src/robot_interface/core/config.py

@@ -17,6 +17,10 @@ class AgentSettings(object):
     :vartype video_sender_port: int
     :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,
@@ -25,12 +29,16 @@ class AgentSettings(object):
         main_receiver_port=None,
         video_sender_port=None,
         audio_sender_port=None,
+        face_detection_port=None,
+        face_detection_interval=None,
     ):
         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):

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/main_receiver.py

@@ -4,6 +4,7 @@ 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):
@@ -37,6 +38,7 @@ class MainReceiver(ReceiverBase):
         """
         return {"endpoint": "ping", "data": message.get("data")}
 
+
     @staticmethod
     def _handle_port_negotiation(message):
         """

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]
 

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_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}