feat: implemented force speech functionality in RI and refactored actuation_receiver tests

Before actuation_receiver tests started a receiver with real zmq context. This led to flaky tests because of port congestion issues.

ref: N25B-386

.env.example

@@ -1,25 +0,0 @@
-# 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

@@ -39,15 +39,10 @@ On Windows:
 $env:PYTHONPATH="src"; python -m robot_interface.main
 ```
 
-### Program Arguments
-
-If you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
+With both, 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

@@ -6,5 +6,3 @@ pytest-cov<3.0.0
 sphinx
 sphinx_rtd_theme
 pre-commit
-python-dotenv
-opencv-python==4.1.2.30

src/robot_interface/core/config.py

@@ -1,101 +1,95 @@
 from __future__ import unicode_literals
 
-from robot_interface.utils.get_config import get_config
-
 
 class AgentSettings(object):
     """
     Agent port configuration.
 
-    :ivar control_backend_host: Hostname of the control backend, defaults to "localhost".
-    :vartype control_backend_host: string
-    :ivar actuation_receiver_port: Port for receiving actuation commands, defaults to 5557.
-    :vartype actuation_receiver_port: int
-    :ivar main_receiver_port: Port for receiving main messages, defaults to 5555.
+    :ivar actuating_receiver_port: Port for receiving actuation commands.
+    :vartype actuating_receiver_port: int
+    :ivar main_receiver_port: Port for receiving main messages.
     :vartype main_receiver_port: int
-    :ivar video_sender_port: Port used for sending video frames, defaults to 5556.
+    :ivar video_sender_port: Port used for sending video frames.
     :vartype video_sender_port: int
-    :ivar audio_sender_port: Port used for sending audio data, defaults to 5558.
+    :ivar audio_sender_port: Port used for sending audio data.
     :vartype audio_sender_port: int
     """
     def __init__(
-        self,
-        control_backend_host=None,
-        actuation_receiver_port=None,
-        main_receiver_port=None,
-        video_sender_port=None,
-        audio_sender_port=None,
+        self, 
+        actuating_receiver_port=5557, 
+        main_receiver_port=5555,
+        video_sender_port=5556, 
+        audio_sender_port=5558,
     ):
-        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.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
 
 
 class VideoConfig(object):
     """
     Video configuration constants.
 
-    :ivar camera_index: Index of the camera used, defaults to 0.
+    :ivar camera_index: Index of the camera used.
     :vartype camera_index: int
-    :ivar resolution: Video resolution mode, defaults to 2.
+    :ivar resolution: Video resolution mode.
     :vartype resolution: int
-    :ivar color_space: Color space identifier, defaults to 11.
+    :ivar color_space: Color space identifier.
     :vartype color_space: int
-    :ivar fps: Frames per second of the video stream, defaults to 15.
+    :ivar fps: Frames per second of the video stream.
     :vartype fps: int
-    :ivar stream_name: Name of the video stream, defaults to "Pepper Video".
+    :ivar stream_name: Name of the video stream.
     :vartype stream_name: str
-    :ivar image_buffer: Internal buffer size for video frames, defaults to 6.
+    :ivar image_buffer: Internal buffer size for video frames.
     :vartype image_buffer: int
     """
     def __init__(
         self,
-        camera_index=None,
-        resolution=None,
-        color_space=None,
-        fps=None,
-        stream_name=None,
-        image_buffer=None,
+        camera_index=0,
+        resolution=2,
+        color_space=11,
+        fps=15,
+        stream_name="Pepper Video",
+        image_buffer=6,
     ):
-        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)
+        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
 
 
 class AudioConfig(object):
     """
     Audio configuration constants.
 
-    :ivar sample_rate: Audio sampling rate in Hz, defaults to 16000.
+    :ivar sample_rate: Audio sampling rate in Hz.
     :vartype sample_rate: int
-    :ivar chunk_size: Size of audio chunks to capture/process, defaults to 512.
+    :ivar chunk_size: Size of audio chunks to capture/process.
     :vartype chunk_size: int
-    :ivar channels: Number of audio channels, defaults to 1.
+    :ivar channels: Number of audio channels.
     :vartype channels: int
     """
-    def __init__(self, sample_rate=None, chunk_size=None, channels=None):
-        self.sample_rate = get_config(sample_rate, "AUDIO__SAMPLE_RATE", 16000, int)
-        self.chunk_size = get_config(chunk_size, "AUDIO__CHUNK_SIZE", 512, int)
-        self.channels = get_config(channels, "AUDIO__CHANNELS", 1, int)
+    def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
+        self.sample_rate = sample_rate
+        self.chunk_size = chunk_size
+        self.channels = channels
 
 
 class MainConfig(object):
     """
     Main system configuration.
 
-    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds, defaults to 100.
+    :ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
     :vartype poll_timeout_ms: int
-    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds, defaults to 50.
+    :ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds.
     :vartype max_handler_time_ms: int
     """
-    def __init__(self, poll_timeout_ms=None, max_handler_time_ms=None):
-        self.poll_timeout_ms = get_config(poll_timeout_ms, "MAIN__POLL_TIMEOUT_MS", 100, int)
-        self.max_handler_time_ms = get_config(max_handler_time_ms, "MAIN__MAX_HANDLER_TIME_MS", 50, int)
+    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
 
 
 class Settings(object):

src/robot_interface/endpoints/actuation_receiver.py

@@ -1,5 +1,6 @@
 from __future__ import unicode_literals  # So that we can log texts with Unicode characters
 import logging
+import time
 from threading import Thread
 
 import Queue
@@ -7,8 +8,8 @@ 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):
@@ -23,16 +24,12 @@ 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.actuation_receiver_port):
+    def __init__(self, zmq_context, port=settings.agent_settings.actuating_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()
@@ -62,7 +59,7 @@ 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)
@@ -74,7 +71,6 @@ 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
@@ -83,53 +79,6 @@ 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.
@@ -139,30 +88,18 @@ 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.error("Lost connection to Pepper. Please check if you're connected to the "
-                              "local WiFi and restart this application.")
-                state.exit_event.set()        
+                logging.warn("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

@@ -89,7 +89,6 @@ 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/gesture_settings.py

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

@@ -5,7 +5,6 @@ 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.
@@ -13,12 +12,10 @@ class MainReceiver(ReceiverBase):
     :param zmq_context: The ZeroMQ context to use.
     :type zmq_context: zmq.Context
 
-    :param port: The port to use, defaults to value in `settings.agent_settings.main_receiver_port`.
+    :param port: The port to use.
     :type port: int
     """
-    def __init__(self, zmq_context, port=None):
-        if port is None:
-            port = settings.agent_settings.main_receiver_port
+    def __init__(self, zmq_context, 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/socket_base.py

@@ -2,8 +2,6 @@ from abc import ABCMeta
 
 import zmq
 
-from robot_interface.core.config import settings
-
 
 class SocketBase(object):
     """
@@ -61,7 +59,7 @@ class SocketBase(object):
         if bind:
             self.socket.bind("tcp://*:{}".format(port))
         else:
-            self.socket.connect("tcp://{}:{}".format(settings.agent_settings.control_backend_host, port))
+            self.socket.connect("tcp://localhost:{}".format(port))
 
     def close(self):
         """Close the ZeroMQ socket."""

src/robot_interface/endpoints/video_sender.py

@@ -1,13 +1,11 @@
 import zmq
 import threading
 import logging
-import cv2
 
 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.
@@ -29,9 +27,7 @@ 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.")
-            thread = threading.Thread(target=self.test_video_stream)
-            thread.start()
+            logging.info("No Qi session available. Not starting video loop.")
             return
 
         video = state.qi_session.service("ALVideoDevice")
@@ -62,29 +58,3 @@ class VideoSender(SocketBase):
                 self.socket.send(img[settings.video_config.image_buffer])
             except:
                 logging.warn("Failed to retrieve video image from robot.")
-
-    def test_video_stream(self):
-        """
-        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():
-
-            ret, frame = cap.read()
-            if not ret:
-                logging.warning("Failed to read frame from webcam.")
-                continue
-
-            cv2.waitKey(1)
-            
-            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/utils/get_config.py

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

@@ -1,10 +0,0 @@
-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

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

@@ -3,9 +3,8 @@ 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
@@ -19,7 +18,6 @@ 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
@@ -54,7 +52,6 @@ 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.
@@ -70,7 +67,6 @@ 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
@@ -332,155 +328,4 @@ def test_clear_queue(mocker):
     receiver.clear_queue()
 
     # Assert the queue is empty
-    assert receiver._message_queue.qsize() == 0
-
-def test_gesture_no_data(zmq_context, mocker):
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": ""}, True)
-    # Just ensuring no crash
-
-
-def test_gesture_invalid_data(zmq_context, mocker):
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": 123}, True)
-    # No crash expected
-
-
-def test_gesture_single_not_found(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["wave", "bow"]  # allowed single gestures
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
-    # No crash expected
-
-
-def test_gesture_tag_not_found(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["happy", "sad"]
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "not_a_tag"}, False)
-    # No crash expected
-
-
-def test_gesture_no_qi_session(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_state.qi_session = None
-
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["hello"]
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
-    # No crash, path returns early
-
-
-def test_gesture_single_success(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
-
-    # Setup gesture settings
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.single_gestures = ["wave"]
-
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
-
-    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
-    getattr(mock_qi, "async").assert_called_once()
-    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
-    assert getattr(mock_qi, "async").call_args[0][1] == "wave"
-
-
-def test_gesture_tag_success(zmq_context, mocker):
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
-
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["greeting"]
-
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
-
-    receiver = ActuationReceiver(zmq_context)
-    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
-
-    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
-    getattr(mock_qi, "async").assert_called_once()
-    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.runTag
-    assert getattr(mock_qi, "async").call_args[0][1] == "greeting"
-
-
-def test_handle_message_all_routes(zmq_context, mocker):
-    """
-    Ensures all handle_message endpoint branches route correctly.
-    """
-    receiver = ActuationReceiver(zmq_context)
-
-    mock_speech = mocker.patch.object(receiver, "_handle_speech")
-    mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
-
-    receiver.handle_message({"endpoint": "actuate/speech", "data": "hi"})
-    receiver.handle_message({"endpoint": "actuate/gesture/tag", "data": "greeting"})
-    receiver.handle_message({"endpoint": "actuate/gesture/single", "data": "wave"})
-
-    mock_speech.assert_called_once()
-    assert mock_gesture.call_count == 2
-
-
-def test_endpoint_description(zmq_context, mocker):
-    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
-    mock_tags.tags = ["happy"]
-    mock_tags.single_gestures = ["wave"]
-
-    receiver = ActuationReceiver(zmq_context)
-    desc = receiver.endpoint_description()
-
-    assert "gestures" in desc
-    assert desc["gestures"] == ["happy"]
-
-    assert "single_gestures" in desc
-    assert desc["single_gestures"] == ["wave"]
-
-
-def test_gesture_single_real_gesturetags(zmq_context, mocker):
-    """
-    Uses the real GestureTags (no mocking) to ensure the receiver
-    references GestureTags.single_gestures correctly.
-    """
-    # Ensure qi session exists so we pass the early return
-    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
-    mock_state.qi_session = mock.Mock()
-
-    # Mock qi.async to avoid real async calls
-    mock_qi = mock.Mock()
-    sys.modules["qi"] = mock_qi
-
-    # Mock animation service
-    mock_animation_service = mock.Mock()
-    mock_state.qi_session.service.return_value = mock_animation_service
-
-    receiver = ActuationReceiver(zmq_context)
-
-    # Pick a real gesture from GestureTags.single_gestures
-    assert len(GestureTags.single_gestures) > 0, "GestureTags.single_gestures must not be empty"
-    gesture = GestureTags.single_gestures[0]
-
-    receiver._handle_gesture(
-        {"endpoint": "actuate/gesture/single", "data": gesture},
-        is_single=True,
-    )
-
-    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
-    getattr(mock_qi, "async").assert_called_once()
-    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
-    assert getattr(mock_qi, "async").call_args[0][1] == gesture
-
+    assert receiver._message_queue.qsize() == 0

test/unit/test_audio_sender.py

@@ -77,8 +77,7 @@ 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
@@ -94,36 +93,6 @@ 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_get_config.py

@@ -1,45 +0,0 @@
-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_video_sender.py

@@ -97,120 +97,3 @@ def test_video_receive_error(zmq_context, mocker):
     sender.video_rcv_loop(mock_video_service, "stream_name")
 
     send_socket.assert_not_called()
-
-def test_video_stream_camera_fail(zmq_context, mocker):
-    """
-    Test that the function logs an error and returns early if
-    the webcam cannot be opened.
-    """
-    _patch_basics(mocker)
-    
-    # Mock cv2 and logging
-    mock_cv2 = mocker.patch("robot_interface.endpoints.video_sender.cv2")
-    mock_logging = mocker.patch("robot_interface.endpoints.video_sender.logging")
-
-    # Setup the mock capture to fail isOpened()
-    mock_cap = mock.Mock()
-    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
-    assert not mock_cap.read.called
-    assert not mock_cap.release.called
-
-
-def test_video_stream_read_fail(zmq_context, mocker):
-    """
-    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()