src/robot_interface/endpoints/actuation_receiver.py

@@ -3,6 +3,7 @@ import logging
 import zmq
 
 from robot_interface.endpoints.receiver_base import ReceiverBase
+from robot_interface.state import state
 
 
 class ActuationReceiver(ReceiverBase):
@@ -18,7 +19,7 @@ class ActuationReceiver(ReceiverBase):
         """
         super(ActuationReceiver, self).__init__("actuation")
         self.create_socket(zmq_context, zmq.SUB, port)
-        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")
+        self.socket.setsockopt_string(zmq.SUBSCRIBE, u"")  # Can this not be given in the options?
         self._tts_service = None
 
     def _handle_speech(self, message):
@@ -29,10 +30,10 @@ class ActuationReceiver(ReceiverBase):
 
         logging.debug("Received message to speak: {}".format(text))
 
-        if not self._qi_session: return
+        if not state.qi_session: return
 
         if not self._tts_service:
-            self._tts_service = self._qi_session.service("ALTextToSpeech")
+            self._tts_service = state.qi_session.service("ALTextToSpeech")
 
         self._tts_service.say(text)