test: make audio sender tests pass

fix: send video

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

.env.example

@@ -0,0 +1,28 @@
+# 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
+
+# Whether to use Pepper's microphone when Pepper is connected.
+AUDIO__USE_PEPPER_MICROPHONE=true
+
+
+
+# Variables that are unlikely to be configured, you can probably ignore these:
+
+#AGENT__ACTUATION_RECEIVER_PORT=
+#AGENT__MAIN_RECEIVER_PORT=
+#AGENT__VIDEO_SENDER_PORT=
+#AGENT__AUDIO_SENDER_PORT=
+#VIDEO__CAMERA_INDEX=
+#VIDEO__RESOLUTION=
+#VIDEO__COLOR_SPACE=
+#VIDEO__FPS=
+#VIDEO__STREAM_NAME=
+#VIDEO__IMAGE_BUFFER=
+#AUDIO__SAMPLE_RATE=
+#AUDIO__CHUNK_SIZE=
+#AUDIO__CHANNELS=

README.md

@@ -39,10 +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

requirements.txt

@@ -6,3 +6,6 @@ pytest-cov<3.0.0
 sphinx
 sphinx_rtd_theme
 pre-commit
+python-dotenv
+numpy<=1.16.6
+enum34

src/robot_interface/__init__.py

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

src/robot_interface/core/__init__.py

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

src/robot_interface/core/config.py

@@ -1,95 +1,117 @@
+# -*- 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 actuating_receiver_port: Port for receiving actuation commands.
-    :vartype actuating_receiver_port: int
-    :ivar main_receiver_port: Port for receiving main messages.
+    :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.
+    :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.
+    :ivar audio_sender_port: Port used for sending audio data, defaults to 5558.
     :vartype audio_sender_port: int
     """
     def __init__(
-        self, 
-        actuating_receiver_port=5557, 
-        main_receiver_port=5555,
-        video_sender_port=5556, 
-        audio_sender_port=5558,
+        self,
+        control_backend_host=None,
+        actuation_receiver_port=None,
+        main_receiver_port=None,
+        video_sender_port=None,
+        audio_sender_port=None,
     ):
-        self.actuating_receiver_port = actuating_receiver_port
-        self.main_receiver_port = main_receiver_port
-        self.video_sender_port = video_sender_port
-        self.audio_sender_port = audio_sender_port
+        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.
+    :ivar camera_index: Index of the camera used, defaults to 0.
     :vartype camera_index: int
-    :ivar resolution: Video resolution mode.
+    :ivar resolution: Video resolution mode, defaults to 2.
     :vartype resolution: int
-    :ivar color_space: Color space identifier.
+    :ivar color_space: Color space identifier, defaults to 11.
     :vartype color_space: int
-    :ivar fps: Frames per second of the video stream.
+    :ivar fps: Frames per second of the video stream, defaults to 15.
     :vartype fps: int
-    :ivar stream_name: Name of the video stream.
+    :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.
+    :ivar image_buffer: Internal buffer size for video frames, defaults to 6.
     :vartype image_buffer: int
     """
     def __init__(
         self,
-        camera_index=0,
-        resolution=2,
-        color_space=11,
-        fps=15,
-        stream_name="Pepper Video",
-        image_buffer=6,
+        camera_index=None,
+        resolution=None,
+        color_space=None,
+        fps=None,
+        stream_name=None,
+        image_buffer=None,
     ):
-        self.camera_index = camera_index
-        self.resolution = resolution
-        self.color_space = color_space
-        self.fps = fps
-        self.stream_name = stream_name  
-        self.image_buffer  = image_buffer
+        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.
+    :ivar use_pepper_microphone: Whether to use Pepper's microphone or not, defaults to True.
+    :vartype use_pepper_microphone: bool
+    :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
     :vartype sample_rate: int
-    :ivar chunk_size: Size of audio chunks to capture/process.
+    :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
     :vartype chunk_size: int
-    :ivar channels: Number of audio channels.
+    :ivar channels: Number of audio channels, defaults to 1.
     :vartype channels: int
     """
-    def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
-        self.sample_rate = sample_rate
-        self.chunk_size = chunk_size
-        self.channels = channels
+    def __init__(
+        self,
+        use_pepper_microphone=None,
+        sample_rate=None,
+        chunk_size=None,
+        channels=None,
+    ):
+        self.use_pepper_microphone = get_config(use_pepper_microphone, "AUDIO__USE_PEPPER_MICROPHONE", True, bool)
+        self.sample_rate = get_config(sample_rate, "AUDIO__SAMPLE_RATE", 16000, int)
+        self.chunk_size = get_config(chunk_size, "AUDIO__CHUNK_SIZE", 512, int)
+        self.channels = get_config(channels, "AUDIO__CHANNELS", 1, int)
 
 
 class MainConfig(object):
     """
     Main system configuration.
 
-    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
+    :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.
+    :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=100, max_handler_time_ms=50):
-        self.poll_timeout_ms = poll_timeout_ms
-        self.max_handler_time_ms = max_handler_time_ms
+    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):

src/robot_interface/endpoints/__init__.py

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

src/robot_interface/endpoints/actuation_receiver.py

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

src/robot_interface/endpoints/audio_sender.py

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

src/robot_interface/endpoints/gesture_settings.py

@@ -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"]         

src/robot_interface/endpoints/main_receiver.py

@@ -1,3 +1,10 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import zmq
 
 from robot_interface.endpoints.receiver_base import ReceiverBase
@@ -5,6 +12,7 @@ from robot_interface.state import state
 
 from robot_interface.core.config import settings
 
+
 class MainReceiver(ReceiverBase):
     """
     The main receiver endpoint, responsible for handling ping and negotiation requests.
@@ -12,10 +20,12 @@ class MainReceiver(ReceiverBase):
     :param zmq_context: The ZeroMQ context to use.
     :type zmq_context: zmq.Context
 
-    :param port: The port to use.
+    :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=settings.agent_settings.main_receiver_port):
+    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)
 

src/robot_interface/endpoints/receiver_base.py

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

src/robot_interface/endpoints/socket_base.py

@@ -1,7 +1,16 @@
+# -*- 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):
     """
@@ -59,7 +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."""

src/robot_interface/endpoints/video_sender.py

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

src/robot_interface/main.py

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

src/robot_interface/state.py

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

src/robot_interface/utils/__init__.py

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

src/robot_interface/utils/get_config.py

@@ -0,0 +1,48 @@
+# -*- 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`.
+
+    Special handling for booleans, which are only true if the value of the variable is "true" or "yes", ignoring capitalization.
+
+    :param value: The value to check.
+    :type value: Any
+    :param env: The environment variable to check.
+    :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 or env is None:
+        return env
+
+    if cast == bool:
+        if isinstance(env, bool):
+            return env
+        if not isinstance(default, bool):
+            raise ValueError("Default value must be a boolean if the cast type is a boolean.")
+        return env.lower() == "true" or env.lower() == "yes"
+
+    return cast(env)

src/robot_interface/utils/microphone.py

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

src/robot_interface/utils/qi_utils.py

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

src/robot_interface/utils/timeblock.py

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

test/common/__init__.py

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

test/common/microphone_utils.py

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

test/conftest.py

@@ -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

test/integration/__init__.py

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

test/integration/test_config.py

@@ -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")

test/integration/test_microphone_utils.py

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

test/unit/__init__.py

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

test/unit/test_actuation_receiver.py

@@ -1,10 +1,18 @@
+# -*- coding: utf-8 -*-
+"""
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+"""
+
 import sys
 
 import mock
 import pytest
 import zmq
-import Queue
+
 from robot_interface.endpoints.actuation_receiver import ActuationReceiver
+from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 @pytest.fixture
@@ -18,6 +26,7 @@ def zmq_context():
     context = zmq.Context()
     yield context
 
+
 def test_force_speech_clears_queue(mocker):
     """
     Tests that a force speech message clears the existing queue
@@ -52,6 +61,7 @@ def test_force_speech_clears_queue(mocker):
     queued_item = receiver._message_queue.get()
     assert queued_item == "Emergency Notification"
 
+
 def test_handle_unimplemented_endpoint(mocker):
     """
     Tests handling of unknown endpoints.
@@ -67,6 +77,7 @@ def test_handle_unimplemented_endpoint(mocker):
         "data": None,
     })
 
+
 def test_speech_message_no_data(mocker):
     """
     Tests that if the message data is empty, the receiver returns immediately
@@ -328,4 +339,155 @@ def test_clear_queue(mocker):
     receiver.clear_queue()
 
     # Assert the queue is empty
-    assert receiver._message_queue.qsize() == 0
+    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
+

test/unit/test_audio_sender.py

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

test/unit/test_get_config.py

@@ -0,0 +1,107 @@
+# -*- 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
+
+
+def test_get_config_unset_boolean_default(monkeypatch):
+    """
+    When the env var is a boolean, and it's not set, ensure it uses the default value.
+    """
+    monkeypatch.delenv("SOME_BOOLEAN_VARIABLE", raising=False)
+
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == False
+
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == True
+
+
+def test_get_config_true_boolean(monkeypatch):
+    """
+    When the env var is a boolean, and its value is "true", "TRUE", "yes", etc., it should return true.
+    """
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "TRUE")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "true")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "yes")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "YES")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "TrUE")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", False, bool)
+    assert result == True
+
+
+def test_get_config_false_boolean(monkeypatch):
+    """
+    When the env var is a boolean, and its value is not "true", "TRUE", "yes", etc., it should return False.
+    """
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "FALSE")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == False
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "false")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == False
+
+    monkeypatch.setenv("SOME_BOOLEAN_VARIABLE", "anything, tbh")
+    result = get_config(None, "SOME_BOOLEAN_VARIABLE", True, bool)
+    assert result == False

test/unit/test_main.py

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

test/unit/test_main_receiver.py

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

test/unit/test_microphone_utils.py

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

test/unit/test_qi_utils.py

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

test/unit/test_reciever_base.py

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

test/unit/test_socket_base.py

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

test/unit/test_state.py

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

test/unit/test_time_block.py

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

test/unit/test_video_sender.py

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