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

fix: send video See merge request ics/sp/2025/n25b/pepperplus-ri!28
Merge branch 'main' into fix/send-video
2026-01-30 19:19:03 +00:00 · 2026-01-30 17:28:13 +01:00 · 2026-01-30 11:47:30 +00:00 · 2026-01-29 15:57:22 +01:00 · 2026-01-29 13:09:25 +01:00 · 2026-01-29 12:28:34 +01:00
52 changed files with 3851 additions and 205 deletions
--- a/.env.example
+++ b/.env.example
@@ -0,0 +1,25 @@
+# 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=
--- a/.githooks/check-branch-name.sh
+++ b/.githooks/check-branch-name.sh
@@ -0,0 +1,77 @@
+#!/usr/bin/env bash
+
+# This script checks if the current branch name follows the specified format.
+# It's designed to be used as a 'pre-commit' git hook.
+
+# Format: <type>/<short-description>
+# Example: feat/add-user-login
+
+# --- Configuration ---
+# An array of allowed commit types
+ALLOWED_TYPES=(feat fix refactor perf style test docs build chore revert)
+# An array of branches to ignore
+IGNORED_BRANCHES=(main dev demo)
+
+# --- Colors for Output ---
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# --- Helper Functions ---
+error_exit() {
+  echo -e "${RED}ERROR: $1${NC}" >&2
+  echo -e "${YELLOW}Branch name format is incorrect. Aborting commit.${NC}" >&2
+  exit 1
+}
+
+# --- Main Logic ---
+
+# 1. Get the current branch name
+BRANCH_NAME=$(git symbolic-ref --short HEAD)
+
+# 2. Check if the current branch is in the ignored list
+for ignored_branch in "${IGNORED_BRANCHES[@]}"; do
+  if [ "$BRANCH_NAME" == "$ignored_branch" ]; then
+    echo -e "${GREEN}Branch check skipped for default branch: $BRANCH_NAME${NC}"
+    exit 0
+  fi
+done
+
+# 3. Validate the overall structure: <type>/<description>
+if ! [[ "$BRANCH_NAME" =~ ^[a-z]+/.+$ ]]; then
+  error_exit "Branch name must be in the format: <type>/<short-description>\nExample: feat/add-user-login"
+fi
+
+# 4. Extract the type and description
+TYPE=$(echo "$BRANCH_NAME" | cut -d'/' -f1)
+DESCRIPTION=$(echo "$BRANCH_NAME" | cut -d'/' -f2-)
+
+# 5. Validate the <type>
+type_valid=false
+for allowed_type in "${ALLOWED_TYPES[@]}"; do
+  if [ "$TYPE" == "$allowed_type" ]; then
+    type_valid=true
+    break
+  fi
+done
+
+if [ "$type_valid" == false ]; then
+  error_exit "Invalid type '$TYPE'.\nAllowed types are: ${ALLOWED_TYPES[*]}"
+fi
+
+# 6. Validate the <short-description>
+# Regex breakdown:
+# ^[a-z0-9]+      - Starts with one or more lowercase letters/numbers (the first word).
+# (-[a-z0-9]+){0,5} - Followed by a group of (dash + word) 0 to 5 times.
+# $               - End of the string.
+# This entire pattern enforces 1 to 6 words total, separated by dashes.
+DESCRIPTION_REGEX="^[a-z0-9]+(-[a-z0-9]+){0,5}$"
+
+if ! [[ "$DESCRIPTION" =~ $DESCRIPTION_REGEX ]]; then
+  error_exit "Invalid short description '$DESCRIPTION'.\nIt must be a maximum of 6 words, all lowercase, separated by dashes.\nExample: add-new-user-authentication-feature"
+fi
+
+# If all checks pass, exit successfully
+echo -e "${GREEN}Branch name '$BRANCH_NAME' is valid.${NC}"
+exit 0
--- a/.githooks/check-commit-msg.sh
+++ b/.githooks/check-commit-msg.sh
@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+
+# This script checks if a commit message follows the specified format.
+# It's designed to be used as a 'commit-msg' git hook.
+
+# Format:
+# <type>: <short description>
+#
+# [optional]<body>
+#
+# [ref/close]: <issue identifier>
+
+# --- Configuration ---
+# An array of allowed commit types
+ALLOWED_TYPES=(feat fix refactor perf style test docs build chore revert)
+
+# --- Colors for Output ---
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# The first argument to the hook is the path to the file containing the commit message
+COMMIT_MSG_FILE=$1
+
+# --- Automated Commit Detection ---
+
+# Read the first line (header) for initial checks
+HEADER=$(head -n 1 "$COMMIT_MSG_FILE")
+
+# Check for Merge commits (covers 'git merge' and PR merges from GitHub/GitLab)
+# Examples: "Merge branch 'main' into ...", "Merge pull request #123 from ..."
+MERGE_PATTERN="^Merge (remote-tracking )?(branch|pull request|tag) .*"
+if [[ "$HEADER" =~ $MERGE_PATTERN ]]; then
+  echo -e "${GREEN}Merge commit detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# Check for Revert commits
+# Example: "Revert "feat: add new feature""
+REVERT_PATTERN="^Revert \".*\""
+if [[ "$HEADER" =~ $REVERT_PATTERN ]]; then
+  echo -e "${GREEN}Revert commit detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# Check for Cherry-pick commits (this pattern appears at the end of the message)
+# Example: "(cherry picked from commit deadbeef...)"
+# We use grep -q to search the whole file quietly.
+CHERRY_PICK_PATTERN="\(cherry picked from commit [a-f0-9]{7,40}\)"
+if grep -qE "$CHERRY_PICK_PATTERN" "$COMMIT_MSG_FILE"; then
+  echo -e "${GREEN}Cherry-pick detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# Check for Squash
+# Example: "Squash commits ..."
+SQUASH_PATTERN="^Squash .+"
+if [[ "$HEADER" =~ $SQUASH_PATTERN ]]; then
+  echo -e "${GREEN}Squash commit detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# --- Validation Functions ---
+
+# Function to print an error message and exit
+# Usage: error_exit "Your error message here"
+error_exit() {
+  # >&2 redirects echo to stderr
+  echo -e "${RED}ERROR: $1${NC}" >&2
+  echo -e "${YELLOW}Commit message format is incorrect. Aborting commit.${NC}" >&2
+  exit 1
+}
+
+# --- Main Logic ---
+
+# 1. Read the header (first line) of the commit message
+HEADER=$(head -n 1 "$COMMIT_MSG_FILE")
+
+# 2. Validate the header format: <type>: <description>
+# Regex breakdown:
+# ^(type1|type2|...)  - Starts with one of the allowed types
+# :                    - Followed by a literal colon
+# \s                   - Followed by a single space
+# .+                   - Followed by one or more characters for the description
+# $                    - End of the line
+TYPES_REGEX=$(
+  IFS="|"
+  echo "${ALLOWED_TYPES[*]}"
+)
+HEADER_REGEX="^($TYPES_REGEX): .+$"
+
+if ! [[ "$HEADER" =~ $HEADER_REGEX ]]; then
+  error_exit "Invalid header format.\n\nHeader must be in the format: <type>: <short description>\nAllowed types: ${ALLOWED_TYPES[*]}\nExample: feat: add new user authentication feature"
+fi
+
+# Only validate footer if commit type is not chore
+TYPE=$(echo "$HEADER" | cut -d':' -f1)
+if [ "$TYPE" != "chore" ]; then
+  # 3. Validate the footer (last line) of the commit message
+  FOOTER=$(tail -n 1 "$COMMIT_MSG_FILE")
+
+  # Regex breakdown:
+  # ^(ref|close)         - Starts with 'ref' or 'close'
+  # :                    - Followed by a literal colon
+  # \s                   - Followed by a single space
+  # N25B-                - Followed by the literal string 'N25B-'
+  # [0-9]+               - Followed by one or more digits
+  # $                    - End of the line
+  FOOTER_REGEX="^(ref|close): N25B-[0-9]+$"
+
+  if ! [[ "$FOOTER" =~ $FOOTER_REGEX ]]; then
+    error_exit "Invalid footer format.\n\nFooter must be in the format: [ref/close]: <issue identifier>\nExample: ref: N25B-123"
+  fi
+fi
+
+# 4. If the message has more than 2 lines, validate the separator
+#    A blank line must exist between the header and the body.
+LINE_COUNT=$(wc -l <"$COMMIT_MSG_FILE" | xargs) # xargs trims whitespace
+
+# We only care if there is a body. Header + Footer = 2 lines.
+# Header + Blank Line + Body... + Footer > 2 lines.
+if [ "$LINE_COUNT" -gt 2 ]; then
+  # Get the second line
+  SECOND_LINE=$(sed -n '2p' "$COMMIT_MSG_FILE")
+
+  # Check if the second line is NOT empty. If it's not, it's an error.
+  if [ -n "$SECOND_LINE" ]; then
+    error_exit "Missing blank line between header and body.\n\nThe second line of your commit message must be empty if a body is present."
+  fi
+fi
+
+# If all checks pass, exit with success
+echo -e "${GREEN}Commit message is valid.${NC}"
+exit 0
--- a/.githooks/commit-msg
+++ b/.githooks/commit-msg
@@ -1,16 +0,0 @@
-#!/bin/sh
-
-commit_msg_file=$1
-commit_msg=$(cat "$commit_msg_file")
-
-if echo "$commit_msg" | grep -Eq "^(feat|fix|refactor|perf|style|test|docs|build|chore|revert): .+"; then
-  if echo "$commit_msg" | grep -Eq "^(ref|close):\sN25B-.+"; then
-    exit 0
-  else
-    echo "❌ Commit message invalid! Must end with [ref/close]: N25B-000"
-    exit 1
-  fi
-else
-  echo "❌ Commit message invalid! Must start with <type>: <description>"
-  exit 1
-fi
--- a/.githooks/pre-commit
+++ b/.githooks/pre-commit
@@ -1,17 +0,0 @@
-#!/bin/sh
-
-# Get current branch
-branch=$(git rev-parse --abbrev-ref HEAD)
-
-if echo "$branch" | grep -Eq "(dev|main)"; then
-  echo 0
-fi
-
-# allowed pattern <type/>
-if echo "$branch" | grep -Eq "^(feat|fix|refactor|perf|style|test|docs|build|chore|revert)\/\w+(-\w+){0,5}$"; then
-  exit 0
-else
-  echo "❌ Invalid branch name: $branch"
-  echo "Branch must be named <type>/<description-of-branch> (must have one to six words separated by a dash)"
-  exit 1
-fi
--- a/.githooks/prepare-commit-msg
+++ b/.githooks/prepare-commit-msg
@@ -1,9 +0,0 @@
-#!/bin/sh
-
-echo "#<type>: <description>
-
-#[optional body]
-
-#[optional footer(s)]
-
-#[ref/close]: <issue identifier>" > $1
--- a/.gitignore
+++ b/.gitignore
@@ -217,3 +217,8 @@ __marimo__/

 .DS_Store

+# Docs
+docs/*
+!docs/conf.py
+!docs/installation/
+!docs/installation/**
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -0,0 +1,42 @@
+# ---------- GLOBAL SETUP ---------- #
+workflow:
+  rules:
+    - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
+
+stages:
+  - install
+  - test
+
+default:
+  image: qi-py-ri-base:latest
+  cache:
+    key: "${CI_COMMIT_REF_SLUG}"
+    paths:
+      - .venv/
+    policy: pull-push
+
+# --------- INSTALLING --------- #
+install:
+  stage: install
+  tags:
+    - install
+  script:
+    - python -m virtualenv .venv
+    - source .venv/bin/activate
+    - echo /qi/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > .venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
+    - pip install -r requirements.txt
+  artifacts:
+    paths:
+      - .venv/
+    expire_in: 1h
+
+# ---------- TESTING ---------- #
+test:
+  stage: test
+  needs:
+    - install
+  tags:
+    - test
+  script:
+    - source .venv/bin/activate
+    - PYTHONPATH=src pytest test/
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,15 @@
+repos:
+  - repo: local
+    hooks:
+      - id: check-commit-msg
+        name: Check commit message format
+        entry: .githooks/check-commit-msg.sh
+        language: script
+        stages: [commit-msg]
+      - id: check-branch-name
+        name: Check branch name format
+        entry: .githooks/check-branch-name.sh
+        language: script
+        stages: [commit]
+        always_run: true
+        pass_filenames: false
--- a/README.md
+++ b/README.md
@@ -8,78 +8,21 @@ This is an implementation for the Pepper robot, using the Pepper SDK and Python

 ## Installation

-### Linux (or WSL)
+- [Linux](./docs/installation/linux.md)
+- [macOS](./docs/installation/macos.md)
+- [Windows](./docs/installation/windows.md)

-Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
+
+
+### Git Hooks
+
+To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):

 ```bash
-pyenv install 2.7
-pyenv shell 2.7
+pre-commit install
+pre-commit install --hook-type commit-msg
 ```

-You can check that this worked by typing
-
-```bash
-python -V
-```
-
-Which should return `Python 2.7.18`.
-
-Next, `cd` into this repository and create (and activate) a virtual environment:
-
-```bash
-cd <path to project>/
-python -m pip install virtualenv
-python -m virtualenv .venv
-source .venv/bin/activate
-```
-
-Install the required packages with
-
-```bash
-pip install -r requirements.txt
-```
-
-Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
-
-```bash
-wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
-```
-
-Next, move into the `site-packages` directory and extract the file you just downloaded:
-
-```bash
-cd .venv/lib/python2.7/site-packages/
-tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
-rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
-```
-
-Lastly, we need to inform our virtual environment where to find our newly installed package:
-
-```bash
-echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
-```
-
-That's it! Verify that it works with
-
-```bash
-python -c "import qi; print(qi)"
-```
-
-You should now be able to run this project.
-
-### macOS
-
-Similar to Linux, but don't bother installing `pyenv` as it won't be able to install Python 2 on Apple Silicon. Instead, install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
-
-Create the virtual environment as described above in the Linux section. Stop at the point where it shows you how to download the NaoQi SDK. Instead, use:
-
-```shell
-curl -OL https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-mac64.tar.gz
-```
-
-Then resume the steps from above.
-


 ## Usage
@@ -96,8 +39,15 @@ On Windows:
 $env:PYTHONPATH="src"; python -m robot_interface.main
 ```

-With both, if you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
+### Program Arguments

+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
@@ -120,15 +70,29 @@ For coverage, add `--cov=robot_interface` as an argument to `pytest`.



-## GitHooks
+## Documentation
+Generate documentation web pages using:

-To activate automatic commits/branch name checks run:
-
-```shell
-git config --local core.hooksPath .githooks
+### Linux & macOS
+```bash
+PYTHONPATH=src sphinx-apidoc -F -o docs src/robot_interface
 ```

-If your commit fails its either:
-branch name != <type>/description-of-branch , 
-commit name !=  <type>: description of the commit.
-                <ref>: N25B-Num's
+### Windows
+```bash
+$env:PYTHONPATH="src"; sphinx-apidoc -F -o docs src/control_backend
+```
+
+Optionally, in the `conf.py` file in the new `docs` folder, change preferences. 
+
+In the `docs` folder:
+
+### Linux & macOS
+```bash
+make html
+```
+
+### Windows
+```bash
+.\make.bat html
+```
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -0,0 +1,184 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath("../src"))
+
+
+# -- Project information -----------------------------------------------------
+
+project = u'robot_interface'
+copyright = u'2025, Author'
+author = u'Author'
+
+# The short X.Y version
+version = u''
+# The full version, including alpha/beta/rc tags
+release = u''
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.viewcode',
+    'sphinx.ext.todo',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = 'en'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'robot_interfacedoc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'robot_interface.tex', u'robot\\_interface Documentation',
+     u'Author', 'manual'),
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'robot_interface', u'robot_interface Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'robot_interface', u'robot_interface Documentation',
+     author, 'robot_interface', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True
--- a/docs/installation/linux.md
+++ b/docs/installation/linux.md
@@ -0,0 +1,75 @@
+# Installation
+
+Of the Pepper Robot Interface on Linux (or WSL).
+
+Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
+
+```bash
+pyenv install 2.7
+pyenv shell 2.7
+```
+
+You can check that this worked by typing
+
+```bash
+python -V
+```
+
+Which should return `Python 2.7.18`.
+
+Next, `cd` into this repository and create (and activate) a virtual environment:
+
+```bash
+cd <path to project>/
+python -m pip install virtualenv
+python -m virtualenv .venv
+source .venv/bin/activate
+```
+
+We depend on PortAudio for the `pyaudio` package, so install it with:
+
+```bash
+sudo apt install -y portaudio19-dev
+```
+
+On WSL, also install:
+
+```bash
+sudo apt install -y libasound2-plugins
+```
+
+Install the required packages with
+
+```bash
+pip install -r requirements.txt
+```
+
+Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
+
+```bash
+wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+```
+
+Next, move into the `site-packages` directory and extract the file you just downloaded:
+
+```bash
+cd .venv/lib/python2.7/site-packages/
+tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
+```
+
+Lastly, we need to inform our virtual environment where to find our newly installed package:
+
+```bash
+echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
+```
+
+That's it! Verify that it works with
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+You should now be able to run this project.
+
+See the README for how to run.
--- a/docs/installation/macos.md
+++ b/docs/installation/macos.md
@@ -0,0 +1,106 @@
+# Installation
+
+Of the Pepper Robot Interface on macOS.
+
+
+
+## Python 2.7
+
+Install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
+
+Check that it worked by executing
+
+```shell
+python2 -V
+```
+
+Which should return Python 2.7.18.
+
+
+
+## Virtual Environment
+
+Next, cd into this repository and create (and activate) a virtual environment:
+
+```shell
+cd /path/to/project/
+python2 -m pip install virtualenv
+python2 -m virtualenv .venv
+source .venv/bin/activate
+```
+
+We depend on PortAudio for the `pyaudio` package. If on Intel, run `brew install portaudio`. If on Apple Silicon, compile manually using the steps described in [the YouTrack article](https://utrechtuniversity.youtrack.cloud/articles/N25B-A-22/Install-PyAudio-for-Python-2-on-Apple-Silicon).
+
+Then install the required Python packages with
+
+```shell
+pip install -r requirements.txt
+```
+
+
+
+## NaoQi SDK
+
+We need to manually install the NaoQi SDK into our virtual environment. There are two options:
+
+1. Install a newer version (2.8) which will make running easier, but compatibility is uncertain.
+2. Install the version expected by the robot (2.5). This will complicate running slightly.
+
+### Option 1
+
+Download the SDK from [twirre.io](https://twirre.io/files/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231.tar.gz), or find one on the Aldebaran website, or an archived version on Web Archive.
+
+Extract it to `/path/to/project/.venv/lib/python2.7/site-packages/`.
+
+We need to inform our virtual environment where to find our newly installed package:
+
+```bash
+echo "/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231/lib/python2.7/site-packages/" > /path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
+```
+
+Now continue with [verifying](#verifying).
+
+### Option 2
+
+This method of installation requires setting the `DYLD_LIBRARY_PATH` environment variable before running. How will be explained.
+
+Download the SDK from [twirre.io](https://twirre.io/files/pynaoqi-2.5.7.1-mac64-deps.tar.gz). This is a modified version of the one from Aldebaran, this one including required Choregraphe dependencies.
+
+Extract it to `/path/to/project/.venv/lib/python2.7/site-packages/`.
+
+We need to inform our virtual environment where to find our newly installed package:
+
+```shell
+echo "/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-mac64/lib/python2.7/site-packages/" > /path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
+```
+
+Now, anytime before running you need to set the `DYLD_LIBRARY_PATH` environment variable.
+
+```shell
+export DYLD_LIBRARY_PATH="/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-mac64/choregraphe_lib:${DYLD_LIBRARY_PATH}"
+```
+
+You may want to simplify environment activation with a script `activate.sh` like:
+
+```shell
+#!/bin/zsh
+
+export DYLD_LIBRARY_PATH="/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231/choregraphe_lib:${DYLD_LIBRARY_PATH}"
+source .venv/bin/activate
+```
+
+[Verify](#verifying) if it works.
+
+
+
+## Verifying
+
+Verify that the NaoQI SDK installation works with
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+If so, you should now be able to run this project.
+
+See the README for how to run.
--- a/docs/installation/windows.md
+++ b/docs/installation/windows.md
@@ -0,0 +1,44 @@
+# Installation
+
+Of the Pepper Robot Interface on Windows.
+
+Install Python 2.7.18 from [the Python website](https://www.python.org/downloads/release/python-2718/), choose the x86-64 installer (at the bottom of the page).
+
+To see if it worked:
+
+```shell
+py -2 -V
+```
+
+Which should return `Python 2.7.18`.
+
+Next, `cd` into this repository and create (and activate) a virtual environment:
+
+```bash
+cd <path to project>/
+py -2 -m pip install virtualenv
+py -2 -m virtualenv .venv
+.\.venv\Scripts\activate
+```
+
+Install the required packages with
+
+```bash
+pip install -r requirements.txt
+```
+
+Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Download the SDK from [Aldebaran](https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-win32-vs2013.zip), [Web Archive](https://web.archive.org/web/20240120111043/https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-win32-vs2013.zip) or [twirre.io](https://twirre.io/files/pynaoqi-python2.7-2.8.6.23-win64-vs2015-20191127_152649.zip).
+
+Extract to `.\.venv\Lib\site-packages`.
+
+Create a file `.venv\Lib\site-packages\pynaoqi-python2.7.pth`, put the full path of `pynaoqi-python2.7-2.8.6.23-win64-vs2015-20191127_152649\lib\python2.7\Lib\site-packages` in there.
+
+Test if it worked by running:
+
+```bash
+python -c "import qi; print(qi)"
+```
+
+You should now be able to run this project.
+
+See the README for how to run.
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,3 +3,7 @@ pyaudio<=0.2.11
 pytest<5
 pytest-mock<3.0.0
 pytest-cov<3.0.0
+sphinx
+sphinx_rtd_theme
+pre-commit
+python-dotenv
--- a/src/robot_interface/init.py
+++ b/src/robot_interface/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/src/robot_interface/core/init.py
+++ b/src/robot_interface/core/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/src/robot_interface/core/config.py
+++ b/src/robot_interface/core/config.py
@@ -0,0 +1,128 @@
+# -*- 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.
+    :vartype main_receiver_port: int
+    :ivar video_sender_port: Port used for sending video frames, defaults to 5556.
+    :vartype video_sender_port: int
+    :ivar audio_sender_port: Port used for sending audio data, defaults to 5558.
+    :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.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)
+
+
+class VideoConfig(object):
+    """
+    Video configuration constants.
+
+    :ivar camera_index: Index of the camera used, defaults to 0.
+    :vartype camera_index: int
+    :ivar resolution: Video resolution mode, defaults to 2.
+    :vartype resolution: int
+    :ivar color_space: Color space identifier, defaults to 11.
+    :vartype color_space: int
+    :ivar fps: Frames per second of the video stream, defaults to 15.
+    :vartype fps: int
+    :ivar stream_name: Name of the video stream, defaults to "Pepper Video".
+    :vartype stream_name: str
+    :ivar image_buffer: Internal buffer size for video frames, defaults to 6.
+    :vartype image_buffer: int
+    """
+    def __init__(
+        self,
+        camera_index=None,
+        resolution=None,
+        color_space=None,
+        fps=None,
+        stream_name=None,
+        image_buffer=None,
+    ):
+        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", 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)
+
+
+class AudioConfig(object):
+    """
+    Audio configuration constants.
+
+    :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
+    :vartype sample_rate: int
+    :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
+    :vartype chunk_size: int
+    :ivar channels: Number of audio channels, defaults to 1.
+    :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)
+
+
+class MainConfig(object):
+    """
+    Main system configuration.
+
+    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds, defaults to 100.
+    :vartype poll_timeout_ms: int
+    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds, defaults to 50.
+    :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)
+
+
+class Settings(object):
+    """
+    Global settings container.
+
+    :ivar agent_settings: Agent-related port configuration.
+    :vartype agent_settings: AgentSettings
+    :ivar video_config: Video stream configuration.
+    :vartype video_config: VideoConfig
+    :ivar audio_config: Audio stream configuration.
+    :vartype audio_config: AudioConfig
+    :ivar main_config: Main system-level configuration.
+    :vartype main_config: MainConfig
+    """
+    def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None):
+        self.agent_settings = agent_settings or AgentSettings()
+        self.video_config = video_config or VideoConfig()
+        self.audio_config = audio_config or AudioConfig()
+        self.main_config = main_config or MainConfig()
+
+
+settings = Settings()
--- a/src/robot_interface/endpoints/init.py
+++ b/src/robot_interface/endpoints/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/src/robot_interface/endpoints/actuation_receiver.py
+++ b/src/robot_interface/endpoints/actuation_receiver.py
@@ -1,28 +1,56 @@
-import logging
+# -*- 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
+from threading import Thread
+
+import Queue
 import zmq

 from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
+from robot_interface.core.config import settings
+from robot_interface.endpoints.gesture_settings import GestureTags


 class ActuationReceiver(ReceiverBase):
-    def __init__(self, zmq_context, port=5557):
-        """
-        The actuation receiver endpoint, responsible for handling speech and gesture requests.
+    """
+    The actuation receiver endpoint, responsible for handling speech and gesture requests.

-        :param zmq_context: The ZeroMQ context to use.
-        :type zmq_context: zmq.Context
+    :param zmq_context: The ZeroMQ context to use.
+    :type zmq_context: zmq.Context

-        :param port: The port to use.
-        :type port: int
-        """
+    :param port: The port to use.
+    :type port: int
+
+    :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):
        super(ActuationReceiver, self).__init__("actuation")
        self.create_socket(zmq_context, zmq.SUB, port)
        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Causes block if given in options
        self._tts_service = None
+        self._animation_service = None
+        self._message_queue = Queue.Queue()
+        self.message_thread = Thread(target=self._handle_messages)
+        self.message_thread.start()

    def _handle_speech(self, message):
+        """
+        Handle a speech actuation request.
+        
+        :param message: The message to handle, must contain properties "endpoint" and "data".
+        :type message: dict
+        """
        text = message.get("data")
        if not text:
            logging.warn("Received message to speak, but it lacks data.")
@@ -41,9 +69,107 @@ class ActuationReceiver(ReceiverBase):
        if not self._tts_service:
            self._tts_service = state.qi_session.service("ALTextToSpeech")

-        # Returns instantly. Messages received while speaking will be queued.
-        qi.async(self._tts_service.say, text)
+        if message.get("is_priority"):
+            # Bypass queue and speak immediately
+            self.clear_queue()
+            self._message_queue.put(text)
+            logging.debug("Force speaking immediately: {}".format(text))
+        else: 
+            self._message_queue.put(text)
+
+    def clear_queue(self):
+        """
+        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
+                self._message_queue.get_nowait()
+        except Queue.Empty:
+            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.
+
+        :param message: The message to handle, must contain properties "endpoint" and "data".
+        :type message: dict
+        """
        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)
+                state.is_speaking = True
+                self._tts_service.say(text)
+            except Queue.Empty:
+                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()        
+
+    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
--- a/src/robot_interface/endpoints/audio_sender.py
+++ b/src/robot_interface/endpoints/audio_sender.py
@@ -0,0 +1,105 @@
+# -*- 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
+
+import pyaudio
+import zmq
+
+from robot_interface.endpoints.socket_base import SocketBase
+from robot_interface.state import state
+from robot_interface.utils.microphone import choose_mic
+from robot_interface.core.config import settings
+
+logger = logging.getLogger(__name__)
+
+
+class AudioSender(SocketBase):
+    """
+    Audio sender endpoint, responsible for sending microphone audio data.
+
+    :param zmq_context: The ZeroMQ context to use.
+    :type zmq_context: zmq.Context
+
+    :param port: The port to use.
+    :type port: int
+
+    :ivar thread: Thread used for sending audio.
+    :vartype thread: threading.Thread | None
+
+    :ivar audio: PyAudio instance.
+    :vartype audio: pyaudio.PyAudio | None
+
+    :ivar microphone: Selected microphone information.
+    :vartype microphone: dict | None
+    """
+    def __init__(self, zmq_context, port=settings.agent_settings.audio_sender_port):
+        super(AudioSender, self).__init__(str("audio"))  # Convert future's unicode_literal to str
+        self.create_socket(zmq_context, zmq.PUB, port)
+        self.thread = None
+
+        try:
+            self.audio = pyaudio.PyAudio()
+            self.microphone = choose_mic(self.audio)
+        except IOError as e:
+            logger.warning("PyAudio is not available.", exc_info=e)
+            self.audio = None
+            self.microphone = None
+
+    def start(self):
+        """
+        Start sending audio in a different thread.
+
+        Will not start if no microphone is available.
+        """
+        if not self.microphone:
+            logger.info("Not listening: no microphone available.")
+            return
+
+        logger.info("Listening with microphone \"{}\".".format(self.microphone["name"]))
+        self.thread = threading.Thread(target=self._stream)
+        self.thread.start()
+
+    def wait_until_done(self):
+        """
+        Wait until the audio thread is done.
+
+        Will block until `state.exit_event` is set. If the thread is not running, does nothing.
+        """
+        if not self.thread: return
+        self.thread.join()
+        self.thread = None
+
+    def _stream(self):
+        """
+        Internal method to continuously read audio from the microphone and send it over the socket.
+        """
+        audio_settings = settings.audio_config
+        chunk = audio_settings.chunk_size # 320 at 16000 Hz is 20ms, 512 is required for Silero-VAD
+
+        # Docs say this only raises an error if neither `input` nor `output` is True
+        stream = self.audio.open(
+            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:
+            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:
+            stream.stop_stream()
+            stream.close()
--- a/src/robot_interface/endpoints/gesture_settings.py
+++ b/src/robot_interface/endpoints/gesture_settings.py
@@ -0,0 +1,419 @@
+# -*- 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"]         
--- a/src/robot_interface/endpoints/main_receiver.py
+++ b/src/robot_interface/endpoints/main_receiver.py
@@ -1,30 +1,62 @@
+# -*- 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
 from robot_interface.state import state

+from robot_interface.core.config import settings
+

 class MainReceiver(ReceiverBase):
-    def __init__(self, zmq_context, port=5555):
-        """
-        The main receiver endpoint, responsible for handling ping and negotiation requests.
+    """
+    The main receiver endpoint, responsible for handling ping and negotiation requests.

-        :param zmq_context: The ZeroMQ context to use.
-        :type zmq_context: zmq.Context
+    :param zmq_context: The ZeroMQ context to use.
+    :type zmq_context: zmq.Context

-        :param port: The port to use.
-        :type port: int
-        """
+    :param port: The port to use, defaults to value in `settings.agent_settings.main_receiver_port`.
+    :type port: int
+    """
+    def __init__(self, zmq_context, port=None):
+        if port is None:
+            port = settings.agent_settings.main_receiver_port
        super(MainReceiver, self).__init__("main")
        self.create_socket(zmq_context, zmq.REP, port, bind=False)

    @staticmethod
    def _handle_ping(message):
-        """A simple ping endpoint. Returns the provided data."""
+        """
+        Handle a ping request.
+
+        Returns the provided data in a standardized response dictionary.
+
+        :param message: The ping request message.
+        :type message: dict
+
+        :return: A response dictionary containing the original data.
+        :rtype: dict[str, str | list[dict]]
+        """
        return {"endpoint": "ping", "data": message.get("data")}

    @staticmethod
    def _handle_port_negotiation(message):
+        """
+        Handle a port negotiation request.
+
+        Returns a list of all known endpoints and their descriptions.
+
+        :param message: The negotiation request message.
+        :type message: dict
+
+        :return: A response dictionary with endpoint descriptions as data.
+        :rtype: dict[str, list[dict]]
+        """
        endpoints = [socket.endpoint_description() for socket in state.sockets]

        return {"endpoint": "negotiate/ports", "data": endpoints}
@@ -32,13 +64,13 @@ class MainReceiver(ReceiverBase):
    @staticmethod
    def _handle_negotiation(message):
        """
-        Handle a negotiation request. Will respond with ports that can be used to connect to the robot.
+        Handle a negotiation request. Responds with ports that can be used to connect to the robot.

        :param message: The negotiation request message.
        :type message: dict

-        :return: A response dictionary with a 'ports' key containing a list of ports and their function.
-        :rtype: dict[str, list[dict]]
+        :return: A response dictionary with the negotiation result.
+        :rtype: dict[str, str | list[dict]]
        """
        # In the future, the sender could send information like the robot's IP address, etc.

@@ -48,6 +80,17 @@ class MainReceiver(ReceiverBase):
        return {"endpoint": "negotiate/error", "data": "The requested endpoint is not implemented."}

    def handle_message(self, message):
+        """
+        Main entry point for handling incoming messages.
+
+        Dispatches messages to the appropriate handler based on the endpoint.
+
+        :param message: The received message.
+        :type message: dict
+
+        :return: A response dictionary based on the requested endpoint.
+        :rtype: dict[str, str | list[dict]]
+        """
        if message["endpoint"] == "ping":
            return self._handle_ping(message)
        elif message["endpoint"].startswith("negotiate"):
--- a/src/robot_interface/endpoints/receiver_base.py
+++ b/src/robot_interface/endpoints/receiver_base.py
@@ -1,10 +1,17 @@
+# -*- 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


 class ReceiverBase(SocketBase, object):
-    """Associated with a ZeroMQ socket."""
+    """Base class for receivers associated with a ZeroMQ socket."""
    __metaclass__ = ABCMeta

    @abstractmethod
--- a/src/robot_interface/endpoints/socket_base.py
+++ b/src/robot_interface/endpoints/socket_base.py
@@ -1,19 +1,39 @@
+# -*- 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):
+    """
+    Base class for endpoints associated with a ZeroMQ socket.
+
+    :ivar identifier: The identifier of the endpoint.
+    :vartype identifier: str
+
+    :ivar port: The port used by the socket, set by `create_socket`.
+    :vartype port: int | None
+
+    :ivar socket: The ZeroMQ socket object, set by `create_socket`.
+    :vartype socket: zmq.Socket | None
+
+    :ivar bound: Whether the socket is bound or connected, set by `create_socket`.
+    :vartype bound: bool | None
+    """
    __metaclass__ = ABCMeta

    name = None
    socket = None

    def __init__(self, identifier):
-        """
-        :param identifier: The identifier of the endpoint.
-        :type identifier: str
-        """
        self.identifier = identifier
        self.port = None  # Set later by `create_socket`
        self.socket = None  # Set later by `create_socket`
@@ -32,8 +52,7 @@ class SocketBase(object):
        :param port: The port to use.
        :type port: int

-        :param options: A list of options to be set on the socket. The list contains tuples where the first element contains the option
-        and the second the value, for example (zmq.CONFLATE, 1).
+        :param options: A list of tuples where the first element contains the option and the second the value.
        :type options: list[tuple[int, int]]

        :param bind: Whether to bind the socket or connect to it.
@@ -49,7 +68,7 @@ class SocketBase(object):
        if bind:
            self.socket.bind("tcp://*:{}".format(port))
        else:
-            self.socket.connect("tcp://localhost:{}".format(port))
+            self.socket.connect("tcp://{}:{}".format(settings.agent_settings.control_backend_host, port))

    def close(self):
        """Close the ZeroMQ socket."""
@@ -62,7 +81,7 @@ class SocketBase(object):
        Description of the endpoint. Used for negotiation.

        :return: A dictionary with the following keys: id, port, bind. See API specification at:
-        https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
+            https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
        :rtype: dict
        """
        return {
--- a/src/robot_interface/endpoints/video_sender.py
+++ b/src/robot_interface/endpoints/video_sender.py
@@ -1,32 +1,53 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import zmq
 import threading
-import qi
 import logging

+import struct
+
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
+from robot_interface.core.config import settings


 class VideoSender(SocketBase):
-    def __init__(self, zmq_context, port=5556):
+    """
+    Video sender endpoint, responsible for sending video frames.
+
+    :param zmq_context: The ZeroMQ context to use.
+    :type zmq_context: zmq.Context
+
+    :param port: The port to use for sending video frames.
+    :type port: int
+    """
+    def __init__(self, zmq_context, port=settings.agent_settings.video_sender_port):
        super(VideoSender, self).__init__("video")
-        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
+        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.SNDHWM,3)])
    
    def start_video_rcv(self):
        """
        Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
+        
+        Will not start if no qi session is available.
        """
        if not state.qi_session:
            logging.info("No Qi session available. Not starting video loop.")
            return

        video = state.qi_session.service("ALVideoDevice")
-
-        camera_index = 0
-        kQVGA = 2
-        kRGB = 11
-        FPS = 15
-        vid_stream_name = video.subscribeCamera("Pepper Video", camera_index, kQVGA, kRGB, FPS)
+        video_settings = settings.video_config
+        camera_index = video_settings.camera_index
+        kQVGA = video_settings.resolution
+        kRGB = video_settings.color_space
+        FPS = video_settings.fps
+        video_name = video_settings.stream_name
+        vid_stream_name = video.subscribeCamera(video_name, camera_index, kQVGA, kRGB, FPS)
        thread = threading.Thread(target=self.video_rcv_loop, args=(video, vid_stream_name))
        thread.start()

@@ -38,12 +59,25 @@ class VideoSender(SocketBase):
        :type vid_service: Object (Qi service object)

        :param vid_stream_name: The name of a camera subscription on the video service object vid_service
-        :type vid_stream_name: String
+        :type vid_stream_name: str
        """
-        while not state.exit_event.is_set():
-            try:
-                img = vid_service.getImageRemote(vid_stream_name)
-                #Possibly limit images sent if queuing issues arise
-                self.socket.send(img[6])
-            except:
-                logging.warn("Failed to retrieve video image from robot.")
+        try:
+            while not state.exit_event.is_set():
+                try:
+                    img = vid_service.getImageRemote(vid_stream_name)
+                    if img is not None:
+                        raw_data = img[6]
+                        width = img[0]
+                        height = img[1]
+
+                        width_bytes = struct.pack('<I', width)
+                        height_bytes = struct.pack('<I', height)
+
+                        self.socket.send_multipart([width_bytes, height_bytes, raw_data])
+                except KeyboardInterrupt:
+                    logging.info("Video receiving loop interrupted by user.")
+                except:
+                    logging.warn("Failed to retrieve video image from robot.")
+        finally:
+            vid_service.unsubscribe(vid_stream_name)
+            logging.info("Unsubscribed from video stream.")
--- a/src/robot_interface/main.py
+++ b/src/robot_interface/main.py
@@ -1,4 +1,14 @@
+# -*- 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
+
 logging.basicConfig(level=logging.DEBUG)

 import zmq
@@ -7,6 +17,7 @@ from robot_interface.endpoints.actuation_receiver import ActuationReceiver
 from robot_interface.endpoints.main_receiver import MainReceiver
 from robot_interface.endpoints.video_sender import VideoSender
 from robot_interface.state import state
+from robot_interface.core.config import settings
 from robot_interface.utils.timeblock import TimeBlock


@@ -25,8 +36,11 @@ def main_loop(context):

    video_sender = VideoSender(context)
    state.sockets.append(video_sender)
+    audio_sender = AudioSender(context)
+    state.sockets.append(audio_sender)

    video_sender.start_video_rcv()
+    audio_sender.start()

    # Sockets that can run on the main thread. These sockets' endpoints should not block for long (say 50 ms at most).
    receivers = [main_receiver, actuation_receiver]
@@ -39,7 +53,7 @@ def main_loop(context):

    while True:
        if state.exit_event.is_set(): break
-        socks = dict(poller.poll(100))
+        socks = dict(poller.poll(settings.main_config.poll_timeout_ms))

        for receiver in receivers:
            if receiver.socket not in socks: continue
@@ -50,10 +64,17 @@ def main_loop(context):
                continue

            def overtime_callback(time_ms):
+                """
+                A callback function executed by TimeBlock if the message handling
+                exceeds the allowed time limit.
+
+                :param time_ms: The elapsed time, in milliseconds, that the block took.
+                :type time_ms: float
+                """
                logging.warn("Endpoint \"%s\" took too long (%.2f ms) on the main thread.",
                             message["endpoint"], time_ms)

-            with TimeBlock(overtime_callback, 50):
+            with TimeBlock(overtime_callback, settings.main_config.max_handler_time_ms):
                response = receiver.handle_message(message)

            if receiver.socket.getsockopt(zmq.TYPE) == zmq.REP:
@@ -61,6 +82,12 @@ def main_loop(context):


 def main():
+    """
+    Initializes the ZeroMQ context and the application state.
+    It executes the main event loop (`main_loop`) and ensures that both the
+    application state and the ZeroMQ context are properly cleaned up (deinitialized/terminated)
+    upon exit, including handling a KeyboardInterrupt.
+    """
    context = zmq.Context()

    state.initialize()
--- a/src/robot_interface/state.py
+++ b/src/robot_interface/state.py
@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import logging
 import signal
 import threading
@@ -12,14 +19,32 @@ class State(object):

    This class is used to share state between threads. For example, when the program is quit, that all threads can
    detect this via the `exit_event` property being set.
+
+    :ivar is_initialized: Flag indicating whether the state setup (exit handlers, QI session) has completed.
+    :vartype is_initialized: bool
+
+    :ivar exit_event: A thread event used to signal all threads that the program is shutting down.
+    :vartype exit_event: threading.Event | None
+
+    :ivar sockets: A list of ZeroMQ socket wrappers (`SocketBase`) that need to be closed during deinitialization.
+    :vartype sockets: List[SocketBase]
+
+    :ivar qi_session: The QI session object used for interaction with the robot/platform services.
+    :vartype qi_session: None | qi.Session
    """
    def __init__(self):
        self.is_initialized = False
        self.exit_event = None
-        self.sockets = []  # type: List[SocketBase]
-        self.qi_session = None  # type: None | ssl.SSLSession
+        self.sockets = []  
+        self.qi_session = None 
+        self.is_speaking = False

    def initialize(self):
+        """
+        Sets up the application state. Creates the thread exit event, registers
+        signal handlers (`SIGINT`, `SIGTERM`) for graceful shutdown, and
+        establishes the QI session.
+        """
        if self.is_initialized:
            logging.warn("Already initialized")
            return
@@ -36,6 +61,9 @@ class State(object):
        self.is_initialized = True

    def deinitialize(self):
+        """
+        Closes all sockets stored in the `sockets` list.
+        """
        if not self.is_initialized: return

        for socket in self.sockets:
@@ -44,8 +72,24 @@ class State(object):
        self.is_initialized = False

    def __getattribute__(self, name):
-        # Enforce that the state is initialized before accessing any property (aside from the basic ones)
-        if name in ("initialize", "deinitialize", "is_initialized", "__dict__", "__class__"):
+        """
+        Custom attribute access method that enforces a check: the state must be
+        fully initialized before any non-setup attributes (like `sockets` or `qi_session`)
+        can be accessed.
+
+        :param name: The name of the attribute being accessed.
+        :type name: str
+
+        :return: The value of the requested attribute.
+        :rtype: Any
+        """
+        if name in (
+                "initialize", 
+                "deinitialize", 
+                "is_initialized", 
+                "__dict__", 
+                "__class__",
+                "__doc__"):
            return object.__getattribute__(self, name)

        if not object.__getattribute__(self, "is_initialized"):
--- a/src/robot_interface/utils/init.py
+++ b/src/robot_interface/utils/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/src/robot_interface/utils/get_config.py
+++ b/src/robot_interface/utils/get_config.py
@@ -0,0 +1,39 @@
+# -*- 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)
--- a/src/robot_interface/utils/microphone.py
+++ b/src/robot_interface/utils/microphone.py
@@ -0,0 +1,128 @@
+# -*- 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
+
+logger = logging.getLogger(__name__)
+
+
+def get_microphones(audio):
+    """
+    Get audio devices which have input channels.
+
+    :param audio: An instance of PyAudio to use.
+    :type audio: pyaudio.PyAudio
+
+    :return: An interator of PaAudio dicts containing information about the microphone devices.
+    :rtype: Iterator[dict]
+    """
+    for i in range(audio.get_device_count()):
+        device = audio.get_device_info_by_index(i)
+        if device["maxInputChannels"] > 0:
+            yield device
+
+
+def choose_mic_interactive(audio):
+    """
+    Choose a microphone to use, interactively in the CLI.
+
+    :param audio: An instance of PyAudio to use.
+    :type audio: pyaudio.PyAudio
+
+    :return: A dictionary from PyAudio containing information about the microphone to use, or None
+        if there is no microphone.
+    :rtype: dict | None
+    """
+    microphones = list(get_microphones(audio))
+    if len(microphones) == 0: return None
+
+    print("Found {} microphones:".format(len(microphones)))
+    for i, mic in enumerate(microphones):
+        print("- {}: {}".format(i, mic["name"]))
+
+    chosen_microphone = None
+    while chosen_microphone is None:
+        chosen = raw_input("Which device would you like to use?\n> ")
+        try:
+            chosen = int(chosen)
+            if chosen < 0 or chosen >= len(microphones): raise ValueError()
+            chosen_microphone = microphones[chosen]
+        except ValueError:
+            print("Please enter a number between 0 and {}".format(len(microphones)-1))
+
+    logger.info("Chose microphone \"{}\"".format(chosen_microphone["name"]))
+    return chosen_microphone
+
+
+def choose_mic_default(audio):
+    """
+    Get the system's default microphone to use.
+
+    :param audio: An instance of PyAudio to use.
+    :type audio: pyaudio.PyAudio
+
+    :return: A dictionary from PyAudio containing information about the microphone to use, or None
+        if there is no microphone.
+    :rtype: dict | None
+    """
+    try:
+        return audio.get_default_input_device_info()
+    except IOError:
+        return None
+
+
+def choose_mic_arguments(audio):
+    """
+    Get a microphone to use from command line arguments.
+
+    :param audio: An instance of PyAudio to use.
+    :type audio: pyaudio.PyAudio
+
+    :return: A dictionary from PyAudio containing information about the microphone to use, or None
+        if there is no microphone satisfied by the arguments.
+    :rtype: dict | None
+    """
+    microphone_name = None
+    for i, arg in enumerate(sys.argv):
+        if arg == "--microphone" and len(sys.argv) > i+1:
+            microphone_name = sys.argv[i+1].strip()
+        if arg.startswith("--microphone="):
+            pre_fix_len = len("--microphone=")
+            microphone_name = arg[pre_fix_len:].strip()
+
+    if not microphone_name: return None
+
+    available_mics = list(get_microphones(audio))
+    for mic in available_mics:
+        if mic["name"] == microphone_name:
+            return mic
+
+    available_mic_names = [mic["name"] for mic in available_mics]
+    logger.warning("Microphone \"{}\" not found. Choose one of {}"
+                   .format(microphone_name, available_mic_names))
+
+    return None
+
+
+def choose_mic(audio):
+    """
+    Get a microphone to use. Firstly, tries to see if there's an application argument specifying the
+    microphone to use. If not, get the default microphone.
+
+    :param audio: An instance of PyAudio to use.
+    :type audio: pyaudio.PyAudio
+
+    :return: A dictionary from PyAudio containing information about the microphone to use, or None
+        if there is no microphone.
+    :rtype: dict | None
+    """
+    chosen_mic = choose_mic_arguments(audio)
+    if chosen_mic: return chosen_mic
+
+    return choose_mic_default(audio)
--- a/src/robot_interface/utils/qi_utils.py
+++ b/src/robot_interface/utils/qi_utils.py
@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import logging
 import sys

@@ -8,6 +15,12 @@ except ImportError:


 def get_qi_session():
+    """
+    Create and return a Qi session if available.
+
+    :return: The active Qi session or ``None`` if unavailable.
+    :rtype: qi.Session | None
+    """
    if qi is None:
        logging.info("Unable to import qi. Running in stand-alone mode.")
        return None
--- a/src/robot_interface/utils/timeblock.py
+++ b/src/robot_interface/utils/timeblock.py
@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import time


@@ -5,27 +12,54 @@ class TimeBlock(object):
    """
    A context manager that times the execution of the block it contains. If execution exceeds the
    limit, or if no limit is given, the callback will be called with the time that the block took.
-    """
-    def __init__(self, callback, limit_ms=None):
-        """
-        :param callback: The callback function that is called when the block of code is over,
-        unless the code block did not exceed the time limit.
-        :type callback: Callable[[float], None]

-        :param limit_ms: The number of milliseconds the block of code is allowed to take. If it
+    :param callback: The callback function that is called when the block of code is over,
+        unless the code block did not exceed the time limit.
+    :type callback: Callable[[float], None]
+
+    :param limit_ms: The number of milliseconds the block of code is allowed to take. If it
        exceeds this time, or if it's None, the callback function will be called with the time the
        block took.
-        :type limit_ms: int | None
-        """
+    :type limit_ms: int | None
+
+    :ivar limit_ms: The number of milliseconds the block of code is allowed to take.
+    :vartype limit_ms: float | None
+
+    :ivar callback: The callback function that is called when the block of code is over.
+    :vartype callback: Callable[[float], None]
+
+    ivar start: The start time of the block, set when entering the context.
+    :vartype start: float | None
+    """
+    def __init__(self, callback, limit_ms=None):
        self.limit_ms = float(limit_ms) if limit_ms is not None else None
        self.callback = callback
        self.start = None

    def __enter__(self):
+        """
+        Enter the context manager and record the start time.
+
+        :return: Returns itself so timing information can be accessed if needed.
+        :rtype: TimeBlock
+        """
        self.start = time.time()
        return self

    def __exit__(self, exc_type, exc_value, traceback):
+        """
+        Exit the context manager, calculate the elapsed time, and call the callback
+        if the time limit was exceeded or not provided.
+
+        :param exc_type: The exception type, or None if no exception occurred.
+        :type exc_type: Type[BaseException] | None
+
+        :param exc_value: The exception instance, or None if no exception occurred.
+        :type exc_value: BaseException | None
+
+        :param traceback: The traceback object, or None if no exception occurred.
+        :type traceback: TracebackType | None
+        """
        elapsed = (time.time() - self.start) * 1000.0  # ms
        if self.limit_ms is None or elapsed > self.limit_ms:
            self.callback(elapsed)
--- a/test/common/init.py
+++ b/test/common/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/test/common/microphone_utils.py
+++ b/test/common/microphone_utils.py
@@ -0,0 +1,197 @@
+# -*- 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
+from StringIO import StringIO
+
+from robot_interface.utils.microphone import (
+    choose_mic_default,
+    choose_mic_interactive,
+    choose_mic_arguments,
+    choose_mic,
+    get_microphones,
+)
+
+
+class MicrophoneUtils(object):
+    """Shared tests for any PyAudio-like implementation, e.g. mock and real."""
+
+    def test_choose_mic_default(self, pyaudio_instance):
+        """
+        Tests that the default microphone selection function returns a valid
+        microphone dictionary containing all necessary keys with correct types and values.
+
+        The result must contain at least "index", as this is used to identify the microphone,
+        and "name" for logging. It must have one or more channels (`maxInputChannels`),
+        and a default sample rate of at least 16000 Hz.
+        """
+        result = choose_mic_default(pyaudio_instance)
+        assert "index" in result
+        assert isinstance(result["index"], (int, long))
+
+        assert "name" in result
+        assert isinstance(result["name"], (str, unicode))
+
+        assert "maxInputChannels" in result
+        assert isinstance(result["maxInputChannels"], (int, long))
+        assert result["maxInputChannels"] > 0
+
+        assert "defaultSampleRate" in result
+        assert isinstance(result["defaultSampleRate"], float)
+        assert result["defaultSampleRate"] >= 16000
+
+    def test_choose_mic_interactive_input_not_int(self, pyaudio_instance, mocker):
+        """
+        Tests the robustness of the interactive selection when the user first enters
+        a non-integer value, ensuring the system prompts again without error and accepts
+        a valid integer on the second attempt.
+        """
+        microphones = get_microphones(pyaudio_instance)
+        target_microphone = next(microphones)
+
+        mock_input = mocker.patch("__builtin__.raw_input", side_effect=["not an integer", "0"])
+        fake_out = StringIO()
+        mocker.patch.object(sys, "stdout", fake_out)
+
+        result = choose_mic_interactive(pyaudio_instance)
+        assert "index" in result
+        assert isinstance(result["index"], (int, long))
+        assert result["index"] == target_microphone["index"]
+
+        assert mock_input.called
+
+        assert any(p.startswith("Please enter a number") for p in fake_out.getvalue().splitlines())
+
+    def test_choose_mic_interactive_negative_index(self, pyaudio_instance, mocker):
+        """
+        Tests that the interactive selection method prevents the user from entering
+        a negative integer as a microphone index.
+        """
+        microphones = get_microphones(pyaudio_instance)
+        target_microphone = next(microphones)
+
+        mock_input = mocker.patch("__builtin__.raw_input", side_effect=["-1", "0"])
+        fake_out = StringIO()
+        mocker.patch.object(sys, "stdout", fake_out)
+
+        result = choose_mic_interactive(pyaudio_instance)
+        assert "index" in result
+        assert isinstance(result["index"], (int, long))
+        assert result["index"] == target_microphone["index"]
+
+        assert mock_input.called
+
+        assert any(p.startswith("Please enter a number") for p in fake_out.getvalue().splitlines())
+
+    def test_choose_mic_interactive_index_too_high(self, pyaudio_instance, mocker):
+        """
+        Tests that the interactive selection method prevents the user from entering
+        an index that exceeds the total number of available microphones. 
+        """
+        real_count = len(list(get_microphones(pyaudio_instance)))
+        mock_input = mocker.patch("__builtin__.raw_input", side_effect=[str(real_count), "0"])
+        fake_out = StringIO()
+        mocker.patch.object(sys, "stdout", fake_out)
+
+        result = choose_mic_interactive(pyaudio_instance)
+        assert "index" in result
+        assert isinstance(result["index"], (int, long))
+
+        assert mock_input.called
+
+        assert any(p.startswith("Please enter a number") for p in fake_out.getvalue().splitlines())
+
+    def test_choose_mic_interactive_random_index(self, pyaudio_instance, mocker):
+        """
+        Tests the core interactive functionality by simulating the selection of a
+        random valid microphone index and verifying that the correct microphone
+        information is returned.
+        """
+        microphones = list(get_microphones(pyaudio_instance))
+        random_index = random.randrange(len(microphones))
+        mocker.patch("__builtin__.raw_input", side_effect=[str(random_index)])
+
+        result = choose_mic_interactive(pyaudio_instance)
+        assert "index" in result
+        assert isinstance(result["index"], (int, long))
+        assert result["index"] == microphones[random_index]["index"]
+
+    def test_choose_mic_no_arguments(self, pyaudio_instance, mocker):
+        """
+        Tests `choose_mic_arguments` when no command-line arguments are provided,
+        """
+        mocker.patch.object(sys, "argv", [])
+
+        result = choose_mic_arguments(pyaudio_instance)
+
+        assert result is None
+
+    def test_choose_mic_arguments(self, pyaudio_instance, mocker):
+        """
+        Tests `choose_mic_arguments` when the microphone name is passed as a separate
+        argument.
+        """
+        for mic in get_microphones(pyaudio_instance):
+            mocker.patch.object(sys, "argv", ["--microphone", mic["name"]])
+
+            result = choose_mic_arguments(pyaudio_instance)
+
+            assert result is not None
+            assert result == mic
+
+    def test_choose_mic_arguments_eq(self, pyaudio_instance, mocker):
+        """
+        Tests `choose_mic_arguments` when the microphone name is passed using an
+        equals sign (`--microphone=NAME`).
+        """
+        for mic in get_microphones(pyaudio_instance):
+            mocker.patch.object(sys, "argv", ["--microphone={}".format(mic["name"])])
+
+            result = choose_mic_arguments(pyaudio_instance)
+
+            assert result is not None
+            assert result == mic
+
+    def test_choose_mic_arguments_not_exist(self, pyaudio_instance, mocker):
+        """
+        Tests `choose_mic_arguments` when a non-existent microphone name is passed
+        via command-line arguments, expecting the function to return None.
+        """
+        mocker.patch.object(sys, "argv", ["--microphone", "Surely this microphone doesn't exist"])
+
+        result = choose_mic_arguments(pyaudio_instance)
+
+        assert result is None
+
+    def test_choose_mic_with_argument(self, pyaudio_instance, mocker):
+        """
+        Tests `choose_mic` function when a valid microphone is
+        specified via command-line arguments.
+        """
+        mic = next(get_microphones(pyaudio_instance))
+        mocker.patch.object(sys, "argv", ["--microphone", mic["name"]])
+
+        result = choose_mic(pyaudio_instance)
+
+        assert result is not None
+        assert result == mic
+
+    def test_choose_mic_no_argument(self, pyaudio_instance, mocker):
+        """
+        Tests `choose_mic` function when no command-line arguments
+        are provided, verifying that the function falls back correctly to the
+        system's default microphone selection.
+        """
+        default_mic = choose_mic_default(pyaudio_instance)
+        mocker.patch.object(sys, "argv", [])
+
+        result = choose_mic(pyaudio_instance)
+
+        assert result is not None
+        assert result == default_mic
--- a/test/conftest.py
+++ b/test/conftest.py
@@ -0,0 +1,17 @@
+# -*- 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
--- a/test/integration/init.py
+++ b/test/integration/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/test/integration/test_config.py
+++ b/test/integration/test_config.py
@@ -0,0 +1,39 @@
+# -*- 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")
--- a/test/integration/test_microphone_utils.py
+++ b/test/integration/test_microphone_utils.py
@@ -0,0 +1,38 @@
+# -*- 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
+
+from common.microphone_utils import MicrophoneUtils
+
+
+@pytest.fixture
+def pyaudio_instance():
+    """
+    A pytest fixture that provides an initialized PyAudio instance for tests
+    requiring microphone access.
+
+    It first initializes PyAudio. If a default input device (microphone) is not
+    found, the test is skipped  to avoid failures in environments
+    without a mic.
+
+    :return: An initialized PyAudio instance.
+    :rtype: pyaudio.PyAudio
+    """
+    audio = pyaudio.PyAudio()
+    try:
+        audio.get_default_input_device_info()
+        return audio
+    except IOError:
+        pytest.skip("No microphone available to test with.")
+
+
+class TestAudioIntegration(MicrophoneUtils):
+    """Run shared audio behavior tests with the mock implementation."""
+    pass
--- a/test/unit/init.py
+++ b/test/unit/init.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
--- a/test/unit/test_actuation_receiver.py
+++ b/test/unit/test_actuation_receiver.py
@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import sys

 import mock
@@ -5,54 +12,149 @@ import pytest
 import zmq

 from robot_interface.endpoints.actuation_receiver import ActuationReceiver
+from robot_interface.endpoints.gesture_settings import GestureTags


@pytest.fixture
 def zmq_context():
+    """
+    A pytest fixture that creates and yields a ZMQ context.
+
+    :return: An initialized ZeroMQ context.
+    :rtype: zmq.Context
+    """
    context = zmq.Context()
    yield context


-def test_handle_unimplemented_endpoint(zmq_context):
-    receiver = ActuationReceiver(zmq_context)
-    # Should not error
+def test_force_speech_clears_queue(mocker):
+    """
+    Tests that a force speech message clears the existing queue
+    and places the high-priority message at the front.
+    """
+    mocker.patch("threading.Thread")
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi 
+
+    mock_tts_service = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_tts_service
+
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    receiver._message_queue.put("old_message_1")
+    receiver._message_queue.put("old_message_2")
+    
+    assert receiver._message_queue.qsize() == 2
+
+    force_msg = {
+        "endpoint": "actuate/speech", 
+        "data": "Emergency Notification",
+        "is_priority": True,
+    }
+    receiver.handle_message(force_msg)
+
+    assert receiver._message_queue.qsize() == 1
+    queued_item = receiver._message_queue.get()
+    assert queued_item == "Emergency Notification"
+
+
+def test_handle_unimplemented_endpoint(mocker):
+    """
+    Tests handling of unknown endpoints.
+    """
+    mocker.patch("threading.Thread")
+    
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
    receiver.handle_message({
        "endpoint": "some_endpoint_that_definitely_does_not_exist",
        "data": None,
    })


-def test_speech_message_no_data(zmq_context, mocker):
-    mock_warn = mocker.patch("logging.warn")
+def test_speech_message_no_data(mocker):
+    """
+    Tests that if the message data is empty, the receiver returns immediately
+    WITHOUT attempting to access the global robot state or session.
+    """
+    # 1. Prevent background threads from running
+    mocker.patch("threading.Thread")
+    
+    # 2. Mock the global state object
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")

-    receiver = ActuationReceiver(zmq_context)
+    # 3. Create a PropertyMock to track whenever 'qi_session' is accessed
+    # We attach it to the class type of the mock so it acts like a real property
+    mock_session_prop = mock.PropertyMock(return_value=None)
+    type(mock_state).qi_session = mock_session_prop
+
+    # 4. Initialize Receiver (Mocking the context to avoid ZMQ errors)
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # 5. Send empty data
    receiver.handle_message({"endpoint": "actuate/speech", "data": ""})

-    mock_warn.assert_called_with(mock.ANY)
+    # 6. Assertion: 
+    # Because the code does `if not text: return` BEFORE `if not state.qi_session`,
+    # the state property should NEVER be read.
+    mock_session_prop.assert_not_called()


-def test_speech_message_invalid_data(zmq_context, mocker):
-    mock_warn = mocker.patch("logging.warn")
+def test_speech_message_invalid_data(mocker):
+    """
+    Tests that if the message data is not a string, the function returns.     
+    :param mocker: Description
+    """
+    mocker.patch("threading.Thread")

-    receiver = ActuationReceiver(zmq_context)
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+
+    mock_session_prop = mock.PropertyMock(return_value=None)
+    type(mock_state).qi_session = mock_session_prop
+
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
    receiver.handle_message({"endpoint": "actuate/speech", "data": True})

-    mock_warn.assert_called_with(mock.ANY)
+    # Because the code does `if not text: return` BEFORE `if not state.qi_session`,
+    # the state property should NEVER be read.
+    mock_session_prop.assert_not_called()

-
-def test_speech_no_qi(zmq_context, mocker):
+def test_speech_no_qi(mocker):
+    """
+    Tests the actuation receiver's behavior when processing a speech request
+    but the global state does not have an active QI session.
+    """
    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")

    mock_qi_session = mock.PropertyMock(return_value=None)
    type(mock_state).qi_session = mock_qi_session

-    receiver = ActuationReceiver(zmq_context)
+    mock_tts_service = mock.Mock()
+
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    receiver._tts_service = mock_tts_service
+
    receiver._handle_speech({"endpoint": "actuate/speech", "data": "Some message to speak."})

-    mock_qi_session.assert_called()
+    receiver._tts_service.assert_not_called()


-def test_speech(zmq_context, mocker):
+def test_speech(mocker):
+    """
+    Tests the core speech actuation functionality by mocking the QI TextToSpeech
+    service and verifying that the received message is put into the queue.
+    """
    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")

    mock_qi = mock.Mock()
@@ -62,13 +164,330 @@ def test_speech(zmq_context, mocker):
    mock_state.qi_session = mock.Mock()
    mock_state.qi_session.service.return_value = mock_tts_service

-    receiver = ActuationReceiver(zmq_context)
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+
    receiver._tts_service = None
    receiver._handle_speech({"endpoint": "actuate/speech", "data": "Some message to speak."})

-    mock_state.qi_session.service.assert_called_once_with("ALTextToSpeech")
+    assert receiver._message_queue.qsize() == 1
+
+    queued_item = receiver._message_queue.get()
+    assert queued_item == "Some message to speak."
+
+def test_speech_priority(mocker):
+    """
+    Tests that a priority speech message is handled correctly by clearing the queue
+    and placing the priority message at the front.
+    """
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    mock_tts_service = mock.Mock()
+    mock_state.qi_session = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_tts_service
+
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+
+    receiver._message_queue.put("old_message_1")
+    receiver._message_queue.put("old_message_2")
+
+    assert receiver._message_queue.qsize() == 2
+
+    priority_msg = {
+        "endpoint": "actuate/speech", 
+        "data": "Urgent Message",
+        "is_priority": True,
+    }
+    receiver._handle_speech(priority_msg)
+
+    assert receiver._message_queue.qsize() == 1
+    queued_item = receiver._message_queue.get()
+    assert queued_item == "Urgent Message"
+
+def test_handle_messages_loop(mocker):
+    """
+    Tests the background consumer loop (_handle_messages) processing an item.
+    Runs SYNCHRONOUSLY to ensure coverage tools pick up the lines.
+    """
+    # Patch Thread so the real background thread NEVER starts automatically
+    mocker.patch("threading.Thread")
+
+    # Mock state
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+        
+    # Setup initial speaking state to False (covers "Started speaking" print)
+    mock_state.is_speaking = False
+    
+    # Mock the TextToSpeech service
+    mock_tts_service = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_tts_service
+    
+    # Initialize receiver (Thread is patched, so no thread starts)
+    # Use Mock Context to avoid ZMQ errors
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # Manually inject service (since lazy loading might handle it, but this is safer)
+    receiver._tts_service = mock_tts_service
+
+    # This ensures the while loop iterates exactly once
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    # Put an item in the queue
+    receiver._message_queue.put("Hello World")
+
+    # RUN MANUALLY in the main thread
+    # This executes the code: while -> try -> get -> if print -> speaking=True -> say
+    receiver._handle_messages()
+
+    # Assertions
+    assert receiver._message_queue.empty()
+    mock_tts_service.say.assert_called_with("Hello World")
+    assert mock_state.is_speaking is True
+
+
+def test_handle_messages_queue_empty(mocker):
+    """
+    Tests the Queue.Empty exception handler in the consumer loop.
+    This covers the logic that resets 'state.is_speaking' to False.
+    """
+    # Prevent the real background thread from starting
+    mocker.patch("threading.Thread")
+
+    # Mock the state object
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+        
+    # Setup 'is_speaking' property mock
+    # We set return_value=True so the code enters the 'if state.is_speaking:' block.
+    # We use PropertyMock to track when this attribute is set.
+    type(mock_state).is_speaking = True
+    
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # This ensures the while loop body runs exactly once for our test
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    # Force get() to raise Queue.Empty immediately (simulate timeout)
+    # We patch the 'get' method on the specific queue instance of our receiver
+    #mocker.patch.object(receiver._message_queue, 'get', side_effect=Queue.Empty)
+    
+    # Run the loop logic manually (synchronously)
+    receiver._handle_messages()
+
+    # Final Assertion: Verify is_speaking was set to False
+    # The code execution order is: read (returns True) -> print -> set (to False)
+    # assert_called_with checks the arguments of the LAST call, which is the setter.
+    assert mock_state.is_speaking is False
+
+
+def test_handle_messages_runtime_error(mocker):
+    """
+    Tests the RuntimeError exception handler (e.g. lost WiFi connection).
+    Uses a Mock ZMQ context to avoid 'Address already in use' errors.
+    """
+    # Patch Thread so we don't accidentally spawn real threads
+    mocker.patch("threading.Thread")
+    
+    # Mock the state and logging
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+        
+    # Use a MOCK ZMQ context. 
+    # This prevents the receiver from trying to bind to a real TCP port.
+    mock_zmq_ctx = mock.Mock()
+    
+    # Initialize receiver with the mock context
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    mock_state.exit_event.is_set.side_effect = [False, True]
+
+    receiver._message_queue.put("Test Message")
+    
+    # Setup: ...BUT the service raises RuntimeError when asked to speak
+    mock_tts = mock.Mock()
+    mock_tts.say.side_effect = RuntimeError("Connection lost")
+    receiver._tts_service = mock_tts
+    
+    # Run the loop logic manually
+    receiver._handle_messages()
+    
+    # Assertions
+    assert mock_state.exit_event.is_set.called
+
+def test_clear_queue(mocker):
+    """
+    Tests that the clear_queue method properly drains all items from the message queue.
+    """
+    mocker.patch("threading.Thread")
+    
+    # Use Mock Context
+    mock_zmq_ctx = mock.Mock()
+    receiver = ActuationReceiver(mock_zmq_ctx)
+    
+    # Populate the queue with multiple items
+    receiver._message_queue.put("msg1")
+    receiver._message_queue.put("msg2")
+    receiver._message_queue.put("msg3")
+    
+    assert receiver._message_queue.qsize() == 3
+
+    # Clear the queue
+    receiver.clear_queue()
+
+    # Assert the queue is empty
+    assert receiver._message_queue.qsize() == 0
+
+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

-    mock_qi.async.assert_called_once()
-    call_args = mock_qi.async.call_args[0]
-    assert call_args[0] == mock_tts_service.say
-    assert call_args[1] == "Some message to speak."
--- a/test/unit/test_audio_sender.py
+++ b/test/unit/test_audio_sender.py
@@ -0,0 +1,184 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
+import os
+
+import mock
+import pytest
+import zmq
+
+from robot_interface.endpoints.audio_sender import AudioSender
+
+
+@pytest.fixture
+def zmq_context():
+    """
+    A pytest fixture that creates and yields a ZMQ context.
+
+    :return: An initialized ZeroMQ context.
+    :rtype: zmq.Context
+    """
+    context = zmq.Context()
+    yield context
+
+
+def test_no_microphone(zmq_context, mocker):
+    """
+    Tests the scenario where no valid microphone can be chosen for recording.
+    """
+    mock_info_logger = mocker.patch("robot_interface.endpoints.audio_sender.logger.info")
+    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
+    mock_choose_mic.return_value = None
+
+    sender = AudioSender(zmq_context)
+    assert sender.microphone is None
+
+    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
+
+
+def test_unicode_mic_name(zmq_context, mocker):
+    """
+    Tests the robustness of the `AudioSender` when handling microphone names
+    that contain Unicode characters.
+    """
+    mocker.patch("robot_interface.endpoints.audio_sender.threading")
+    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
+    mock_choose_mic.return_value = {"name": u"• Some Unicode name"}
+
+    sender = AudioSender(zmq_context)
+    assert sender.microphone is not None
+
+    # `.start()` logs the name of the microphone. It should not give an error if it contains Unicode
+    #  symbols.
+    sender.start()
+    assert sender.thread is not None
+
+    sender.wait_until_done()  # Should return instantly because we didn't start a real thread
+
+
+def _fake_read(num_frames):
+    """
+    Helper function to simulate reading raw audio data from a microphone stream.
+    """
+    return os.urandom(num_frames * 4)
+
+
+def test_sending_audio(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 = False
+    # If there's something wrong with the microphone, it will raise an IOError when `read`ing.
+    stream = mock.Mock()
+    stream.read = _fake_read
+
+    sender = AudioSender(mock_zmq_context)
+    sender.socket.send = send_socket
+    sender.audio.open = mock.Mock()
+    sender.audio.open.return_value = stream
+
+    sender.start()
+    sender.wait_until_done()
+
+    send_socket.assert_called()
+
+
+def test_no_sending_if_speaking(mocker):
+    """
+    Tests the successful sending of audio data over a ZeroMQ socket.
+    """
+    mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
+    mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
+
+    mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
+    mock_state.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):
+    """
+    Helper function to simulate an I/O error during microphone stream reading.
+    """
+    raise IOError()
+
+
+def test_break_microphone(mocker):
+    """
+    Tests the error handling when the microphone stream breaks (raises an IOError).
+    """
+    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()
+
+    # If there's something wrong with the microphone, it will raise an IOError when `read`ing.
+    stream = mock.Mock()
+    stream.read = _fake_read_error
+
+    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 test_pyaudio_init_failure(mocker, zmq_context):
+    """
+    Tests the behavior when PyAudio initialization fails (raises an IOError).
+    """
+    # Prevent binding the ZMQ socket
+    mocker.patch("robot_interface.endpoints.audio_sender.AudioSender.create_socket")
+
+    # Simulate PyAudio() failing
+    mocker.patch(
+        "robot_interface.endpoints.audio_sender.pyaudio.PyAudio",
+        side_effect=IOError("boom")
+    )
+    
+    sender = AudioSender(zmq_context)
+
+    assert sender.audio is None
+    assert sender.microphone is None
--- a/test/unit/test_get_config.py
+++ b/test/unit/test_get_config.py
@@ -0,0 +1,52 @@
+# -*- 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
--- a/test/unit/test_main.py
+++ b/test/unit/test_main.py
@@ -0,0 +1,229 @@
+# -*- 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
+
+import robot_interface.main as main_mod
+from robot_interface.state import state
+
+
+class FakeSocket:
+    """Mock ZMQ socket for testing."""
+    def __init__(self, socket_type, messages=None):
+        self.socket_type = socket_type
+        self.messages = messages or []
+        self.sent = []
+        self.closed = False
+
+    def recv_json(self):
+        if not self.messages:
+            raise RuntimeError("No more messages")
+        return self.messages.pop(0)
+
+    def send_json(self, msg):
+        self.sent.append(msg)
+
+    def getsockopt(self, opt):
+        if opt == zmq.TYPE:
+            return self.socket_type
+
+    def close(self):
+        self.closed = True
+
+
+class FakeReceiver:
+    """Base class for main/actuation receivers."""
+    def __init__(self, socket):
+        self.socket = socket
+        self._called = []
+
+    def handle_message(self, msg):
+        self._called.append(msg)
+        return {"endpoint": "pong", "data": "ok"}
+
+    def close(self):
+        pass
+
+
+class DummySender:
+    """Mock sender to test start methods."""
+    def __init__(self):
+        self.called = False
+
+    def start_video_rcv(self):
+        self.called = True
+
+    def start(self):
+        self.called = True
+
+    def close(self):
+        pass
+
+
+@pytest.fixture
+def fake_sockets():
+    """Create default fake main and actuation sockets."""
+    main_sock = FakeSocket(zmq.REP)
+    act_sock = FakeSocket(zmq.SUB)
+    return main_sock, act_sock
+
+
+@pytest.fixture
+def fake_poll(monkeypatch):
+    """Patch zmq.Poller to simulate a single polling cycle based on socket messages."""
+    class FakePoller:
+        def __init__(self):
+            self.registered = {}
+            self.used = False
+
+        def register(self, socket, flags):
+            self.registered[socket] = flags
+
+        def poll(self, timeout):
+            # Only return sockets that still have messages
+            active_socks = {
+                s: flags
+                for s, flags
+                in self.registered.items()
+                if getattr(s, "messages", [])
+            }
+            if active_socks:
+                return active_socks
+            # No more messages, exit loop
+            state.exit_event.set()
+            return {}
+
+    poller_instance = FakePoller()
+    monkeypatch.setattr(main_mod.zmq, "Poller", lambda: poller_instance)
+    return poller_instance
+
+
+@pytest.fixture
+def patched_main_components(monkeypatch, fake_sockets, fake_poll):
+    """
+    Fixture to patch main receivers and senders with fakes.
+    Returns the fake instances for inspection in tests.
+    """
+    main_sock, act_sock = fake_sockets
+    fake_main = FakeReceiver(main_sock)
+    fake_act = FakeReceiver(act_sock)
+    video_sender = DummySender()
+    audio_sender = DummySender()
+
+    monkeypatch.setattr(main_mod, "MainReceiver", lambda ctx: fake_main)
+    monkeypatch.setattr(main_mod, "ActuationReceiver", lambda ctx: fake_act)
+    monkeypatch.setattr(main_mod, "VideoSender", lambda ctx: video_sender)
+    monkeypatch.setattr(main_mod, "AudioSender", lambda ctx: audio_sender)
+
+    # Register sockets for the fake poller
+    fake_poll.registered = {main_sock: zmq.POLLIN, act_sock: zmq.POLLIN}
+
+    return fake_main, fake_act, video_sender, audio_sender
+
+
+def test_main_loop_rep_response(patched_main_components):
+    """REP socket returns proper response and handlers are called."""
+    state.initialize()
+    fake_main, fake_act, video_sender, audio_sender = patched_main_components
+
+    fake_main.socket.messages = [{"endpoint": "ping", "data": "x"}]
+    fake_act.socket.messages = [{"endpoint": "actuate/speech", "data": "hello"}]
+
+    main_mod.main_loop(object())
+
+    assert fake_main.socket.sent == [{"endpoint": "pong", "data": "ok"}]
+    assert fake_main._called
+    assert fake_act._called
+    assert video_sender.called
+    assert audio_sender.called
+    state.deinitialize()
+
+
+@pytest.mark.parametrize(
+    "messages",
+    [
+        [{"no_endpoint": True}],   # Invalid dict
+        [["not", "a", "dict"]]     # Non-dict message
+    ]
+)
+def test_main_loop_invalid_or_non_dict_message(patched_main_components, messages):
+    """Invalid or non-dict messages are ignored."""
+    state.initialize()
+    fake_main, _, _, _ = patched_main_components
+
+    fake_main.socket.messages = messages
+    main_mod.main_loop(object())
+    assert fake_main.socket.sent == []
+    state.deinitialize()
+
+
+def test_main_loop_handler_returns_none(patched_main_components, monkeypatch):
+    """Handler returning None still triggers send_json(None)."""
+    state.initialize()
+    fake_main, _, _, _ = patched_main_components
+
+    class NoneHandler(FakeReceiver):
+        def handle_message(self, msg):
+            self._called.append(msg)
+            return None
+
+    monkeypatch.setattr(main_mod, "MainReceiver", lambda ctx: NoneHandler(fake_main.socket))
+    fake_main.socket.messages = [{"endpoint": "some", "data": None}]
+
+    main_mod.main_loop(object())
+    assert fake_main.socket.sent == [None]
+    state.deinitialize()
+
+
+def test_main_loop_overtime_callback(patched_main_components, monkeypatch):
+    """TimeBlock callback is triggered if handler takes too long."""
+    state.initialize()
+    fake_main, _, _, _ = patched_main_components
+    fake_main.socket.messages = [{"endpoint": "ping", "data": "x"}]
+
+    class FakeTimeBlock:
+        def __init__(self, callback, limit_ms):
+            self.callback = callback
+        def __enter__(self):
+            return self
+        def __exit__(self, *a):
+            self.callback(999.0)
+
+    monkeypatch.setattr(main_mod, "TimeBlock", FakeTimeBlock)
+    main_mod.main_loop(object())
+    assert fake_main.socket.sent == [{"endpoint": "pong", "data": "ok"}]
+    state.deinitialize()
+
+
+def test_main_keyboard_interrupt(monkeypatch):
+    """main() handles KeyboardInterrupt and cleans up."""
+    called = {"deinitialized": False, "term_called": False}
+
+    class FakeContext:
+        def term(self): called["term_called"] = True
+
+    monkeypatch.setattr(main_mod.zmq, "Context", lambda: FakeContext())
+
+    def raise_keyboard_interrupt(*_):
+        raise KeyboardInterrupt()
+    monkeypatch.setattr(main_mod, "main_loop", raise_keyboard_interrupt)
+
+    def fake_initialize():
+        state.is_initialized = True
+        state.exit_event = threading.Event()
+    def fake_deinitialize():
+        called["deinitialized"] = True
+        state.is_initialized = False
+
+    monkeypatch.setattr(main_mod.state, "initialize", fake_initialize)
+    monkeypatch.setattr(main_mod.state, "deinitialize", fake_deinitialize)
+
+    main_mod.main()
+    assert called["term_called"] is True
+    assert called["deinitialized"] is True
--- a/test/unit/test_main_receiver.py
+++ b/test/unit/test_main_receiver.py
@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import mock
 import pytest
 import zmq
@@ -7,11 +14,20 @@ from robot_interface.endpoints.main_receiver import MainReceiver

@pytest.fixture
 def zmq_context():
+    """
+    A pytest fixture that creates and yields a ZMQ context.
+    
+    :return: An initialized ZeroMQ context.
+    :rtype: zmq.Context
+    """
    context = zmq.Context()
    yield context


 def test_handle_ping(zmq_context):
+    """
+    Tests the receiver's ability to handle the "ping" endpoint with data.
+    """
    receiver = MainReceiver(zmq_context)
    response = receiver.handle_message({"endpoint": "ping", "data": "pong"})

@@ -22,6 +38,10 @@ def test_handle_ping(zmq_context):


 def test_handle_ping_none(zmq_context):
+    """
+    Tests the receiver's ability to handle the ping endpoint when the
+    data field is explicitly set to None.
+    """
    receiver = MainReceiver(zmq_context)
    response = receiver.handle_message({"endpoint": "ping", "data": None})

@@ -33,6 +53,9 @@ def test_handle_ping_none(zmq_context):

@mock.patch("robot_interface.endpoints.main_receiver.state")
 def test_handle_negotiate_ports(mock_state, zmq_context):
+    """
+    Tests the handling of the "negotiate/ports" endpoint.
+    """
    receiver = MainReceiver(zmq_context)
    mock_state.sockets = [receiver]

@@ -54,6 +77,10 @@ def test_handle_negotiate_ports(mock_state, zmq_context):


 def test_handle_unimplemented_endpoint(zmq_context):
+    """
+    Tests that the receiver correctly handles a request to a completely
+    unknown or non-existent endpoint.
+    """
    receiver = MainReceiver(zmq_context)
    response = receiver.handle_message({
        "endpoint": "some_endpoint_that_definitely_does_not_exist",
@@ -67,6 +94,13 @@ def test_handle_unimplemented_endpoint(zmq_context):


 def test_handle_unimplemented_negotiation_endpoint(zmq_context):
+    """
+    Tests handling a request to an unknown sub-endpoint within a known
+    group
+    
+    The expected behavior is to return a specific "negotiate/error" response
+    with a descriptive error string.
+    """
    receiver = MainReceiver(zmq_context)
    response = receiver.handle_message({
        "endpoint": "negotiate/but_some_subpath_that_definitely_does_not_exist",
--- a/test/unit/test_microphone_utils.py
+++ b/test/unit/test_microphone_utils.py
@@ -0,0 +1,138 @@
+# -*- 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
+
+from common.microphone_utils import MicrophoneUtils
+from robot_interface.utils.microphone import choose_mic_default, choose_mic_interactive
+
+
+class MockPyAudio:
+    """
+    A mock implementation of the PyAudio library class, designed for testing
+    microphone utility functions without requiring actual audio hardware.
+
+    It provides fake devices, including one input microphone, and implements
+    the core PyAudio methods required for device enumeration.
+
+    :ivar devices: A list of dictionaries representing mock audio devices.
+    :vartype devices: List[Dict[str, Any]]
+    """
+    def __init__(self):
+        # You can predefine fake device info here
+        self.devices = [
+            {
+                "index": 0,
+                "name": u"Someone’s Microphone",  # Using a Unicode ’ character
+                "maxInputChannels": 2,
+                "maxOutputChannels": 0,
+                "defaultSampleRate": 44100.0,
+                "defaultLowInputLatency": 0.01,
+                "defaultLowOutputLatency": 0.01,
+                "defaultHighInputLatency": 0.1,
+                "defaultHighOutputLatency": 0.1,
+                "hostApi": 0,
+            },
+            {
+                "index": 1,
+                "name": u"Mock Speaker 1",
+                "maxInputChannels": 0,
+                "maxOutputChannels": 2,
+                "defaultSampleRate": 48000.0,
+                "defaultLowInputLatency": 0.01,
+                "defaultLowOutputLatency": 0.01,
+                "defaultHighInputLatency": 0.1,
+                "defaultHighOutputLatency": 0.1,
+                "hostApi": 0,
+            },
+        ]
+
+    def get_device_count(self):
+        """
+        Returns the number of available mock devices.
+
+        :return: The total number of devices in the mock list.
+        :rtype: int
+        """
+        return len(self.devices)
+
+    def get_device_info_by_index(self, index):
+        """
+        Returns information for a given mock device index.
+
+        :param index: The index of the device to retrieve.
+        :type index: int
+
+        :return: A dictionary containing device information.
+        :rtype: Dict[str, Any]
+        """
+        if 0 <= index < len(self.devices):
+            return self.devices[index]
+        else:
+            raise IOError("Invalid device index: {}".format(index))
+
+    def get_default_input_device_info(self):
+        """
+        Returns information for the default mock input device.
+
+        :return: A dictionary containing the default input device information.
+        :rtype: Dict[str, Any]
+        """
+        for device in self.devices:
+            if device.get("maxInputChannels", 0) > 0:
+                return device
+        raise IOError("No default input device found")
+
+
+@pytest.fixture
+def pyaudio_instance():
+    """
+    A pytest fixture that returns an instance of the `MockPyAudio` class.
+
+    :return: An initialized instance of the mock PyAudio class.
+    :rtype: MockPyAudio
+    """
+    return MockPyAudio()
+
+
+def _raise_io_error():
+    """
+    Helper function used to mock PyAudio methods that are expected to fail 
+    when no device is available.
+    """
+    raise IOError()
+
+
+class TestAudioUnit(MicrophoneUtils):
+    """
+    Runs the shared microphone behavior tests defined in `MicrophoneUtils` using
+    the mock PyAudio implementation.
+    """
+    def test_choose_mic_default_no_mic(self):
+        """
+        Tests `choose_mic_default` when no microphones are available.
+        """
+        mock_pyaudio = mock.Mock()
+        mock_pyaudio.get_device_count = mock.Mock(return_value=0L)
+        mock_pyaudio.get_default_input_device_info = _raise_io_error
+
+        result = choose_mic_default(mock_pyaudio)
+
+        assert result is None
+
+    def test_choose_mic_interactive_no_mic(self):
+        """
+        Tests `choose_mic_interactive` when no microphones are available.
+        """
+        mock_pyaudio = mock.Mock()
+        mock_pyaudio.get_device_count = mock.Mock(return_value=0L)
+        mock_pyaudio.get_default_input_device_info = _raise_io_error
+
+        result = choose_mic_interactive(mock_pyaudio)
+
+        assert result is None
--- a/test/unit/test_qi_utils.py
+++ b/test/unit/test_qi_utils.py
@@ -0,0 +1,97 @@
+# -*- 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
+import robot_interface.utils.qi_utils as qi_utils
+
+
+def reload_qi_utils_with(qi_module):
+    """
+    Helper: reload qi_utils after injecting a fake qi module.
+    Python 2 uses built-in reload().
+    Just changing sys.modules[qi] won't affect the already imported module.
+    """
+    if qi_module is None:
+        if "qi" in sys.modules:
+            del sys.modules["qi"]
+    else:
+        sys.modules["qi"] = qi_module
+
+    # Python 2 reload
+    global qi_utils
+    qi_utils = reload(qi_utils)
+
+
+def test_get_qi_session_no_qi_module():
+    """
+    Tests the 'qi is None' path.
+    """
+    reload_qi_utils_with(None)
+
+    session = qi_utils.get_qi_session()
+    assert session is None
+
+
+def test_get_qi_session_no_qi_url_argument(monkeypatch):
+    """
+    Tests the '--qi-url not in sys.argv' path.
+    """
+    class FakeQi:
+        pass
+
+    reload_qi_utils_with(FakeQi())
+
+    monkeypatch.setattr(sys, "argv", ["pytest"])
+
+    session = qi_utils.get_qi_session()
+    assert session is None
+
+
+def test_get_qi_session_runtime_error(monkeypatch):
+    """
+    Tests the 'exept RuntineError' path.
+    """
+    class FakeApp:
+        def start(self):
+            raise RuntimeError("boom")
+
+    class FakeQi:
+        Application = lambda self=None: FakeApp()
+
+    reload_qi_utils_with(FakeQi())
+
+    monkeypatch.setattr(sys, "argv", ["pytest", "--qi-url", "tcp://localhost"])
+
+    session = qi_utils.get_qi_session()
+    assert session is None
+
+
+def test_get_qi_session_success(monkeypatch):
+    """
+    Tests a valid path.
+    """
+    class FakeSession:
+        pass
+
+    class FakeApp:
+        def __init__(self):
+            self.session = FakeSession()
+
+        def start(self):
+            return True
+
+    class FakeQi:
+        Application = lambda self=None: FakeApp()
+
+    reload_qi_utils_with(FakeQi())
+
+    monkeypatch.setattr(sys, "argv", ["pytest", "--qi-url", "tcp://localhost"])
+
+    session = qi_utils.get_qi_session()
+    assert isinstance(session, FakeSession)
--- a/test/unit/test_reciever_base.py
+++ b/test/unit/test_reciever_base.py
@@ -0,0 +1,26 @@
+# -*- 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
+
+
+def test_receiver_base_not_implemented(monkeypatch):
+    """
+    Ensure that the base ReceiverBase raises NotImplementedError when
+    handle_message is called on a subclass that does not implement it.
+    """
+    # Patch the __abstractmethods__ to allow instantiation
+    monkeypatch.setattr(ReceiverBase, "__abstractmethods__", frozenset())
+
+    class DummyReceiver(ReceiverBase):
+        pass
+
+    dummy = DummyReceiver("dummy")  # Can now instantiate
+
+    with pytest.raises(NotImplementedError):
+        dummy.handle_message({"endpoint": "dummy", "data": None})
--- a/test/unit/test_socket_base.py
+++ b/test/unit/test_socket_base.py
@@ -0,0 +1,62 @@
+# -*- 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
+
+
+def test_close_covers_both_branches():
+    """
+    Exercise both possible paths inside SocketBase.close():
+    - when no socket exists (should just return),
+    - when a socket object is present (its close() method should be called).
+    """
+    sb = SocketBase("x")
+
+    # First check the case where socket is None. Nothing should happen here.
+    sb.close()
+
+    # Now simulate a real socket so the close() call is triggered.
+    fake_socket = mock.Mock()
+    sb.socket = fake_socket
+    sb.close()
+
+    fake_socket.close.assert_called_once()
+
+
+def test_create_socket_and_endpoint_description_full_coverage():
+    """
+    Test the less-commonly used branch of create_socket() where bind=False.
+    This covers:
+      - the loop that sets socket options,
+      - the connect() path,
+      - the logic in endpoint_description() that inverts self.bound.
+    """
+    fake_context = mock.Mock()
+    fake_socket = mock.Mock()
+
+    # The context should hand back our fake socket object.
+    fake_context.socket.return_value = fake_socket
+
+    sb = SocketBase("id")
+
+    # Calling create_socket with bind=False forces the connect() code path.
+    sb.create_socket(
+        zmq_context=fake_context,
+        socket_type=zmq.SUB,
+        port=9999,
+        options=[(zmq.CONFLATE, 1)],  # one option is enough to hit the loop
+        bind=False,
+    )
+
+    fake_socket.setsockopt.assert_called_once_with(zmq.CONFLATE, 1)
+    fake_socket.connect.assert_called_once_with("tcp://localhost:9999")
+
+    # Check that endpoint_description reflects bound=False -> "bind": True
+    desc = sb.endpoint_description()
+    assert desc == {"id": "id", "port": 9999, "bind": True}
--- a/test/unit/test_state.py
+++ b/test/unit/test_state.py
@@ -0,0 +1,115 @@
+# -*- 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
+import mock
+
+from robot_interface.state import State
+
+
+def test_initialize_does_not_reinitialize():
+    """
+    Check that calling `initialize` on an already initialized state does not change existing
+    attributes.
+    """
+    state = State()
+    
+    # Mock qi_session to avoid real session creation
+    mock_session = mock.MagicMock()
+    state.qi_session = mock_session
+    
+    # Set state as already initialized
+    state.is_initialized = True
+    old_exit_event = state.exit_event
+    
+    # Call initialize
+    state.initialize()
+    
+    # Ensure existing attributes were not overwritten
+    assert state.exit_event == old_exit_event  # exit_event should not be recreated
+    assert state.qi_session == mock_session    # qi_session should not be replaced
+    assert state.is_initialized is True        # is_initialized should remain True
+
+
+def test_deinitialize_behavior():
+    """Check that deinitialize closes sockets and updates the initialization state correctly."""
+    state = State()
+    
+    # Case 1: Initialized with sockets
+    state.is_initialized = True
+    mock_socket_1 = mock.Mock()
+    mock_socket_2 = mock.Mock()
+    state.sockets = [mock_socket_1, mock_socket_2]
+    state.deinitialize()
+    
+    # Sockets should be closed
+    mock_socket_1.close.assert_called_once()
+    mock_socket_2.close.assert_called_once()
+    # State should be marked as not initialized
+    assert not state.is_initialized
+
+    # Case 2: Not initialized, should not raise
+    state.is_initialized = False
+    state.sockets = []
+    state.deinitialize()
+    assert not state.is_initialized
+
+
+def test_access_control_before_initialization():
+    """Verify that accessing certain attributes before initialization raises RuntimeError."""
+    state = State()
+    
+    with pytest.raises(RuntimeError, match=".*sockets.*"):
+        _ = state.sockets
+    
+    with pytest.raises(RuntimeError, match=".*qi_session.*"):
+        _ = state.qi_session
+
+
+def test_exit_event_before_initialized_returns_if_set():
+    """Check that exit_event can be accessed even if state is not initialized, 
+    but only if it is set."""
+    state = State()
+    
+    # Manually create and set the exit_event
+    object.__setattr__(state, "exit_event", threading.Event())
+    object.__getattribute__(state, "exit_event").set()
+    
+    # Should return the event without raising
+    assert state.exit_event.is_set()
+
+
+def test_getattribute_allowed_attributes_before_init():
+    """Ensure attributes allowed before initialization can be accessed without error."""
+    state = State()
+    
+    assert callable(state.initialize)
+    assert callable(state.deinitialize)
+    assert state.is_initialized is False
+    assert state.__dict__ is not None
+    assert state.__class__.__name__ == "State"
+    assert state.__doc__ is not None
+
+
+def test_signal_handler_sets_exit_event(monkeypatch):
+    """Ensure SIGINT triggers the exit_event via signal handler."""
+    state = State()
+    
+    # Patch get_qi_session to prevent real session creation
+    monkeypatch.setattr("robot_interface.state.get_qi_session", lambda: "dummy_session")
+    
+    # Initialize state to set up signal handlers
+    state.initialize()
+    
+    # Simulate SIGINT
+    signal_handler = signal.getsignal(signal.SIGINT)
+    signal_handler(None, None)
+    
+    # Exit event should be set
+    assert state.exit_event.is_set()
--- a/test/unit/test_time_block.py
+++ b/test/unit/test_time_block.py
@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import time

 import mock
@@ -6,11 +13,21 @@ from robot_interface.utils.timeblock import TimeBlock


 class AnyFloat(object):
+    """
+    A helper class used in tests to assert that a mock function was called
+    with an argument that is specifically a float, regardless of its value.
+    
+    It overrides the equality comparison (`__eq__`) to check only the type.
+    """
    def __eq__(self, other):
        return isinstance(other, float)


 def test_no_limit():
+    """
+    Tests the scenario where the `TimeBlock` context manager is used without
+    a time limit.
+    """
    callback = mock.Mock()

    with TimeBlock(callback):
@@ -20,6 +37,10 @@ def test_no_limit():


 def test_exceed_limit():
+    """
+    Tests the scenario where the execution time within the `TimeBlock` 
+    exceeds the provided limit.
+    """
    callback = mock.Mock()

    with TimeBlock(callback, 0):
@@ -29,6 +50,10 @@ def test_exceed_limit():


 def test_within_limit():
+    """
+    Tests the scenario where the execution time within the `TimeBlock`
+    stays within the provided limit.
+    """
    callback = mock.Mock()

    with TimeBlock(callback, 5):
--- a/test/unit/test_video_sender.py
+++ b/test/unit/test_video_sender.py
@@ -0,0 +1,132 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
+import struct
+import mock
+import pytest
+import zmq
+
+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."""
+    yield zmq.Context()
+
+
+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)
+
+
+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()
+
+    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)
+
+    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_video_service.getImageRemote.side_effect = Exception("boom")
+
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    mocker.patch.object(state, "qi_session", fake_session)
+
+    mocker.patch.object(
+        fake_session.service("ALVideoDevice"),
+        "subscribeCamera",
+        return_value="stream_name"
+    )
+
+    sender = VideoSender(zmq_context)
+    send_socket = mock.Mock()
+    sender.socket.send_multipart = send_socket
+
+    sender.start_video_rcv()
+    sender.video_rcv_loop(mock_video_service, "stream_name")
+
+    send_socket.assert_not_called()
+
+def test_video_loop_keyboard_interrupt(zmq_context, mocker):
+    """Video loop should handle KeyboardInterrupt gracefully and unsubscribe."""
+    _patch_basics(mocker)
+    _patch_exit_event(mocker)
+    
+    # We mock the video service to raise KeyboardInterrupt when accessed
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
+    
+    # Mock logging to verify the specific interrupt message is logged
+    mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
+
+    sender = VideoSender(zmq_context)
+    
+    # Execute the loop
+    sender.video_rcv_loop(mock_video_service, "stream_name")
+
+    # Verify the 'finally' block executed (unsubscribe)
+    mock_video_service.unsubscribe.assert_called_with("stream_name")
+    mock_logger.info.assert_any_call("Unsubscribed from video stream.")
Author	SHA1	Message	Date
Kasper Marinus	06e3dad25d	Merge branch 'fix/send-video' into 'main' fix: send video See merge request ics/sp/2025/n25b/pepperplus-ri!28	2026-01-30 19:19:03 +00:00
Storm	fe8bad1f8c	Merge branch 'main' into fix/send-video	2026-01-30 17:28:13 +01:00
Kasper Marinus	5bb5d8a0cc	Merge branch 'chore/copyright-all-files' into 'main' chore: add copyright to all source files See merge request ics/sp/2025/n25b/pepperplus-ri!29	2026-01-30 11:47:30 +00:00
Pim Hutting	ea208175de	chore: add copyright to all source files	2026-01-29 15:57:22 +01:00
Storm	8333f2fc2a	chore: removed numpy import	2026-01-29 13:09:25 +01:00
Storm	24c7fa216f	test: 100% coverage ref: N25B-393	2026-01-29 12:28:34 +01:00
Storm	56becd84ac	test: fixed video_sender tests ref: N25B-393	2026-01-29 12:16:48 +01:00
Storm	4a2cace1cf	chore: changed socket option to set HWM to 3 (max 3 packets in queue	2026-01-29 12:02:28 +01:00
Kasper Marinus	ad58b16559	Merge branch 'dev' into 'main' Merge dev with main See merge request ics/sp/2025/n25b/pepperplus-ri!27	2026-01-28 10:54:22 +00:00
Kasper Marinus	fb0d7850cc	Merge branch 'main' into dev	2026-01-28 11:53:23 +01:00
Storm	891ebf5e3f	chore: changed video sending to work without cv2	2026-01-27 17:58:06 +01:00
Pim Hutting	da97eb8a1a	Merge branch 'feat/robot-speech-agent-force-speech' into 'dev' feat: implemented forced speech and speech queue See merge request ics/sp/2025/n25b/pepperplus-ri!23	2026-01-14 14:26:39 +00:00
Luijkx,S.O.H. (Storm)	e51cf8fe65	feat: implemented forced speech and speech queue	2026-01-14 14:26:38 +00:00
Twirre	1e77548622	Merge branch 'feat/ri-gestures' into 'dev' feat: gestures to ri See merge request ics/sp/2025/n25b/pepperplus-ri!21	2025-12-16 08:35:26 +00:00
JobvAlewijk	a8fe887c48	feat: gestures to ri	2025-12-16 08:35:26 +00:00
JobvAlewijk	df702f1e44	Merge branch 'feat/environment-variables' into 'dev' Add environment variables See merge request ics/sp/2025/n25b/pepperplus-ri!22	2025-12-13 13:43:52 +00:00
JobvAlewijk	a2cb2ae90a	Merge branch 'dev' of ssh://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-ri into feat/environment-variables	2025-12-13 14:43:02 +01:00
Luijkx,S.O.H. (Storm)	017dbfaa28	Merge branch 'docs/extract-installation-instructions' into 'dev' Improve installation instructions See merge request ics/sp/2025/n25b/pepperplus-ri!20	2025-12-11 10:58:56 +00:00
Twirre	9ff1d9a4d3	Improve installation instructions	2025-12-11 10:58:56 +00:00
Twirre Meulenbelt	3a259c1170	feat: add environment variables and docs ref: N25B-352	2025-12-10 13:28:13 +01:00
JobvAlewijk	c86eda497c	Merge branch 'feat/ci-cd' into 'dev' Introduce CI/CD with tests See merge request ics/sp/2025/n25b/pepperplus-ri!19	2025-12-03 15:23:37 +00:00
Twirre Meulenbelt	94b92b3e4a	feat: re-introduce git hooks Now using the standardized method from the CB. ref: N25B-367	2025-12-02 22:04:46 +01:00
Twirre Meulenbelt	f469e4ce36	fix: install in a .venv artifact This artifact can be reused in different stages. ref: N25B-367	2025-12-02 21:46:24 +01:00
Twirre Meulenbelt	28a556becd	feat: introduce CI/CD with tests Using a custom base image installed on the runner, the installation and tests should work (fast). ref: N25B-367	2025-12-02 21:12:15 +01:00
Twirre	89c9f2ebea	Merge branch 'test/video-sender' into 'dev' test: added full video sender coverage tests See merge request ics/sp/2025/n25b/pepperplus-ri!18	2025-11-24 20:41:08 +00:00
JobvAlewijk	96f328d56c	test: added full video sender coverage tests	2025-11-24 20:41:08 +00:00
Twirre	4d634a3b4e	Merge branch 'test/main-start' into 'dev' test: added main tests See merge request ics/sp/2025/n25b/pepperplus-ri!17	2025-11-24 20:37:59 +00:00
JobvAlewijk	e2a71ad6c2	test: added main tests	2025-11-24 20:37:59 +00:00
Kasper Marinus	2fcd885a00	Merge branch 'test/state' into 'dev' test: added tests for full state coverage See merge request ics/sp/2025/n25b/pepperplus-ri!16	2025-11-24 20:24:19 +00:00
JobvAlewijk	336acac440	test: added tests for full state coverage	2025-11-24 20:24:19 +00:00
Twirre	f4fbc69c7f	Merge branch 'test/reciever-base' into 'dev' test: added not overridden reciever base test See merge request ics/sp/2025/n25b/pepperplus-ri!15	2025-11-24 20:06:58 +00:00
JobvAlewijk	fbe8f59c38	test: added not overridden reciever base test	2025-11-24 20:06:58 +00:00
Twirre	e99d7e8557	Merge branch 'test/audio-sender' into 'dev' test: added init failure test in audio sender See merge request ics/sp/2025/n25b/pepperplus-ri!14	2025-11-24 20:05:10 +00:00
JobvAlewijk	2350f6eec7	test: added init failure test in audio sender	2025-11-24 20:05:10 +00:00
Twirre	2852b714f5	Merge branch 'test/qi-utils' into 'dev' test: added qi_utils test See merge request ics/sp/2025/n25b/pepperplus-ri!12	2025-11-24 20:02:28 +00:00
JobvAlewijk	7628e47478	test: added qi_utils test	2025-11-24 20:02:28 +00:00
Twirre	36f5fae45c	Merge branch 'test/socket-base' into 'dev' test: added socket base tests See merge request ics/sp/2025/n25b/pepperplus-ri!13	2025-11-24 13:32:31 +00:00
JobvAlewijk	6ea870623b	test: added socket base tests	2025-11-24 13:32:31 +00:00
Kasper Marinus	8d6dd23acb	Merge branch 'chore/add-documentation' into 'dev' chore: add documentation RI See merge request ics/sp/2025/n25b/pepperplus-ri!11	2025-11-22 19:14:51 +00:00
Twirre Meulenbelt	a53871360e	docs: remove duplicate and double space ref: N25B-298	2025-11-22 19:32:50 +01:00
Pim Hutting	c1e92feba7	Apply 1 suggestion(s) to 1 file(s) Co-authored-by: Kasper Marinus <k.marinus@students.uu.nl>	2025-11-22 12:37:39 +00:00
Pim Hutting	6859451bf9	Apply 1 suggestion(s) to 1 file(s) Co-authored-by: Twirre <s.a.meulenbelt@students.uu.nl>	2025-11-22 12:36:34 +00:00
Twirre Meulenbelt	64c6f0addb	docs: make doc generator understand multi line ref: N25B-298	2025-11-22 12:44:13 +01:00
Pim Hutting	c53307530b	chore: applied all feedback close: N25B-298	2025-11-22 11:45:32 +01:00
Pim Hutting	051f904576	chore: add documentation RI Code functionality left unchanged, only added docs where missing close: N25B-298	2025-11-21 16:35:40 +01:00
Twirre	1e3531ac6e	Merge branch 'docs/gen_documentation' into 'dev' docs: added auto-generation of documentation See merge request ics/sp/2025/n25b/pepperplus-ri!10	2025-11-19 17:14:36 +00:00
Storm	cec29f6206	chore: updated .gitignore ref: N25B-270	2025-11-19 18:10:18 +01:00
Storm	a0a8ad2689	docs: changed readme ref: N25B-270	2025-11-19 17:59:37 +01:00
JobvAlewijk	1c9467d03a	fix: conf includes correct path ref: N25B-270	2025-11-19 17:57:24 +01:00
Storm	9dd39d2048	docs: added auto-generation of documentation ref: N25B-270	2025-11-19 13:49:50 +01:00
Twirre	b05aa5e834	Merge branch 'refactor/config-file' into 'dev' refactor: added config file and moved constants See merge request ics/sp/2025/n25b/pepperplus-ri!9	2025-11-14 14:15:06 +00:00
Twirre Meulenbelt	c691e279cd	style: two lines between top level declarations ref: N25B-236	2025-11-14 15:13:48 +01:00
Pim Hutting	16b64e41c8	style: applied style suggestions close: N25B-236	2025-11-14 14:12:14 +00:00
Twirre Meulenbelt	03519e2a16	test: fix microphone interactive test This was created with the assumption that all devices were choosable, but now only ones with input channels are. ref: N25B-119	2025-11-14 13:08:31 +01:00
Pim Hutting	643d7b919c	fix: made all tests pass before some tests failed because of a faulty edit to microphone util ref: N25B-236	2025-11-09 16:00:36 +01:00
Pim Hutting	4402b21a73	refactor: added config file and moved constants - Moved hardcoded configuration constants to a dedicated config.py file. - Created VideoConfig, AudioConfig, MainConfig, and Settings classes in config.py ref: N25B-236	2025-11-09 15:43:22 +01:00
Pim Hutting	c037eb7ec2	Merge branch 'feat/stream-audio' into 'dev' Implement audio streaming See merge request ics/sp/2025/n25b/pepperplus-ri!8	2025-11-05 12:08:28 +00:00
Twirre Meulenbelt	8a095323ec	docs: describe extra WSL installation step ref: N25B-119	2025-11-02 16:35:15 +01:00
Twirre Meulenbelt	854a14bf0c	docs: describe `--microphone` program parameter ref: N25B-119	2025-11-02 16:16:43 +01:00
Twirre Meulenbelt	fab5127cac	feat: add application parameter to choose a custom microphone ref: N25B-119	2025-11-02 16:12:56 +01:00
Twirre Meulenbelt	5912ac606a	docs: add installation instructions for the portaudio dependency ref: N25B-119	2025-11-02 15:01:18 +01:00
Twirre Meulenbelt	9ea446275e	fix: allow speaking text with Unicode characters When speaking, the actuation receiver logs the message to speak. If the message includes Unicode characters, it will now no longer crash. ref: N25B-119	2025-11-02 14:59:16 +01:00
Twirre Meulenbelt	a6a12a5886	fix: remove unused qi import It had already been made so that the VideoSender does not depend on `qi`, but the import was not yet removed. ref: N25B-119	2025-11-02 14:58:32 +01:00
Twirre Meulenbelt	230ab5d5cc	test: add case for microphone failure When the microphone fails, it will raise an IOError during the `read`. This is simulated with a new test. ref: N25B-119	2025-10-22 15:38:30 +02:00
Twirre Meulenbelt	0499cd8a24	feat: send audio AudioSender runs in a separate thread to send audio from the microphone. ref: N25B-119	2025-10-22 15:10:27 +02:00
Twirre Meulenbelt	f8db719bfa	test: unit test mock PyAudio, integration test use real Make unit tests use a mock version of PyAudio, while making integration tests using the real version. If no real microphone is available, these integration tests are skipped. ref: N25B-119	2025-10-22 13:27:35 +02:00
Twirre Meulenbelt	1e3e077029	fix: disallow selecting non-microphone audio device Previously any audio device was allowed to be selected as microphone. Now, only ones with at least one input channel can be selected. ref: N25B-119	2025-10-22 13:24:46 +02:00
Twirre Meulenbelt	0f60f67ab9	feat: add microphone selection utils Providing two functions, one to choose the default microphone, the other to choose a microphone interactively. With tests. ref: N25B-119	2025-10-22 11:44:51 +02:00
Kasper	aad2044b6e	chore: add .gitignore	2025-09-27 17:58:12 +02:00