Fix speaking state transitions and gesture cadence

Author: Desmond-Dong

reachy_mini_home_assistant/core/config.py

@@ -101,7 +101,7 @@ class CameraConfig:
     idle_threshold: float = 30.0  # Seconds without face -> idle
 
     # Gesture detection runtime tuning
-    gesture_detection_interval: int = 2  # Run every other frame for balanced responsiveness
+    gesture_detection_interval: int = 1  # Run every frame for maximum gesture responsiveness
 
 
 @dataclass

reachy_mini_home_assistant/motion/command_runtime.py

@@ -22,6 +22,18 @@ def poll_commands(manager: "MovementManager") -> None:
             cmd, payload = manager._command_queue.get_nowait()
         except Empty:
             break
+
+        if cmd == "set_state":
+            while True:
+                try:
+                    next_cmd, next_payload = manager._command_queue.get_nowait()
+                except Empty:
+                    break
+                if next_cmd == "set_state":
+                    payload = next_payload
+                    continue
+                handle_command(manager, next_cmd, next_payload)
+
         handle_command(manager, cmd, payload)
 
 

tests/test_command_runtime.py

@@ -80,3 +80,13 @@ def test_stop_timer_sound_does_not_finish_tts_session(self):
         self.assertEqual(len(unduck_calls), 1)
         self.assertEqual(len(stop_calls), 1)
         self.assertEqual(protocol._tts_finished_calls, 0)
+
+
+class CommandRuntimeStateQueueTests(unittest.TestCase):
+    def test_poll_commands_coalesces_back_to_back_state_updates(self):
+        path = Path("reachy_mini_home_assistant/motion/command_runtime.py")
+        content = path.read_text(encoding="utf-8")
+
+        self.assertIn('if cmd == "set_state":', content)
+        self.assertIn('if next_cmd == "set_state":', content)
+        self.assertIn("payload = next_payload", content)