Merge branch 'fix/send-video' into 'main'

fix: send video

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

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)

src/robot_interface/endpoints/audio_sender.py

@@ -84,23 +84,16 @@ 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():
+        stream = self.audio.open(
-            return self.audio.open(
+            format=pyaudio.paFloat32,
-                format=pyaudio.paFloat32,
+            channels=audio_settings.channels,
-                channels=audio_settings.channels,
+            rate=audio_settings.sample_rate,
-                rate=audio_settings.sample_rate,
+            input=True,
-                input=True,
+            input_device_index=self.microphone["index"],
-                input_device_index=self.microphone["index"],
+            frames_per_buffer=chunk,
-                frames_per_buffer=chunk,
+        )
-            )
-        
-        stream = None
 
         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
@@ -108,9 +101,5 @@ class AudioSender(SocketBase):
         except IOError as e:
             logger.error("Stopped listening: failed to get audio from microphone.", exc_info=e)
         finally:
-            if stream:
+            stream.stop_stream()
-                try:
+            stream.close()
-                    stream.stop_stream()
-                    stream.close()
-                except IOError:
-                    pass # Ignore errors on closing

src/robot_interface/endpoints/main_receiver.py

@@ -79,30 +79,6 @@ class MainReceiver(ReceiverBase):
 
         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):
         """
         Main entry point for handling incoming messages.
@@ -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

test/unit/test_audio_sender.py

@@ -39,6 +39,7 @@ 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
 
@@ -78,7 +79,7 @@ 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()
@@ -98,217 +99,6 @@ 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):
     """

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()
+def _patch_basics(mocker):
-    sender = VideoSender(mock_zmq)
+    """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)
 
-    # Verify socket type is PUB
-    assert sender.identifier == "video"
 
-def test_start_no_qi_session(mocker):
+def _patch_exit_event(mocker):
-    """
+    """Make exit_event stop the loop after one iteration."""
-    Test that the loop does not start if no Qi session is available.
+    fake_event = mock.Mock()
-    """
+    fake_event.is_set.side_effect = [False, True]
-    # Mock state to return None for qi_session
+    mocker.patch.object(state, "exit_event", fake_event)
-    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()
+def test_no_qi_session(zmq_context, mocker):
-    sender = VideoSender(mock_zmq)
+    """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_video_service.getImageRemote.return_value = [test_width, test_height, None, None, None, None, b"fake_img"]
+
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    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_called_with([
+    struct.pack('<I', 320),
+    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_session.service.return_value = mock_video_service
+    mock_video_service.getImageRemote.side_effect = Exception("boom")
-    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_not_called()
-    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()
+def test_video_loop_keyboard_interrupt(zmq_context, mocker):
-    # Verify arguments passed to the thread target
+    """Video loop should handle KeyboardInterrupt gracefully and unsubscribe."""
-    call_args = mock_threading.Thread.call_args[1]
+    _patch_basics(mocker)
-    assert call_args["target"] == sender.video_rcv_loop
+    _patch_exit_event(mocker)
-    assert call_args["args"] == (mock_video_service, "test_subscriber_id")
     
-    # Ensure thread was started
+    # We mock the video service to raise KeyboardInterrupt when accessed
-    mock_threading.Thread.return_value.start.assert_called_once()
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
     
-def test_video_loop_happy_path(mocker):
+    # Mock logging to verify the specific interrupt message is logged
-    """
+    mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
-    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
+    sender = VideoSender(zmq_context)
-    # 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