feat: agent structure and implementation new
architecture with unit tests ref: N25B-205
This commit is contained in:
Björn Otgaar
7
.vscode/settings.json
vendored
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7
.vscode/settings.json
vendored
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@@ -0,0 +1,7 @@
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{
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"python.testing.pytestArgs": [
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"test"
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],
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"python.testing.unittestEnabled": false,
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"python.testing.pytestEnabled": true
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}
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219
main.py
219
main.py
@@ -1,219 +0,0 @@
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import asyncio
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from contextlib import asynccontextmanager
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from fastapi import FastAPI, Request
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from fastapi.middleware.cors import CORSMiddleware
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import zmq
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import zmq.asyncio
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from fastapi.responses import StreamingResponse
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from pydantic import BaseModel
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import datetime
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import json;
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zmq_state = {} # Contains our sockets and context
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# Use of Pydantic class for automatic request validation in FastAPI
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class Message(BaseModel):
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message: str
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@asynccontextmanager
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async def lifespan(app: FastAPI):
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context = zmq.Context()
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# Set up sub and pub
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zmq_state["context"] = zmq.asyncio.Context()
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subport = 5555
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pubport = 5556
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asyncio.create_task(zmq_subscriber(subport, app))
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asyncio.create_task(zmq_publisher(pubport, app))
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print("Set up both sub and pub")
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app.state.sse_queue = asyncio.Queue() # Messages to send to UI
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app.state.ri_queue = asyncio.Queue() # Messages to send to RI
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# Handle pings
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app.state.received_ping = False
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app.state.connected = False
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app.state.connected_id = ""
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yield
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async def zmq_subscriber(port, app):
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"""
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Set up the zmq subscriber to listen to the port given
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"""
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print(f"Setting up ZMQ subscriber on port {port}")
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sub = zmq_state["context"].socket(zmq.SUB)
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sub.connect(f"tcp://localhost:{port}")
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sub.setsockopt_string(zmq.SUBSCRIBE, u"")
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zmq_state["subsocket"] = sub
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print(f"Subscriber connected to localhost:{port}, waiting for messages...")
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while True:
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print(f"Listening for message from zmq sub on port {port}.")
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msg = await sub.recv_string()
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print(f"Received from SUB: {msg}")
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# We got a message, let's see what we want to do with it.
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await process_message_received(msg, app)
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async def zmq_publisher(port, app):
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"""
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Set up the zmq publisher to send to the port given
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"""
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queue = app.state.ri_queue
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pub = zmq_state["context"].socket(zmq.PUB)
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pub.bind(f"tcp://*:{port}")
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zmq_state["pubsocket"] = pub
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while True:
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if not queue.empty():
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# send different message to RI
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return
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if app.state.connected == True:
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# (In case we have nothing else to send:)
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# Let's ping our RI to see if they're still listening!
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app.state.received_ping = False
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zmq_state["pubsocket"].send_string("ping")
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await asyncio.sleep(5)
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# Let's see if we haven't returned a ping in the last 5 seconds...
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if not app.state.received_ping == True:
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# Let's send our UI a message the robot disappeared.
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dataToSend = {
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"event": "robot_disconnected",
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"id": app.state.connected_id
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}
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# Reset connection details
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app.state.connected = False
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app.state.connectedID = ""
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await put_message_in_ui_queue(dataToSend, app)
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await asyncio.sleep(1)
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async def put_message_in_ui_queue(data, app):
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queue = app.state.sse_queue
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await queue.put(data)
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async def put_message_in_ri_queue(data, app):
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queue = app.state.ri_queue
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await queue.put(data)
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async def process_message_received(msg, app):
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"""
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Process a raw received message to handle it correctly.
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"""
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queue = app.state.sse_queue
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# string handling
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if type(msg) is str:
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try:
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print("converting received data into json.")
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data = json.loads(msg)
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print("converted data: ", data)
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# Connection event
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if (data['event'] == 'robot_connected'):
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print("robot connection event received.")
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if not data["id"]:
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return
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# Let our app know we're connected >:)
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app.state.connected_id = data["id"]
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app.state.connected = True
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app.state.received_ping = True
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# Send data to UI
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name = data.get("name", "no name")
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port = data.get("port", "no port")
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dataToSend = {
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"event": "robot_connected",
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"id": data["id"],
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"name": name,
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"port": port
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}
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await queue.put(dataToSend)
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# Disconnection event
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if (data['event'] == 'robot_disconnected'):
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if not data["id"]:
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return
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name = data.get("name", "no name")
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port = data.get("port", "no port")
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dataToSend = {
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"event": "robot_disconnected",
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"id": data["id"],
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"name": name,
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"port": port
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}
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await queue.put(dataToSend)
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# Ping event
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if (data['event'] == 'ping'):
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print("ping received")
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if not data["id"]:
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print("no id given in ping event.")
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return
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# TODO: You can add some logic here if the ID doens't match (so we switched robot at the same frame lol)
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app.state.received_ping = True
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return
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except:
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print("message received from RI, however, not a str or json, or another error has occured.")
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return
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# do shit
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app = FastAPI(lifespan=lifespan)
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# This middleware allows other origins to communicate with us
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app.add_middleware(
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CORSMiddleware, # https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/CORS
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allow_origins=["http://localhost:5173"], # address of our UI application
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allow_methods=["*"], # GET, POST, etc.
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)
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# Endpoint to receive messages from the UI
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@app.post("/message")
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async def receive_message(message: Message):
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"""
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Receives a message from the UI and prints it to the console.
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"""
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print(f"Received message: {message}")
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return { "status": "Message received" }
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# Endpoint for Server-Sent Events (SSE)
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@app.get("/sse")
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async def sse_endpoint(request: Request):
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"""
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Endpoint for Server-Sent Events.
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"""
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async def event_generator():
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while True:
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# If connection to client closes, stop sending events
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if await request.is_disconnected():
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break
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# Let's check if we have to send any messages from our sse queue
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queue = app.state.sse_queue
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if not queue.empty():
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print("message queue not empty, fetching data.")
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data = await queue.get()
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data_json = json.dumps(data)
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print(f"queue not empty. yielding msg to event_generator, msg: {data_json}\n\n")
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yield f"data: {data_json}\n\n"
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await asyncio.sleep(1)
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else:
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# Send message containing current time every second
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current_time = datetime.datetime.now().strftime("%H:%M:%S")
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yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based)
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await asyncio.sleep(1)
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return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams
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@@ -11,6 +11,10 @@ dependencies = [
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"pyaudio>=0.2.14",
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"pydantic>=2.12.0",
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"pydantic-settings>=2.11.0",
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"pytest>=8.4.2",
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"pytest-asyncio>=1.2.0",
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"pytest-cov>=7.0.0",
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"pytest-mock>=3.15.1",
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"pyzmq>=27.1.0",
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"silero-vad>=6.0.0",
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"spade>=4.1.0",
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60
src/control_backend/agents/ri_command_agent.py
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60
src/control_backend/agents/ri_command_agent.py
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@@ -0,0 +1,60 @@
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import json
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import logging
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from spade.agent import Agent
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from spade.behaviour import CyclicBehaviour
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import zmq
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from control_backend.core.config import settings
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from control_backend.core.zmq_context import context
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from control_backend.schemas.message import Message
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logger = logging.getLogger(__name__)
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class RICommandAgent(Agent):
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subsocket: zmq.Socket
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pubsocket: zmq.Socket
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address = ""
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bind = False
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def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False):
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super().__init__(jid, password, port, verify_security)
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self.address = address
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self.bind = bind
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class SendCommandsBehaviour(CyclicBehaviour):
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async def run(self):
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assert self.agent is not None
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# Get a message internally (with topic command)
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topic, body = await self.agent.subsocket.recv_multipart()
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# Try to get body
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try:
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message_json = json.loads(body.decode("utf-8"))
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message = Message.model_validate(message_json)
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logger.info("Received message \"%s\"", message.message)
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# Send to the robot.
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await self.agent.pubsocket.send_json(message)
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except Exception as e:
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logger.error("Error processing message: %s", e)
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async def setup(self):
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logger.info("Setting up %s", self.jid)
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# To the robot
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self.pubsocket = context.socket(zmq.PUB)
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if self.bind:
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self.pubsocket.bind(self.address)
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else :
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self.pubsocket.connect(self.address)
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# Receive internal topics regarding commands
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self.subsocket = context.socket(zmq.SUB)
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self.subsocket.connect(settings.zmq_settings.internal_comm_address)
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self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
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# Add behaviour to our agent
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commands_behaviour = self.SendCommandsBehaviour()
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self.add_behaviour(commands_behaviour)
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logger.info("Finished setting up %s", self.jid)
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138
src/control_backend/agents/ri_communication_agent.py
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138
src/control_backend/agents/ri_communication_agent.py
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@@ -0,0 +1,138 @@
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import asyncio
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import json
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import logging
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from spade.agent import Agent
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from spade.behaviour import CyclicBehaviour
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import zmq
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from control_backend.core.config import settings
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from control_backend.core.zmq_context import context
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from control_backend.schemas.message import Message
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from control_backend.agents.ri_command_agent import RICommandAgent
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logger = logging.getLogger(__name__)
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class RICommunicationAgent(Agent):
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req_socket: zmq.Socket
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_address = ""
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_bind = True
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def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False):
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super().__init__(jid, password, port, verify_security)
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self._address = address
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self._bind = bind
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class ListenBehaviour(CyclicBehaviour):
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async def run(self):
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assert self.agent is not None
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# We need to listen and sent pings.
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message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
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await self.agent.req_socket.send_json(message)
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# Wait up to three seconds for a reply:)
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try:
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message = await asyncio.wait_for(
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self.agent.req_socket.recv_json(),
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timeout=3.0)
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# We didnt get a reply :(
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except asyncio.TimeoutError as e:
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logger.info("No ping retrieved in 3 seconds, killing myself.")
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self.kill()
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# message = Message.model_validate(message)
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logger.info("Received message \"%s\"", message)
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if "endpoint" not in message:
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logger.error("No received endpoint in message, excepted ping endpoint.")
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return
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# See what endpoint we received
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match message["endpoint"]:
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case "ping":
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await asyncio.sleep(1)
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case _:
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logger.info("Received message with topic different than ping, while ping expected.")
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async def setup(self, max_retries: int = 5):
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logger.info("Setting up %s", self.jid)
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retries = 0
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# Let's try a certain amount of times before failing connection
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while retries < max_retries:
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# Bind request socket
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self.req_socket = context.socket(zmq.REQ)
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if self._bind:
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self.req_socket.bind(self._address)
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else:
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self.req_socket.connect(self._address)
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# Send our message and receive one back:)
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message = {"endpoint": "negotiate/ports", "data": None}
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await self.req_socket.send_json(message)
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try:
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received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0)
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except asyncio.TimeoutError:
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logger.warning("No connection established in 20 seconds (attempt %d/%d)", retries + 1, max_retries)
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retries += 1
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continue
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except Exception as e:
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logger.error("Unexpected error during negotiation: %s", e)
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retries += 1
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continue
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# Validate endpoint
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endpoint = received_message.get("endpoint")
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if endpoint != "negotiate/ports":
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# TODO: Should this send a message back?
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logger.error("Invalid endpoint '%s' received (attempt %d/%d)", endpoint, retries + 1, max_retries)
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retries += 1
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continue
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# At this point, we have a valid response
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try:
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for port_data in received_message["data"]:
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id = port_data["id"]
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port = port_data["port"]
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bind = port_data["bind"]
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addr = f"tcp://localhost:{port}"
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match id:
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case "main":
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if addr != self._address:
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if not bind:
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self.req_socket.connect(addr)
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else:
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self.req_socket.bind(addr)
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case "actuation":
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ri_commands_agent = RICommandAgent(
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settings.agent_settings.ri_command_agent_name + '@' + settings.agent_settings.host,
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settings.agent_settings.ri_command_agent_name,
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address=addr,
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bind=bind )
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await ri_commands_agent.start()
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case _:
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logger.warning("Unhandled negotiation id: %s", id)
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except Exception as e:
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logger.error("Error unpacking negotiation data: %s", e)
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retries += 1
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continue
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# setup succeeded
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break
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else:
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logger.error("Failed to set up RICommunicationAgent after %d retries", max_retries)
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return
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# Set up ping behaviour
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listen_behaviour = self.ListenBehaviour()
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self.add_behaviour(listen_behaviour)
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logger.info("Finished setting up %s", self.jid)
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@@ -1,9 +1,19 @@
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from re import L
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from pydantic import BaseModel
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from pydantic_settings import BaseSettings, SettingsConfigDict
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class ZMQSettings(BaseModel):
|
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internal_comm_address: str = "tcp://localhost:5560"
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class AgentSettings(BaseModel):
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host: str = "localhost"
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bdi_core_agent_name: str = "bdi_core"
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belief_collector_agent_name: str = "belief_collector"
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test_agent_name: str = "test_agent"
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ri_communication_agent_name: str = "ri_communication_agent"
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ri_command_agent_name: str = "ri_command_agent"
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class Settings(BaseSettings):
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app_title: str = "PepperPlus"
|
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|
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@@ -11,6 +21,8 @@ class Settings(BaseSettings):
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zmq_settings: ZMQSettings = ZMQSettings()
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agent_settings: AgentSettings = AgentSettings()
|
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|
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model_config = SettingsConfigDict(env_file=".env")
|
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|
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settings = Settings()
|
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|
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@@ -7,6 +7,7 @@ import zmq
|
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|
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# Internal imports
|
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from control_backend.agents.test_agent import TestAgent
|
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from control_backend.agents.ri_communication_agent import RICommunicationAgent
|
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from control_backend.api.v1.router import api_router
|
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from control_backend.core.config import settings
|
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from control_backend.core.zmq_context import context
|
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@@ -26,8 +27,12 @@ async def lifespan(app: FastAPI):
|
||||
logger.info("Internal publishing socket bound to %s", internal_comm_socket)
|
||||
|
||||
# Initiate agents
|
||||
test_agent = TestAgent("test_agent@localhost", "test_agent")
|
||||
await test_agent.start()
|
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logger.info(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host)
|
||||
logger.info(settings.agent_settings.ri_communication_agent_name)
|
||||
ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host,
|
||||
settings.agent_settings.ri_communication_agent_name,
|
||||
address="tcp://*:5555", bind=True)
|
||||
await ri_communication_agent.start()
|
||||
|
||||
yield
|
||||
|
||||
|
||||
84
test/unit/test_ri_commands_agent.py
Normal file
84
test/unit/test_ri_commands_agent.py
Normal file
@@ -0,0 +1,84 @@
|
||||
import asyncio
|
||||
import zmq
|
||||
import json
|
||||
import pytest
|
||||
from unittest.mock import AsyncMock, MagicMock, patch
|
||||
from control_backend.agents.ri_command_agent import RICommandAgent
|
||||
from control_backend.schemas.message import Message
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_bind(monkeypatch):
|
||||
"""Test setup with bind=True"""
|
||||
fake_socket = MagicMock()
|
||||
monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
|
||||
monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")))
|
||||
|
||||
await agent.setup()
|
||||
|
||||
# Ensure PUB socket bound
|
||||
fake_socket.bind.assert_any_call("tcp://localhost:5555")
|
||||
# Ensure SUB socket connected to internal address and subscribed
|
||||
fake_socket.connect.assert_any_call("tcp://internal:1234")
|
||||
fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
|
||||
|
||||
# Ensure behaviour attached
|
||||
assert any(isinstance(b, agent.SendCommandsBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_connect(monkeypatch):
|
||||
"""Test setup with bind=False"""
|
||||
fake_socket = MagicMock()
|
||||
monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")))
|
||||
|
||||
await agent.setup()
|
||||
|
||||
# Ensure PUB socket connected
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_send_commands_behaviour_valid_message(caplog):
|
||||
"""Test behaviour with valid JSON message"""
|
||||
fake_socket = AsyncMock()
|
||||
message_dict = {"message": "hello"}
|
||||
fake_socket.recv_multipart = AsyncMock(return_value=(b"command", json.dumps(message_dict).encode("utf-8")))
|
||||
fake_socket.send_json = AsyncMock()
|
||||
|
||||
agent = RICommandAgent("test@server", "password")
|
||||
agent.subsocket = fake_socket
|
||||
agent.pubsocket = fake_socket
|
||||
|
||||
behaviour = agent.SendCommandsBehaviour()
|
||||
behaviour.agent = agent
|
||||
|
||||
with caplog.at_level("INFO"):
|
||||
await behaviour.run()
|
||||
|
||||
fake_socket.recv_multipart.assert_awaited()
|
||||
fake_socket.send_json.assert_awaited()
|
||||
assert "Received message" in caplog.text
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_send_commands_behaviour_invalid_message(caplog):
|
||||
"""Test behaviour with invalid JSON message triggers error logging"""
|
||||
fake_socket = AsyncMock()
|
||||
fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}"))
|
||||
fake_socket.send_json = AsyncMock()
|
||||
|
||||
agent = RICommandAgent("test@server", "password")
|
||||
agent.subsocket = fake_socket
|
||||
agent.pubsocket = fake_socket
|
||||
|
||||
behaviour = agent.SendCommandsBehaviour()
|
||||
behaviour.agent = agent
|
||||
|
||||
with caplog.at_level("ERROR"):
|
||||
await behaviour.run()
|
||||
|
||||
fake_socket.recv_multipart.assert_awaited()
|
||||
fake_socket.send_json.assert_not_awaited()
|
||||
assert "Error processing message" in caplog.text
|
||||
498
test/unit/test_ri_communication_agent.py
Normal file
498
test/unit/test_ri_communication_agent.py
Normal file
@@ -0,0 +1,498 @@
|
||||
import asyncio
|
||||
import pytest
|
||||
from unittest.mock import AsyncMock, MagicMock, patch, ANY
|
||||
from control_backend.agents.ri_communication_agent import RICommunicationAgent
|
||||
|
||||
def fake_json_correct_negototiate_1():
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "main", "port": 5555, "bind": False},
|
||||
{"id": "actuation", "port": 5556, "bind": True},
|
||||
]})
|
||||
|
||||
def fake_json_correct_negototiate_2():
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "main", "port": 5555, "bind": False},
|
||||
{"id": "actuation", "port": 5557, "bind": True},
|
||||
]})
|
||||
|
||||
def fake_json_correct_negototiate_3():
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "main", "port": 5555, "bind": True},
|
||||
{"id": "actuation", "port": 5557, "bind": True},
|
||||
]})
|
||||
|
||||
def fake_json_correct_negototiate_4():
|
||||
# Different port, do bind
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "main", "port": 4555, "bind": True},
|
||||
{"id": "actuation", "port": 5557, "bind": True},
|
||||
]})
|
||||
|
||||
def fake_json_correct_negototiate_5():
|
||||
# Different port, dont bind.
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "main", "port": 4555, "bind": False},
|
||||
{"id": "actuation", "port": 5557, "bind": True},
|
||||
]})
|
||||
|
||||
def fake_json_wrong_negototiate_1():
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "ping",
|
||||
"data": ""})
|
||||
|
||||
def fake_json_invalid_id_negototiate():
|
||||
return AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "banana", "port": 4555, "bind": False},
|
||||
{"id": "tomato", "port": 5557, "bind": True},
|
||||
]})
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_1(monkeypatch):
|
||||
"""
|
||||
Test the setup of the communication agent
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_correct_negototiate_1()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup()
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
fake_agent_instance.start.assert_awaited()
|
||||
MockCommandAgent.assert_called_once_with(
|
||||
ANY, # Server Name
|
||||
ANY, # Server Password
|
||||
address="tcp://localhost:5556", # derived from the 'port' value in negotiation
|
||||
bind=True
|
||||
)
|
||||
# Ensure the agent attached a ListenBehaviour
|
||||
assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_2(monkeypatch):
|
||||
"""
|
||||
Test the setup of the communication agent
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_correct_negototiate_2()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup()
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
fake_agent_instance.start.assert_awaited()
|
||||
MockCommandAgent.assert_called_once_with(
|
||||
ANY, # Server Name
|
||||
ANY, # Server Password
|
||||
address="tcp://localhost:5557", # derived from the 'port' value in negotiation
|
||||
bind=True
|
||||
)
|
||||
# Ensure the agent attached a ListenBehaviour
|
||||
assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog):
|
||||
"""
|
||||
Test the functionality of setup with incorrect negotiation message
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_wrong_negototiate_1()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
|
||||
|
||||
# We are sending wrong negotiation info to the communication agent, so we should retry and expect a
|
||||
# better response, within a limited time.
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
with caplog.at_level("ERROR"):
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup(max_retries=1)
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
|
||||
# Since it failed, there should not be any command agent.
|
||||
fake_agent_instance.start.assert_not_awaited()
|
||||
assert "Failed to set up RICommunicationAgent" in caplog.text
|
||||
|
||||
# Ensure the agent did not attach a ListenBehaviour
|
||||
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_4(monkeypatch):
|
||||
"""
|
||||
Test the setup of the communication agent with different bind value
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_correct_negototiate_3()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
|
||||
await agent.setup()
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.bind.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
fake_agent_instance.start.assert_awaited()
|
||||
MockCommandAgent.assert_called_once_with(
|
||||
ANY, # Server Name
|
||||
ANY, # Server Password
|
||||
address="tcp://localhost:5557", # derived from the 'port' value in negotiation
|
||||
bind=True
|
||||
)
|
||||
# Ensure the agent attached a ListenBehaviour
|
||||
assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_5(monkeypatch):
|
||||
"""
|
||||
Test the setup of the communication agent
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_correct_negototiate_4()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup()
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
fake_agent_instance.start.assert_awaited()
|
||||
MockCommandAgent.assert_called_once_with(
|
||||
ANY, # Server Name
|
||||
ANY, # Server Password
|
||||
address="tcp://localhost:5557", # derived from the 'port' value in negotiation
|
||||
bind=True
|
||||
)
|
||||
# Ensure the agent attached a ListenBehaviour
|
||||
assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_6(monkeypatch):
|
||||
"""
|
||||
Test the setup of the communication agent
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_correct_negototiate_5()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup()
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
fake_agent_instance.start.assert_awaited()
|
||||
MockCommandAgent.assert_called_once_with(
|
||||
ANY, # Server Name
|
||||
ANY, # Server Password
|
||||
address="tcp://localhost:5557", # derived from the 'port' value in negotiation
|
||||
bind=True
|
||||
)
|
||||
# Ensure the agent attached a ListenBehaviour
|
||||
assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog):
|
||||
"""
|
||||
Test the functionality of setup with incorrect id
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = fake_json_invalid_id_negototiate()
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
# Mock RICommandAgent agent startup
|
||||
|
||||
|
||||
# We are sending wrong negotiation info to the communication agent, so we should retry and expect a
|
||||
# better response, within a limited time.
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
with caplog.at_level("WARNING"):
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup(max_retries=1)
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
|
||||
# Since it failed, there should not be any command agent.
|
||||
fake_agent_instance.start.assert_not_awaited()
|
||||
assert "Unhandled negotiation id:" in caplog.text
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_creates_socket_and_negotiate_timeout(monkeypatch, caplog):
|
||||
"""
|
||||
Test the functionality of setup with incorrect negotiation message
|
||||
"""
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
|
||||
|
||||
# Mock context.socket to return our fake socket
|
||||
monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
|
||||
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
# --- Act ---
|
||||
with caplog.at_level("WARNING"):
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
await agent.setup(max_retries=1)
|
||||
|
||||
# --- Assert ---
|
||||
fake_socket.connect.assert_any_call("tcp://localhost:5555")
|
||||
|
||||
# Since it failed, there should not be any command agent.
|
||||
fake_agent_instance.start.assert_not_awaited()
|
||||
assert "No connection established in 20 seconds" in caplog.text
|
||||
|
||||
# Ensure the agent did not attach a ListenBehaviour
|
||||
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_listen_behaviour_ping_correct(caplog):
|
||||
fake_socket = AsyncMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
|
||||
|
||||
# TODO: Integration test between actual server and password needed for spade agents
|
||||
agent = RICommunicationAgent("test@server", "password")
|
||||
agent.req_socket = fake_socket
|
||||
|
||||
behaviour = agent.ListenBehaviour()
|
||||
agent.add_behaviour(behaviour)
|
||||
|
||||
# Run once (CyclicBehaviour normally loops)
|
||||
with caplog.at_level("INFO"):
|
||||
await behaviour.run()
|
||||
|
||||
fake_socket.send_json.assert_awaited()
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
assert "Received message" in caplog.text
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_listen_behaviour_ping_wrong_endpoint(caplog):
|
||||
"""
|
||||
Test if our listen behaviour can work with wrong messages (wrong endpoint)
|
||||
"""
|
||||
fake_socket = AsyncMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
|
||||
# This is a message for the wrong endpoint >:(
|
||||
fake_socket.recv_json = AsyncMock(return_value={
|
||||
"endpoint": "negotiate/ports",
|
||||
"data": [
|
||||
{"id": "main", "port": 5555, "bind": False},
|
||||
{"id": "actuation", "port": 5556, "bind": True},
|
||||
]})
|
||||
|
||||
agent = RICommunicationAgent("test@server", "password")
|
||||
agent.req_socket = fake_socket
|
||||
|
||||
behaviour = agent.ListenBehaviour()
|
||||
agent.add_behaviour(behaviour)
|
||||
|
||||
# Run once (CyclicBehaviour normally loops)
|
||||
with caplog.at_level("INFO"):
|
||||
await behaviour.run()
|
||||
|
||||
|
||||
assert "Received message with topic different than ping, while ping expected." in caplog.text
|
||||
fake_socket.send_json.assert_awaited()
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_listen_behaviour_timeout(caplog):
|
||||
fake_socket = AsyncMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
# recv_json will never resolve, simulate timeout
|
||||
fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
|
||||
|
||||
agent = RICommunicationAgent("test@server", "password")
|
||||
agent.req_socket = fake_socket
|
||||
|
||||
behaviour = agent.ListenBehaviour()
|
||||
agent.add_behaviour(behaviour)
|
||||
|
||||
with caplog.at_level("INFO"):
|
||||
await behaviour.run()
|
||||
|
||||
assert "No ping retrieved in 3 seconds" in caplog.text
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_listen_behaviour_ping_no_endpoint(caplog):
|
||||
"""
|
||||
Test if our listen behaviour can work with wrong messages (wrong endpoint)
|
||||
"""
|
||||
fake_socket = AsyncMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
|
||||
# This is a message without endpoint >:(
|
||||
fake_socket.recv_json = AsyncMock(return_value={
|
||||
"data": "I dont have an endpoint >:)",
|
||||
})
|
||||
|
||||
agent = RICommunicationAgent("test@server", "password")
|
||||
agent.req_socket = fake_socket
|
||||
|
||||
behaviour = agent.ListenBehaviour()
|
||||
agent.add_behaviour(behaviour)
|
||||
|
||||
# Run once (CyclicBehaviour normally loops)
|
||||
with caplog.at_level("ERROR"):
|
||||
await behaviour.run()
|
||||
|
||||
assert "No received endpoint in message, excepted ping endpoint." in caplog.text
|
||||
fake_socket.send_json.assert_awaited()
|
||||
fake_socket.recv_json.assert_awaited()
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_unexpected_exception(monkeypatch, caplog):
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
# Simulate unexpected exception during recv_json()
|
||||
fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
|
||||
|
||||
monkeypatch.setattr(
|
||||
"control_backend.agents.ri_communication_agent.context.socket",
|
||||
lambda _: fake_socket
|
||||
)
|
||||
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
|
||||
with caplog.at_level("ERROR"):
|
||||
await agent.setup(max_retries=1)
|
||||
|
||||
# Ensure that the error was logged
|
||||
assert "Unexpected error during negotiation: boom!" in caplog.text
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_setup_unpacking_exception(monkeypatch, caplog):
|
||||
# --- Arrange ---
|
||||
fake_socket = MagicMock()
|
||||
fake_socket.send_json = AsyncMock()
|
||||
|
||||
# Make recv_json return malformed negotiation data to trigger unpacking exception
|
||||
malformed_data = {"endpoint": "negotiate/ports", "data": [ {"id": "main"} ]} # missing 'port' and 'bind'
|
||||
fake_socket.recv_json = AsyncMock(return_value=malformed_data)
|
||||
|
||||
# Patch context.socket
|
||||
monkeypatch.setattr(
|
||||
"control_backend.agents.ri_communication_agent.context.socket",
|
||||
lambda _: fake_socket
|
||||
)
|
||||
|
||||
# Patch RICommandAgent so it won't actually start
|
||||
with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
|
||||
fake_agent_instance = MockCommandAgent.return_value
|
||||
fake_agent_instance.start = AsyncMock()
|
||||
|
||||
agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
|
||||
|
||||
# --- Act & Assert ---
|
||||
with caplog.at_level("ERROR"):
|
||||
await agent.setup(max_retries=1)
|
||||
|
||||
# Ensure the unpacking exception was logged
|
||||
assert "Error unpacking negotiation data" in caplog.text
|
||||
|
||||
# Ensure no command agent was started
|
||||
fake_agent_instance.start.assert_not_awaited()
|
||||
|
||||
# Ensure no behaviour was attached
|
||||
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
|
||||
141
uv.lock
generated
141
uv.lock
generated
@@ -292,6 +292,67 @@ wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/a7/06/3d6badcf13db419e25b07041d9c7b4a2c331d3f4e7134445ec5df57714cd/coloredlogs-15.0.1-py2.py3-none-any.whl", hash = "sha256:612ee75c546f53e92e70049c9dbfcc18c935a2b9a53b66085ce9ef6a6e5c0934", size = 46018, upload-time = "2021-06-11T10:22:42.561Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "coverage"
|
||||
version = "7.11.0"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/1c/38/ee22495420457259d2f3390309505ea98f98a5eed40901cf62196abad006/coverage-7.11.0.tar.gz", hash = "sha256:167bd504ac1ca2af7ff3b81d245dfea0292c5032ebef9d66cc08a7d28c1b8050", size = 811905, upload-time = "2025-10-15T15:15:08.542Z" }
|
||||
wheels = [
|
||||
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||||
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{ url = "https://files.pythonhosted.org/packages/e5/8b/cb68425420154e7e2a82fd779a8cc01549b6fa83c2ad3679cd6c088ebd07/coverage-7.11.0-cp313-cp313t-macosx_10_13_x86_64.whl", hash = "sha256:587c38849b853b157706407e9ebdca8fd12f45869edb56defbef2daa5fb0812b", size = 216837, upload-time = "2025-10-15T15:13:51.09Z" },
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||||
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||||
{ url = "https://files.pythonhosted.org/packages/f9/50/de216b31a1434b94d9b34a964c09943c6be45069ec704bfc379d8d89a649/coverage-7.11.0-cp313-cp313t-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:9516add7256b6713ec08359b7b05aeff8850c98d357784c7205b2e60aa2513fa", size = 257361, upload-time = "2025-10-15T15:14:00.409Z" },
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||||
{ url = "https://files.pythonhosted.org/packages/0b/8b/918f0e15f0365d50d3986bbd3338ca01178717ac5678301f3f547b6619e6/coverage-7.11.0-cp313-cp313t-musllinux_1_2_riscv64.whl", hash = "sha256:6fbcee1a8f056af07ecd344482f711f563a9eb1c2cad192e87df00338ec3cdb0", size = 256723, upload-time = "2025-10-15T15:14:06.324Z" },
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||||
{ url = "https://files.pythonhosted.org/packages/44/9e/7776829f82d3cf630878a7965a7d70cc6ca94f22c7d20ec4944f7148cb46/coverage-7.11.0-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:dbbf012be5f32533a490709ad597ad8a8ff80c582a95adc8d62af664e532f9ca", size = 259238, upload-time = "2025-10-15T15:14:08.002Z" },
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||||
{ url = "https://files.pythonhosted.org/packages/9a/b8/49cf253e1e7a3bedb85199b201862dd7ca4859f75b6cf25ffa7298aa0760/coverage-7.11.0-cp313-cp313t-win32.whl", hash = "sha256:cee6291bb4fed184f1c2b663606a115c743df98a537c969c3c64b49989da96c2", size = 219180, upload-time = "2025-10-15T15:14:09.786Z" },
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||||
{ url = "https://files.pythonhosted.org/packages/ac/e1/1a541703826be7ae2125a0fb7f821af5729d56bb71e946e7b933cc7a89a4/coverage-7.11.0-cp313-cp313t-win_amd64.whl", hash = "sha256:a386c1061bf98e7ea4758e4313c0ab5ecf57af341ef0f43a0bf26c2477b5c268", size = 220241, upload-time = "2025-10-15T15:14:11.471Z" },
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{ url = "https://files.pythonhosted.org/packages/d5/d1/5ee0e0a08621140fd418ec4020f595b4d52d7eb429ae6a0c6542b4ba6f14/coverage-7.11.0-cp313-cp313t-win_arm64.whl", hash = "sha256:f9ea02ef40bb83823b2b04964459d281688fe173e20643870bb5d2edf68bc836", size = 218510, upload-time = "2025-10-15T15:14:13.46Z" },
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||||
{ url = "https://files.pythonhosted.org/packages/f4/06/e923830c1985ce808e40a3fa3eb46c13350b3224b7da59757d37b6ce12b8/coverage-7.11.0-cp314-cp314-macosx_10_13_x86_64.whl", hash = "sha256:c770885b28fb399aaf2a65bbd1c12bf6f307ffd112d6a76c5231a94276f0c497", size = 216110, upload-time = "2025-10-15T15:14:15.157Z" },
|
||||
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sdist = { url = "https://files.pythonhosted.org/packages/68/14/eb014d26be205d38ad5ad20d9a80f7d201472e08167f0bb4361e251084a9/pytest_mock-3.15.1.tar.gz", hash = "sha256:1849a238f6f396da19762269de72cb1814ab44416fa73a8686deac10b0d87a0f", size = 34036, upload-time = "2025-09-16T16:37:27.081Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/5a/cc/06253936f4a7fa2e0f48dfe6d851d9c56df896a9ab09ac019d70b760619c/pytest_mock-3.15.1-py3-none-any.whl", hash = "sha256:0a25e2eb88fe5168d535041d09a4529a188176ae608a6d249ee65abc0949630d", size = 10095, upload-time = "2025-09-16T16:37:25.734Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "python-dateutil"
|
||||
version = "2.9.0.post0"
|
||||
|
||||
Reference in New Issue
Block a user