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Merge dev with main #27

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8464960 merged 89 commits from dev into main 2026-01-28 10:54:23 +00:00
Conversation 2 Commits 89 Files Changed 49 +4 -3
3 changed files with 4 additions and 3 deletions
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2
src/robot_interface/endpoints/actuation_receiver.py
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@@ -19,7 +19,7 @@ class ActuationReceiver(ReceiverBase):
""" """
super(ActuationReceiver, self).__init__("actuation") super(ActuationReceiver, self).__init__("actuation")
self.create_socket(zmq_context, zmq.SUB, port) self.create_socket(zmq_context, zmq.SUB, port)
self.socket.setsockopt_string(zmq.SUBSCRIBE, u"") # Can this not be given in the options? self.socket.setsockopt_string(zmq.SUBSCRIBE, u"") # Causes block if given in options
self._tts_service = None self._tts_service = None
def _handle_speech(self, message): def _handle_speech(self, message):

3
src/robot_interface/endpoints/socket_base.py
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@@ -61,7 +61,8 @@ class SocketBase(object):
""" """
Description of the endpoint. Used for negotiation. Description of the endpoint. Used for negotiation.
:return: A dictionary with the following keys: name, port, pattern, data_type. See https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation :return: A dictionary with the following keys: id, port, bind. See API specification at:
https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication#negotiation
:rtype: dict :rtype: dict
""" """
return { return {

2
src/robot_interface/endpoints/video_sender.py
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@@ -17,7 +17,7 @@ class VideoSender(SocketBase):
Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread. Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
""" """
if not state.qi_session: if not state.qi_session:
logging.info("No QI session available, not starting video loop") logging.info("No Qi session available. Not starting video loop.")
return return
video = state.qi_session.service("ALVideoDevice") video = state.qi_session.service("ALVideoDevice")