_queue(mocker):
     receiver.clear_queue()
 
     # Assert the queue is empty
-    assert receiver._message_queue.qsize() == 0
-
-def test_gesture_no_data(zmq_context, mocker):
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": ""}, True)
-    # Just ensuring no crash
-
-
-def test_gesture_invalid_data(zmq_context, mocker):
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": 123}, True)
-    # No crash expected
-
-
-def test_gesture_single_not_found(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["wave", "bow"]  # allowed single gestures
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
-    # No crash expected
-
-
-def test_gesture_tag_not_found(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["happy", "sad"]
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "not_a_tag"}, False)
-    # No crash expected
-
-
-def test_gesture_no_qi_session(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_state.qi_session = None
-
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["hello"]
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
-    # No crash, path returns early
-
-
-def test_gesture_single_success(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
-
-    # Setup gesture settings
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["wave"]
-
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
-
-    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(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
-
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["greeting"]
-
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
-
-    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(zmq_context, mocker):
-    """
-    Ensures all handle_message endpoint branches route correctly.
-    """
-    receiver = ActuationReceiver(zmq_context)
-
-    mock_speech = mocker.patch.object(receiver, "_handle_speech")
-    mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
-
-    receiver.handle_message({"endpoint": "actuate/speech", "data": "hi"})
-    receiver.handle_message({"endpoint": "actuate/gesture/tag", "data": "greeting"})
-    receiver.handle_message({"endpoint": "actuate/gesture/single", "data": "wave"})
-
-    mock_speech.assert_called_once()
-    assert mock_gesture.call_count == 2
-
-
-def test_endpoint_description(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["happy"]
-    mock_tags.single_gestures = ["wave"]
-
-    receiver = ActuationReceiver(zmq_context)
-    desc = receiver.endpoint_description()
-
-    assert "gestures" in desc
-    assert desc["gestures"] == ["happy"]
-
-    assert "single_gestures" in desc
-    assert desc["single_gestures"] == ["wave"]
-
-
-def test_gesture_single_real_gesturetags(zmq_context, mocker):
-    """
-    Uses the real GestureTags (no mocking) to ensure the receiver
-    references GestureTags.single_gestures correctly.
-    """
-    # Ensure qi session exists so we pass the early return
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_state.qi_session = mock.Mock()
-
-    # 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(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]
-
-    receiver._handle_gesture(
-        {"endpoint": "actuate/gesture/single", "data": gesture},
-        is_single=True,
-    )
-
-    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
-
+    assert receiver._message_queue.qsize() == 0

test/unit/test_audio_sender.py

@@ -1,10 +1,4 @@
-# -*- 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)
-"""
-
+# coding=utf-8
 import os
 
 import mock
@@ -39,6 +33,7 @@ def test_no_microphone(zmq_context, mocker):
 
     sender.start()
     assert sender.thread is None
+    mock_info_logger.assert_called()
 
     sender.wait_until_done()  # Should return early because we didn't start a thread
 
@@ -78,12 +73,11 @@ 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.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
@@ -98,247 +92,6 @@ def test_sending_audio(mocker):
 
     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):
-    """
-    Tests the successful sending of audio data over a ZeroMQ socket.
-    """
-    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
-    mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
-
-    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
-    mock_state.exit_event.is_set.side_effect = [False, True]
-
-    mock_zmq_context = mock.Mock()
-    send_socket = mock.Mock()
-    
-    mock_state.is_speaking = True
-
-    # If there's something wrong with the microphone, it will raise an IOError when `read`ing.
-    stream = mock.Mock()
-    stream.read = _fake_read
-
-    sender = AudioSender(mock_zmq_context)
-    sender.socket.send = send_socket
-    sender.audio.open = mock.Mock()
-    sender.audio.open.return_value = stream
-
-    sender.start()
-    sender.wait_until_done()
-
-    send_socket.assert_not_called()
-
 
 def _fake_read_error(num_frames):
     """

test/unit/test_get_config.py

@@ -1,52 +0,0 @@
-# -*- 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
-
-
-def test_get_config_prefers_explicit_value(monkeypatch):
-    """
-    When a direct value is provided it should be returned without reading the environment.
-    """
-    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
-
-    result = get_config("explicit", "GET_CONFIG_TEST", "default")
-
-    assert result == "explicit"
-
-
-def test_get_config_returns_env_value(monkeypatch):
-    """
-    If value is None the environment variable should be used.
-    """
-    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
-
-    result = get_config(None, "GET_CONFIG_TEST", "default")
-
-    assert result == "from-env"
-
-
-def test_get_config_casts_env_value(monkeypatch):
-    """
-    The env value should be cast when a cast function is provided.
-    """
-    monkeypatch.setenv("GET_CONFIG_PORT", "1234")
-
-    result = get_config(None, "GET_CONFIG_PORT", 0, int)
-
-    assert result == 1234
-
-
-def test_get_config_casts_default_when_env_missing(monkeypatch):
-    """
-    When the env var is missing it should fall back to the default and still apply the cast.
-    """
-    monkeypatch.delenv("GET_CONFIG_MISSING", raising=False)
-
-    result = get_config(None, "GET_CONFIG_MISSING", "42", int)
-
-    assert result == 42

test/unit/test_main.py

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,10 +1,4 @@
-# -*- 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)
-"""
-
+# coding=utf-8
 import mock
 import pytest
 

test/unit/test_qi_utils.py

@@ -1,10 +1,3 @@
-# -*- 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

test/unit/test_reciever_base.py

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,10 +1,3 @@
-# -*- 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

@@ -1,171 +1,99 @@
-# -*- 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)
-"""
+# coding=utf-8
 
 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():
-    """
-    Yields a real ZMQ context for socket creation.
-    """
-    context = zmq.Context()
-    yield context
-    context.term()
+    """Provide a ZMQ context."""
+    yield zmq.Context()
 
-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):
-    """
-    Test that the loop does not start if no Qi session is available.
-    """
-    # Mock state to return None for qi_session
-    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")
+def _patch_basics(mocker):
+    """Common patches: prevent real threads, port binds, and state errors."""
+    mocker.patch("robot_interface.endpoints.socket_base.zmq.Socket.bind")
+    mocker.patch("robot_interface.endpoints.video_sender.threading.Thread")
+    mocker.patch.object(state, "is_initialized", True)
 
-    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
-    mock_threading.Thread.assert_not_called()
+    assert not hasattr(sender, "thread")
+
+
+def test_video_streaming(zmq_context, mocker):
+    """VideoSender should send retrieved image data."""
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)
+
+    # Pepper's image buffer lives at index 6
+    mocker.patch.object(settings.video_config, "image_buffer", 6)
 
-def test_start_success(mocker):
-    """
-    Test successful startup of the video receiver thread.
-    """
-    # Mock the Qi Session and Service
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
-    mock_session = mock.Mock()
-    mock_state.qi_session = mock_session
-    
     mock_video_service = mock.Mock()
-    mock_session.service.return_value = mock_video_service
-    mock_video_service.subscribeCamera.return_value = "test_subscriber_id"
+    mock_video_service.getImageRemote.return_value = [None]*6 + ["fake_img"]
 
-    # Mock Settings
-    mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
-    mock_settings.video_config.camera_index = 0
-    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"
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    mocker.patch.object(state, "qi_session", fake_session)
 
-    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 = 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
-    mock_session.service.assert_called_with("ALVideoDevice")
-    mock_video_service.subscribeCamera.assert_called_with("test_stream", 0, 2, 11, 30)
-    
-    mock_threading.Thread.assert_called_once()
-    # Verify arguments passed to the thread target
-    call_args = mock_threading.Thread.call_args[1]
-    assert call_args["target"] == sender.video_rcv_loop
-    assert call_args["args"] == (mock_video_service, "test_subscriber_id")
-    
-    # Ensure thread was started
-    mock_threading.Thread.return_value.start.assert_called_once()
+    send_socket.assert_called_with("fake_img")
 
-def test_video_loop_happy_path(mocker):
-    """
-    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()
-    mock_service.getImageRemote.return_value = fake_image_list
+def test_video_receive_error(zmq_context, mocker):
+    """Errors retrieving images should not call send()."""
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)
 
-    # Mock Events: 
-    # exit_event: False (start), False (loop once), True (break)
-    mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
-    mock_state.exit_event.is_set.side_effect = [False, False, True]
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = Exception("boom")
 
-    # 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")
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    mocker.patch.object(state, "qi_session", fake_session)
 
-    # 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)
+    mocker.patch.object(
+        fake_session.service("ALVideoDevice"),
+        "subscribeCamera",
+        return_value="stream_name"
+    )
 
-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]
+    sender = VideoSender(zmq_context)
+    send_socket = mock.Mock()
+    sender.socket.send = send_socket
 
-    mock_zqm = mock.Mock()
-    sender = VideoSender(mock_zqm)
-    sender.video_rcv_loop(mock_service, "sub_id")
+    sender.start_video_rcv()
+    sender.video_rcv_loop(mock_video_service, "stream_name")
 
-    # 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
+    send_socket.assert_not_called()