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

fix: send video

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

requirements.txt

@@ -7,4 +7,3 @@ sphinx
 sphinx_rtd_theme
 pre-commit
 python-dotenv
-opencv-python==4.1.2.30

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

@@ -1,3 +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
 
 from robot_interface.utils.get_config import get_config
@@ -61,7 +68,7 @@ class VideoConfig(object):
     ):
         self.camera_index = get_config(camera_index, "VIDEO__CAMERA_INDEX", 0, int)
         self.resolution = get_config(resolution, "VIDEO__RESOLUTION", 2, int)
-        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 11, int)
+        self.color_space = get_config(color_space, "VIDEO__COLOR_SPACE", 13, int)
         self.fps = get_config(fps, "VIDEO__FPS", 15, int)
         self.stream_name = get_config(stream_name, "VIDEO__STREAM_NAME", "Pepper Video")
         self.image_buffer = get_config(image_buffer, "VIDEO__IMAGE_BUFFER", 6, int)

src/robot_interface/endpoints/__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

@@ -1,3 +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 log texts with Unicode characters
 import logging
 from threading import Thread

src/robot_interface/endpoints/audio_sender.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 `logging` can use Unicode characters in names
 import threading
 import logging

src/robot_interface/endpoints/gesture_settings.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)
+"""
+
 class GestureTags:
     tags = ["above", "affirmative", "afford", "agitated", "all", "allright", "alright", "any", 
             "assuage", "assuage", "attemper", "back", "bashful", "beg", "beseech", "blank", 

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

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

@@ -1,3 +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
 
 import zmq

src/robot_interface/endpoints/video_sender.py

@@ -1,7 +1,15 @@
+# -*- 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 cv2
+
+import struct
 
 from robot_interface.endpoints.socket_base import SocketBase
 from robot_interface.state import state
@@ -20,7 +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):
         """
@@ -29,9 +37,7 @@ class VideoSender(SocketBase):
         Will not start if no qi session is available.
         """
         if not state.qi_session:
-            logging.info("No Qi session available. Starting video from webcam.")
+            logging.info("No Qi session available. Not starting video loop.")
-            thread = threading.Thread(target=self.test_video_stream)
-            thread.start()
             return
 
         video = state.qi_session.service("ALVideoDevice")
@@ -55,36 +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:
-            try:
+            while not state.exit_event.is_set():
-                img = vid_service.getImageRemote(vid_stream_name)
+                try:
-                #Possibly limit images sent if queuing issues arise
+                    img = vid_service.getImageRemote(vid_stream_name)
-                self.socket.send(img[settings.video_config.image_buffer])
+                    if img is not None:
-            except:
+                        raw_data = img[6]
-                logging.warn("Failed to retrieve video image from robot.")
+                        width = img[0]
+                        height = img[1]
 
-    def test_video_stream(self):
+                        width_bytes = struct.pack('<I', width)
-        """
+                        height_bytes = struct.pack('<I', height)
-        Test function to send video from local webcam instead of the robot.
-        """
-        cap = cv2.VideoCapture(0)
-        if not cap.isOpened():
-            logging.error("Could not open webcam for video stream test.")
-            return
 
-        while not state.exit_event.is_set():
+                        self.socket.send_multipart([width_bytes, height_bytes, raw_data])
-
+                except KeyboardInterrupt:
-            ret, frame = cap.read()
+                    logging.info("Video receiving loop interrupted by user.")
-            if not ret:
+                except:
-                logging.warning("Failed to read frame from webcam.")
+                    logging.warn("Failed to retrieve video image from robot.")
-                continue
+        finally:
-
+            vid_service.unsubscribe(vid_stream_name)
-            cv2.waitKey(1)
+            logging.info("Unsubscribed from video stream.")
-            
-            small_frame = cv2.resize(frame, (320, 240), interpolation=cv2.INTER_AREA)
-            encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 70]
-            _, buffer = cv2.imencode('.jpg', small_frame, encode_param)
-
-            self.socket.send(buffer.tobytes())
-
-        cap.release()

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

@@ -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 os
 from dotenv import load_dotenv
 

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
 

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

@@ -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 mock import patch, MagicMock
 
 import pytest

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

@@ -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 mock import patch, mock
 
 from robot_interface.core.config import Settings

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

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

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

test/unit/test_get_config.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 robot_interface.utils.get_config import get_config
 
 

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

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):
@@ -91,126 +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_stream_camera_fail(zmq_context, mocker):
+def test_video_loop_keyboard_interrupt(zmq_context, mocker):
-    """
+    """Video loop should handle KeyboardInterrupt gracefully and unsubscribe."""
-    Test that the function logs an error and returns early if
-    the webcam cannot be opened.
-    """
     _patch_basics(mocker)
+    _patch_exit_event(mocker)
     
-    # Mock cv2 and logging
+    # We mock the video service to raise KeyboardInterrupt when accessed
-    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
+    mock_video_service = mock.Mock()
-    mock_logging = mocker.patch("robot_interface.endpoints.video_sender.logging")
+    mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
-
+    
-    # Setup the mock capture to fail isOpened()
+    # Mock logging to verify the specific interrupt message is logged
-    mock_cap = mock.Mock()
+    mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
-    mock_cap.isOpened.return_value = False
-    mock_cv2.VideoCapture.return_value = mock_cap
 
     sender = VideoSender(zmq_context)
-    sender.test_video_stream()
-
-    # Assertions
-    mock_cv2.VideoCapture.assert_called_with(0)
     
-    # Ensure the loop was never entered and cleanup didn't happen
+    # Execute the loop
-    assert not mock_cap.read.called
+    sender.video_rcv_loop(mock_video_service, "stream_name")
-    assert not mock_cap.release.called
 
-
+    # Verify the 'finally' block executed (unsubscribe)
-def test_video_stream_read_fail(zmq_context, mocker):
+    mock_video_service.unsubscribe.assert_called_with("stream_name")
-    """
+    mock_logger.info.assert_any_call("Unsubscribed from video stream.")
-    Test that the function logs a warning and continues the loop 
-    if a specific frame fails to read.
-    """
-    _patch_basics(mocker)
-    _patch_exit_event(mocker)  # Run loop exactly once
-
-    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
-    mock_logging = mocker.patch("robot_interface.endpoints.video_sender.logging")
-
-    # Setup capture to open successfully, but fail the read()
-    mock_cap = mock.Mock()
-    mock_cap.isOpened.return_value = True
-    # Return (False, None) simulating a failed frame read
-    mock_cap.read.return_value = (False, None)
-    mock_cv2.VideoCapture.return_value = mock_cap
-
-    sender = VideoSender(zmq_context)
-    # Mock the socket to ensure nothing is sent
-    sender.socket = mock.Mock()
-
-    sender.test_video_stream()
-    
-    # Ensure we skipped the processing steps
-    assert not mock_cv2.resize.called
-    assert not sender.socket.send.called
-    
-    # Ensure cleanup happened at the end
-    mock_cap.release.assert_called_once()
-
-
-def test_video_stream_success(zmq_context, mocker):
-    """
-    Test the happy path: Frame read -> Resize -> Encode -> Send.
-    """
-    _patch_basics(mocker)
-    _patch_exit_event(mocker)  # Run loop exactly once
-
-    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
-    
-    # Setup constants usually found in cv2
-    mock_cv2.IMWRITE_JPEG_QUALITY = 1
-    mock_cv2.INTER_AREA = 2
-
-    # Setup capture to work perfectly
-    mock_cap = mock.Mock()
-    mock_cap.isOpened.return_value = True
-    fake_frame = "original_frame_data"
-    mock_cap.read.return_value = (True, fake_frame)
-    mock_cv2.VideoCapture.return_value = mock_cap
-
-    # Setup Resize and Encode
-    mock_cv2.resize.return_value = "small_frame_data"
-    
-    # Mock buffer behavior
-    mock_buffer = mock.Mock()
-    mock_buffer.tobytes.return_value = b"encoded_bytes"
-    # imencode returns (retval, buffer)
-    mock_cv2.imencode.return_value = (True, mock_buffer)
-
-    sender = VideoSender(zmq_context)
-    sender.socket = mock.Mock()
-
-    sender.test_video_stream()
-
-    # Assertions
-    # 1. Check waitKey (the 1ms delay)
-    mock_cv2.waitKey.assert_called_with(1)
-
-    # 2. Check Resize logic
-    mock_cv2.resize.assert_called_with(
-        fake_frame, 
-        (320, 240), 
-        interpolation=mock_cv2.INTER_AREA
-    )
-
-    # 3. Check Encode logic
-    mock_cv2.imencode.assert_called_with(
-        '.jpg', 
-        "small_frame_data", 
-        [mock_cv2.IMWRITE_JPEG_QUALITY, 70]
-    )
-
-    # 4. Check Socket Send
-    sender.socket.send.assert_called_with(b"encoded_bytes")
-
-    # 5. Check Cleanup
-    mock_cap.release.assert_called_once()