chore: forgot copyright

ref: N25B-397

.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=

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

src/robot_interface/core/config.py

@@ -1,95 +1,109 @@
 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
+    :ivar face_detection_port: Port used for sending face detection events, defaults to 5559.
+    :vartype face_detection_port: int
+    :ivar face_detection_interval: Time between face detection events, defaults to 1000 ms.
+    :vartype face_detection_interval: 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,
+        face_detection_port=None,
+        face_detection_interval=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)
+        self.face_detection_port = get_config(face_detection_port, "AGENT__FACE_DETECTION_PORT", 5559, int)
+        self.face_detection_interval = get_config(face_detection_interval, "AGENT__FACE_DETECTION_INTERVAL", 1000, 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", 11, int)
+        self.fps = get_config(fps, "VIDEO__FPS", 15, int)
+        self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
+        self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)
 
 
 class AudioConfig(object):
     """
     Audio configuration constants.
 
-    :ivar sample_rate: Audio sampling rate in Hz.
+    :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, 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.
+    :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/actuation_receiver.py

@@ -1,6 +1,5 @@
 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 +7,8 @@ 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 +23,16 @@ 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 +62,7 @@ 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 +74,7 @@ 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 +83,53 @@ 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 +139,30 @@ 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

@@ -89,6 +89,7 @@ class AudioSender(SocketBase):
         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)

src/robot_interface/endpoints/face_detector.py

@@ -0,0 +1,93 @@
+# -*- 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
+
+import json
+import logging
+import threading
+import time
+import zmq
+
+from robot_interface.endpoints.socket_base import SocketBase
+from robot_interface.state import state
+from robot_interface.core.config import settings
+
+
+class FaceDetectionSender(SocketBase):
+    """
+    Face detection endpoint.
+
+    Subscribes to and polls ALMemory["FaceDetected"], sends events to CB.
+    """
+
+    def __init__(self, zmq_context, port=settings.agent_settings.face_detection_port):
+        super(FaceDetectionSender, self).__init__("face")
+
+        self.create_socket(zmq_context, zmq.PUB, port)
+
+        self._face_service = None
+        self._memory_service = None
+
+        self._face_thread = None
+
+    def start_face_detection(self):
+        if not state.qi_session:
+            logging.warning("No Qi session available. Face detection not started.")
+            return
+
+        self._face_service = state.qi_session.service("ALFaceDetection")
+        self._memory_service = state.qi_session.service("ALMemory")
+
+        self._face_service.setTrackingEnabled(False)
+        self._face_service.setRecognitionEnabled(False)
+
+        self._face_service.subscribe(
+            "FaceDetectionSender",
+            settings.agent_settings.face_detection_interval,
+            0.0,
+        )
+
+        self._face_thread = threading.Thread(target=self._face_loop)
+        self._face_thread.start()
+
+        logging.info("Face detection started.")
+
+    def _face_loop(self):
+        """
+        Continuously send face detected to the CB, at the interval set in the
+        ``start_face_detection`` method.
+        """
+        while not state.exit_event.is_set():
+            try:
+                value = self._memory_service.getData("FaceDetected", 0)
+
+                face_present = (
+                    value
+                    and len(value) > 1
+                    and value[1]
+                    and value[1][0]
+                    and len(value[1][0]) > 0
+                )
+
+                self.socket.send(json.dumps({"face_detected": face_present}).encode("utf-8"))
+            except Exception:
+                logging.exception("Error reading FaceDetected")
+
+            time.sleep(settings.agent_settings.face_detection_interval / 1000.0)
+
+    def stop_face_detection(self):
+        try:
+            if self._face_service:
+                self._face_service.unsubscribe("FaceDetectionSender")
+                self._face_service.setTrackingEnabled(False)
+            logging.info("Face detection stopped.")
+        except Exception:
+            logging.warning("Error during face detection cleanup.")
+
+    def close(self):
+        super(FaceDetectionSender, self).close()
+        self.stop_face_detection()

src/robot_interface/endpoints/gesture_settings.py

@@ -0,0 +1,412 @@
+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

@@ -4,6 +4,8 @@ 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.face_detector import FaceDetectionSender
+
 
 class MainReceiver(ReceiverBase):
     """
@@ -12,10 +14,12 @@ 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)
 
@@ -34,6 +38,7 @@ class MainReceiver(ReceiverBase):
         """
         return {"endpoint": "ping", "data": message.get("data")}
 
+
     @staticmethod
     def _handle_port_negotiation(message):
         """

src/robot_interface/endpoints/socket_base.py

@@ -2,6 +2,8 @@ from abc import ABCMeta
 
 import zmq
 
+from robot_interface.core.config import settings
+
 
 class SocketBase(object):
     """
@@ -59,7 +61,7 @@ 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

@@ -6,6 +6,7 @@ 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.

src/robot_interface/main.py

@@ -12,6 +12,8 @@ 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
+from robot_interface.endpoints.face_detector import FaceDetectionSender
+
 
 
 def main_loop(context):
@@ -35,6 +37,12 @@ def main_loop(context):
     video_sender.start_video_rcv()
     audio_sender.start()
 
+    # --- Face detection sender ---
+    face_sender = FaceDetectionSender(context)
+    state.sockets.append(face_sender)
+    face_sender.start_face_detection()
+
+
     # 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]
 

src/robot_interface/utils/get_config.py

@@ -0,0 +1,32 @@
+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)

test/conftest.py

@@ -0,0 +1,10 @@
+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/test_config.py

@@ -0,0 +1,32 @@
+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/unit/test_actuation_receiver.py

@@ -3,8 +3,9 @@ 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 +19,7 @@ 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 +54,7 @@ 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 +70,7 @@ 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 +332,155 @@ 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

@@ -77,7 +77,8 @@ def test_sending_audio(mocker):
 
     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
@@ -93,6 +94,36 @@ def test_sending_audio(mocker):
     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.

test/unit/test_face_detection_sender.py

@@ -0,0 +1,175 @@
+# -*- 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
+
+import json
+import mock
+import pytest
+
+from robot_interface.endpoints.face_detector import FaceDetectionSender
+from robot_interface.state import state
+
+
+@pytest.fixture(autouse=True)
+def initialized_state(monkeypatch):
+    """
+    Fully initialize global state so __getattribute__ allows access.
+    """
+    # Bypass the initialization guard
+    monkeypatch.setattr(state, "is_initialized", True, raising=False)
+
+    # Install a controllable exit_event
+    exit_event = mock.Mock()
+    exit_event.is_set = mock.Mock(return_value=True)
+    monkeypatch.setattr(state, "exit_event", exit_event, raising=False)
+
+    # Default qi_session is None unless overridden
+    monkeypatch.setattr(state, "qi_session", None, raising=False)
+
+    yield
+
+
+def test_start_face_detection_no_qi_session():
+    """
+    Returns early when qi_session is None.
+    """
+    sender = FaceDetectionSender(mock.Mock())
+    sender.start_face_detection()
+
+    assert sender._face_thread is None
+    assert sender._face_service is None
+    assert sender._memory_service is None
+
+
+def test_start_face_detection_happy_path(mocker):
+    """
+    Initializes services and starts background thread.
+    """
+    mock_face = mock.Mock()
+    mock_memory = mock.Mock()
+
+    mock_qi = mock.Mock()
+    mock_qi.service.side_effect = lambda name: {
+        "ALFaceDetection": mock_face,
+        "ALMemory": mock_memory,
+    }[name]
+
+    state.qi_session = mock_qi
+
+    fake_thread = mock.Mock()
+    mocker.patch("threading.Thread", return_value=fake_thread)
+
+    sender = FaceDetectionSender(mock.Mock())
+    sender.start_face_detection()
+
+    mock_face.setTrackingEnabled.assert_called_with(False)
+    mock_face.setRecognitionEnabled.assert_called_with(False)
+    mock_face.subscribe.assert_called_once()
+    fake_thread.start.assert_called_once()
+
+
+def test_face_loop_face_detected_true(mocker):
+    """
+    Sends face_detected=True when face data exists.
+    """
+    sender = FaceDetectionSender(mock.Mock())
+
+    sender._memory_service = mock.Mock()
+    sender._memory_service.getData.return_value = [0, [[1]]]
+    sender.socket = mock.Mock()
+
+    mocker.patch("time.sleep")
+    state.exit_event.is_set.side_effect = [False, True]
+
+    sender._face_loop()
+
+    sent = sender.socket.send.call_args[0][0]
+    payload = json.loads(sent.decode("utf-8"))
+
+    assert payload["face_detected"] is True
+
+
+def test_face_loop_face_detected_false(mocker):
+    """
+    Sends face_detected=False when no face data exists.
+    """
+    sender = FaceDetectionSender(mock.Mock())
+
+    sender._memory_service = mock.Mock()
+    sender._memory_service.getData.return_value = []
+    sender.socket = mock.Mock()
+
+    mocker.patch("time.sleep")
+    state.exit_event.is_set.side_effect = [False, True]
+
+    sender._face_loop()
+
+    sent = sender.socket.send.call_args[0][0]
+    payload = json.loads(sent.decode("utf-8"))
+
+    assert not payload["face_detected"]
+
+
+def test_face_loop_handles_exception(mocker):
+    """
+    Exceptions inside loop are swallowed.
+    """
+    sender = FaceDetectionSender(mock.Mock())
+
+    sender._memory_service = mock.Mock()
+    sender._memory_service.getData.side_effect = Exception("boom")
+    sender.socket = mock.Mock()
+
+    mocker.patch("time.sleep")
+    state.exit_event.is_set.side_effect = [False, True]
+
+    # Must not raise
+    sender._face_loop()
+
+
+def test_stop_face_detection_happy_path():
+    """
+    Unsubscribes and disables tracking.
+    """
+    sender = FaceDetectionSender(mock.Mock())
+
+    mock_face = mock.Mock()
+    sender._face_service = mock_face
+
+    sender.stop_face_detection()
+
+    mock_face.unsubscribe.assert_called_once()
+    mock_face.setTrackingEnabled.assert_called_with(False)
+
+
+def test_stop_face_detection_exception():
+    """
+    stop_face_detection swallows service exceptions.
+    """
+    sender = FaceDetectionSender(mock.Mock())
+
+    mock_face = mock.Mock()
+    mock_face.unsubscribe.side_effect = Exception("fail")
+    sender._face_service = mock_face
+
+    sender.stop_face_detection()
+
+
+def test_close_calls_stop_face_detection(mocker):
+    """
+    close() calls parent close and stop_face_detection().
+    """
+    sender = FaceDetectionSender(mock.Mock())
+
+    mocker.patch.object(sender, "stop_face_detection")
+    mocker.patch(
+        "robot_interface.endpoints.face_detector.SocketBase.close"
+    )
+
+    sender.close()
+
+    sender.stop_face_detection.assert_called_once()

test/unit/test_get_config.py

@@ -0,0 +1,45 @@
+from robot_interface.utils.get_config import get_config
+
+
+def test_get_config_prefers_explicit_value(monkeypatch):
+    """
+    When a direct value is provided it should be returned without reading the environment.
+    """
+    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
+
+    result = get_config("explicit", "GET_CONFIG_TEST", "default")
+
+    assert result == "explicit"
+
+
+def test_get_config_returns_env_value(monkeypatch):
+    """
+    If value is None the environment variable should be used.
+    """
+    monkeypatch.setenv("GET_CONFIG_TEST", "from-env")
+
+    result = get_config(None, "GET_CONFIG_TEST", "default")
+
+    assert result == "from-env"
+
+
+def test_get_config_casts_env_value(monkeypatch):
+    """
+    The env value should be cast when a cast function is provided.
+    """
+    monkeypatch.setenv("GET_CONFIG_PORT", "1234")
+
+    result = get_config(None, "GET_CONFIG_PORT", 0, int)
+
+    assert result == 1234
+
+
+def test_get_config_casts_default_when_env_missing(monkeypatch):
+    """
+    When the env var is missing it should fall back to the default and still apply the cast.
+    """
+    monkeypatch.delenv("GET_CONFIG_MISSING", raising=False)
+
+    result = get_config(None, "GET_CONFIG_MISSING", "42", int)
+
+    assert result == 42

test/unit/test_main.py

@@ -55,6 +55,9 @@ class DummySender:
     def start(self):
         self.called = True
 
+    def start_face_detection(self):
+        self.called = True
+
     def close(self):
         pass
 
@@ -108,11 +111,13 @@ def patched_main_components(monkeypatch, fake_sockets, fake_poll):
     fake_act = FakeReceiver(act_sock)
     video_sender = DummySender()
     audio_sender = DummySender()
+    face_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)
+    monkeypatch.setattr(main_mod, "FaceDetectionSender", lambda ctx: face_sender)
 
     # Register sockets for the fake poller
     fake_poll.registered = {main_sock: zmq.POLLIN, act_sock: zmq.POLLIN}