feat: single gestures are forwarded properly to ui
ref: N25B-399
This commit is contained in:
JobvAlewijk
@@ -21,64 +21,52 @@ def zmq_context(mocker):
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@pytest.mark.asyncio
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async def test_setup_bind(zmq_context, mocker):
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"""Setup binds and subscribes to internal commands."""
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fake_socket = zmq_context.return_value.socket.return_value
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agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=True)
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settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
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settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
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settings.zmq_settings.internal_gesture_rep_adress = "tcp://internal:5557"
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agent.add_behavior = MagicMock()
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await agent.setup()
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# Check PUB socket binding
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fake_socket.bind.assert_any_call("tcp://localhost:5556")
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# Check REP socket binding
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fake_socket.bind.assert_called()
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# Check SUB socket connection and subscriptions
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fake_socket.connect.assert_any_call("tcp://internal:1234")
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fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
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fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"send_gestures")
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# Check behavior was added (twice: once for command loop, once for fetch gestures loop)
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assert agent.add_behavior.call_count == 2
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@pytest.mark.asyncio
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async def test_setup_connect(zmq_context, mocker):
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"""Setup connects when bind=False."""
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fake_socket = zmq_context.return_value.socket.return_value
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agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=False)
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settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
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settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
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settings.zmq_settings.internal_gesture_rep_adress = "tcp://internal:5557"
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agent.add_behavior = MagicMock()
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await agent.setup()
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# Check PUB socket connection (not binding)
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fake_socket.connect.assert_any_call("tcp://localhost:5556")
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fake_socket.connect.assert_any_call("tcp://internal:1234")
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# Check REP socket binding (always binds)
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fake_socket.bind.assert_called()
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# Check behavior was added (twice)
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assert agent.add_behavior.call_count == 2
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@pytest.mark.asyncio
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async def test_handle_message_sends_valid_gesture_command():
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"""Internal message with valid gesture tag is forwarded to robot pub socket."""
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async def test_handle_message_forwards_valid_command():
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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payload = {
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"endpoint": RIEndpoint.GESTURE_TAG,
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"data": "hello", # "hello" is in gesture_data
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"data": "hello",
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}
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
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@@ -87,69 +75,38 @@ async def test_handle_message_sends_valid_gesture_command():
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pubsocket.send_json.assert_awaited_once()
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@pytest.mark.asyncio
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async def test_handle_message_sends_non_gesture_command():
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"""Internal message with non-gesture endpoint is not forwarded by this agent."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent.pubsocket = pubsocket
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payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
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await agent.handle_message(msg)
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# Non-gesture endpoints should not be forwarded by this agent
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pubsocket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_handle_message_rejects_invalid_gesture_tag():
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"""Internal message with invalid gesture tag is not forwarded."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent.pubsocket = pubsocket
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# Use a tag that's not in gesture_data
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payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
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await agent.handle_message(msg)
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pubsocket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_handle_message_invalid_payload():
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"""Invalid payload is caught and does not send."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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agent.logger = MagicMock()
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
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await agent.handle_message(msg)
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pubsocket.send_json.assert_not_awaited()
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agent.logger.exception.assert_called_once()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_valid_gesture_payload():
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"""UI command with valid gesture tag is read from SUB and published."""
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async def test_zmq_command_loop_valid_payload():
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"""UI command with valid payload is published."""
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command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
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fake_socket = AsyncMock()
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async def recv_once():
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# stop after first iteration
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agent._running = False
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return (b"command", json.dumps(command).encode("utf-8"))
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent.gesture_data = ["hello", "yes", "no"] # ← REQUIRED for legacy check
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agent._running = True
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await agent._zmq_command_loop()
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@@ -158,76 +115,7 @@ async def test_zmq_command_loop_valid_gesture_payload():
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@pytest.mark.asyncio
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async def test_zmq_command_loop_valid_non_gesture_payload():
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"""UI command with non-gesture endpoint is not forwarded by this agent."""
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command = {"endpoint": "some_other_endpoint", "data": "anything"}
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", json.dumps(command).encode("utf-8"))
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_invalid_gesture_tag():
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"""UI command with invalid gesture tag is not forwarded."""
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command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", json.dumps(command).encode("utf-8"))
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_invalid_json():
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"""Invalid JSON is ignored without sending."""
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", b"{not_json}")
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_ignores_send_gestures_topic():
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"""send_gestures topic is ignored in command loop."""
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async def test_zmq_command_loop_ignores_send_gestures():
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fake_socket = AsyncMock()
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async def recv_once():
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@@ -237,7 +125,7 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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@@ -248,156 +136,122 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_without_amount():
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"""Fetch gestures request without amount returns all tags."""
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async def test_fetch_gestures_tags_all():
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fake_repsocket = AsyncMock()
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async def recv_once():
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agent._running = False
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return b"{}" # Empty JSON request
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return {"type": "tags"}
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fake_repsocket.recv = recv_once
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fake_repsocket.send = AsyncMock()
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fake_repsocket.recv_json = recv_once
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fake_repsocket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
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agent = RobotGestureAgent(
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"robot_gesture",
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gesture_tags=["hello", "yes", "no"],
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)
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agent.repsocket = fake_repsocket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_repsocket.send.assert_awaited_once()
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# Check the response contains all tags
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args, kwargs = fake_repsocket.send.call_args
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response = json.loads(args[0])
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assert "tags" in response
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assert response["tags"] == ["hello", "yes", "no", "wave", "point"]
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fake_repsocket.send_json.assert_awaited_once_with({"tags": ["hello", "yes", "no"]})
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_with_amount():
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"""Fetch gestures request with amount returns limited tags."""
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async def test_fetch_gestures_tags_with_count():
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fake_repsocket = AsyncMock()
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amount = 3
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async def recv_once():
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agent._running = False
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return json.dumps(amount).encode()
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return {"type": "tags", "count": 2}
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fake_repsocket.recv = recv_once
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fake_repsocket.send = AsyncMock()
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fake_repsocket.recv_json = recv_once
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fake_repsocket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
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agent = RobotGestureAgent(
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"robot_gesture",
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gesture_tags=["hello", "yes", "no"],
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)
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agent.repsocket = fake_repsocket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_repsocket.send.assert_awaited_once()
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args, kwargs = fake_repsocket.send.call_args
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response = json.loads(args[0])
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assert "tags" in response
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assert len(response["tags"]) == amount
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assert response["tags"] == ["hello", "yes", "no"]
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fake_repsocket.send_json.assert_awaited_once_with({"tags": ["hello", "yes"]})
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_with_integer_request():
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"""Fetch gestures request with integer amount."""
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async def test_fetch_gestures_basic_new():
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"""NEW: fetch basic gestures"""
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fake_repsocket = AsyncMock()
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amount = 2
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async def recv_once():
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agent._running = False
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return json.dumps(amount).encode()
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return {"type": "basic"}
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fake_repsocket.recv = recv_once
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fake_repsocket.send = AsyncMock()
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fake_repsocket.recv_json = recv_once
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fake_repsocket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent(
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"robot_gesture",
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gesture_basic=["wave", "point"],
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)
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agent.repsocket = fake_repsocket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_repsocket.send.assert_awaited_once()
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args, kwargs = fake_repsocket.send.call_args
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response = json.loads(args[0])
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assert response["tags"] == ["hello", "yes"]
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fake_repsocket.send_json.assert_awaited_once_with({"basic_gestures": ["wave", "point"]})
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_with_invalid_json():
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"""Invalid JSON request returns all tags."""
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async def test_fetch_gestures_unknown_type():
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fake_repsocket = AsyncMock()
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async def recv_once():
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agent._running = False
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return b"not_json"
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return {"type": "unknown"}
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fake_repsocket.recv = recv_once
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fake_repsocket.send = AsyncMock()
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fake_repsocket.recv_json = recv_once
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fake_repsocket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent("robot_gesture")
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agent.repsocket = fake_repsocket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_repsocket.send.assert_awaited_once()
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args, kwargs = fake_repsocket.send.call_args
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response = json.loads(args[0])
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assert response["tags"] == ["hello", "yes", "no"]
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fake_repsocket.send_json.assert_awaited_once_with({})
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_with_non_integer_json():
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"""Non-integer JSON request returns all tags."""
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async def test_fetch_gestures_exception_logged():
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fake_repsocket = AsyncMock()
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async def recv_once():
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agent._running = False
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return json.dumps({"not": "an_integer"}).encode()
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raise Exception("boom")
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fake_repsocket.recv = recv_once
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fake_repsocket.send = AsyncMock()
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fake_repsocket.recv_json = recv_once
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fake_repsocket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
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agent = RobotGestureAgent("robot_gesture")
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agent.repsocket = fake_repsocket
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agent.logger = MagicMock()
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_repsocket.send.assert_awaited_once()
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args, kwargs = fake_repsocket.send.call_args
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response = json.loads(args[0])
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assert response["tags"] == ["hello", "yes", "no"]
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def test_gesture_data_attribute():
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"""Test that gesture_data returns the expected list."""
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gesture_data = ["hello", "yes", "no", "wave"]
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agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data)
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assert agent.gesture_data == gesture_data
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assert isinstance(agent.gesture_data, list)
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assert len(agent.gesture_data) == 4
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assert "hello" in agent.gesture_data
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assert "yes" in agent.gesture_data
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assert "no" in agent.gesture_data
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assert "invalid_tag_not_in_list" not in agent.gesture_data
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agent.logger.exception.assert_called_once()
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@pytest.mark.asyncio
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async def test_stop_closes_sockets():
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"""Stop method closes all sockets."""
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pubsocket = MagicMock()
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subsocket = MagicMock()
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repsocket = MagicMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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agent.subsocket = subsocket
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@@ -407,38 +261,3 @@ async def test_stop_closes_sockets():
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pubsocket.close.assert_called_once()
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subsocket.close.assert_called_once()
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# Note: repsocket is not closed in stop() method, but you might want to add it
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# repsocket.close.assert_called_once()
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@pytest.mark.asyncio
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async def test_initialization_with_custom_gesture_data():
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"""Agent can be initialized with custom gesture data."""
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custom_gestures = ["custom1", "custom2", "custom3"]
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agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures)
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assert agent.gesture_data == custom_gestures
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_handles_exception():
|
||||
"""Exception in fetch gestures loop is caught and logged."""
|
||||
fake_repsocket = AsyncMock()
|
||||
|
||||
async def recv_once():
|
||||
agent._running = False
|
||||
raise Exception("Test exception")
|
||||
|
||||
fake_repsocket.recv = recv_once
|
||||
fake_repsocket.send = AsyncMock()
|
||||
|
||||
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
|
||||
agent.repsocket = fake_repsocket
|
||||
agent.logger = MagicMock()
|
||||
agent._running = True
|
||||
|
||||
# Should not raise exception
|
||||
await agent._fetch_gestures_loop()
|
||||
|
||||
# Exception should be logged
|
||||
agent.logger.exception.assert_called_once()
|
||||
|
||||
Reference in New Issue
Block a user