df985a8cbc
Previously, the `_handle_speech` function had an early return when no Pepper session was available, causing incoming messages not to get logged. Now messages are logged even when there is no session with the Pepper SDK. ref: N25B-168
69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
import logging
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import sys
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import zmq
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from robot_interface.endpoints.receiver_base import ReceiverBase
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class ActuationReceiver(ReceiverBase):
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def __init__(self, zmq_context, port=5556):
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"""
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The actuation receiver endpoint, responsible for handling speech and gesture requests.
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:param zmq_context: The ZeroMQ context to use.
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:type zmq_context: zmq.Context
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:param port: The port to use.
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:type port: int
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"""
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super(ActuationReceiver, self).__init__("actuation", "json")
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self.create_socket(zmq_context, zmq.SUB, port)
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self.socket.setsockopt_string(zmq.SUBSCRIBE, u"") # Subscribe to all topics
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self._qi_session = self._get_session()
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self._tts_service = None
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@staticmethod
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def _get_session():
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if "--qi-url" not in sys.argv:
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logging.info("No Qi URL argument given. Running in stand-alone mode.")
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return None
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try:
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import qi
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except ImportError:
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logging.info("Unable to import qi. Running in stand-alone mode.")
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return None
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try:
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app = qi.Application()
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app.start()
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return app.session
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except RuntimeError:
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logging.info("Unable to connect to the robot. Running in stand-alone mode.")
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return None
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def _handle_speech(self, message):
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text = message.get("data")
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if not text:
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logging.warn("Received message to speak, but it lacks data.")
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return
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logging.debug("Received message to speak: {}".format(text))
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if not self._qi_session: return
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if not self._tts_service:
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self._tts_service = self._qi_session.service("ALTextToSpeech")
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self._tts_service.say(text)
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def handle_message(self, message):
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if "endpoint" not in message:
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return {"endpoint": "error", "data": "No endpoint provided."}
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if message["endpoint"] == "actuate/speech":
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self._handle_speech(message)
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return {"endpoint": "error", "data": "The requested endpoint is not supported."}
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