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fix: unit tests fixes and ruff formating

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N25B-205
This commit is contained in:
Björn Otgaar
2025-10-28 11:31:05 +01:00
parent 52faa59184
commit 47a87d0b4a
11 changed files with 307 additions and 209 deletions
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21
src/control_backend/agents/ri_command_agent.py
View File

@@ -10,13 +10,22 @@ from control_backend.schemas.ri_message import SpeechCommand
logger = logging.getLogger(__name__)
class RICommandAgent(Agent):
subsocket: zmq.Socket
pubsocket: zmq.Socket
address = ""
bind = False
def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False):
def __init__(
self,
jid: str,
password: str,
port: int = 5222,
verify_security: bool = False,
address="tcp://localhost:0000",
bind=False,
):
super().__init__(jid, password, port, verify_security)
self.address = address
self.bind = bind
@@ -29,12 +38,12 @@ class RICommandAgent(Agent):
assert self.agent is not None
# Get a message internally (with topic command)
topic, body = await self.agent.subsocket.recv_multipart()
# Try to get body
try:
body = json.loads(body)
message = SpeechCommand.model_validate(body)
# Send to the robot.
await self.agent.pubsocket.send_json(message.model_dump())
except Exception as e:
@@ -48,11 +57,11 @@ class RICommandAgent(Agent):
# To the robot
self.pubsocket = context.socket(zmq.PUB)
if self.bind:
if self.bind:
self.pubsocket.bind(self.address)
else :
else:
self.pubsocket.connect(self.address)
# Receive internal topics regarding commands
self.subsocket = context.socket(zmq.SUB)
self.subsocket.connect(settings.zmq_settings.internal_comm_address)

71
src/control_backend/agents/ri_communication_agent.py
View File

@@ -12,14 +12,21 @@ from control_backend.agents.ri_command_agent import RICommandAgent
logger = logging.getLogger(__name__)
class RICommunicationAgent(Agent):
req_socket: zmq.Socket
_address = ""
_bind = True
def __init__(self, jid: str, password: str, port: int = 5222,
verify_security: bool = False, address = "tcp://localhost:0000",
bind = False):
def __init__(
self,
jid: str,
password: str,
port: int = 5222,
verify_security: bool = False,
address="tcp://localhost:0000",
bind=False,
):
super().__init__(jid, password, port, verify_security)
self._address = address
self._bind = bind
@@ -37,28 +44,26 @@ class RICommunicationAgent(Agent):
# Wait up to three seconds for a reply:)
try:
message = await asyncio.wait_for(
self.agent.req_socket.recv_json(),
timeout=3.0)
message = await asyncio.wait_for(self.agent.req_socket.recv_json(), timeout=3.0)
# We didnt get a reply :(
except asyncio.TimeoutError as e:
except asyncio.TimeoutError as e:
logger.info("No ping retrieved in 3 seconds, killing myself.")
self.kill()
logger.debug("Received message \"%s\"", message)
logger.debug('Received message "%s"', message)
if "endpoint" not in message:
logger.error("No received endpoint in message, excepted ping endpoint.")
return
# See what endpoint we received
match message["endpoint"]:
case "ping":
case "ping":
await asyncio.sleep(1)
case _:
logger.info("Received message with topic different than ping," \
" while ping expected.")
logger.info(
"Received message with topic different than ping, while ping expected."
)
async def setup(self, max_retries: int = 5):
"""
@@ -67,14 +72,13 @@ class RICommunicationAgent(Agent):
logger.info("Setting up %s", self.jid)
retries = 0
# Let's try a certain amount of times before failing connection
while retries < max_retries:
# Bind request socket
self.req_socket = context.socket(zmq.REQ)
if self._bind:
if self._bind:
self.req_socket.bind(self._address)
else:
else:
self.req_socket.connect(self._address)
# Send our message and receive one back:)
@@ -85,10 +89,13 @@ class RICommunicationAgent(Agent):
received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0)
except asyncio.TimeoutError:
logger.warning("No connection established in 20 seconds (attempt %d/%d)",
retries + 1, max_retries)
logger.warning(
"No connection established in 20 seconds (attempt %d/%d)",
retries + 1,
max_retries,
)
retries += 1
continue
continue
except Exception as e:
logger.error("Unexpected error during negotiation: %s", e)
@@ -99,10 +106,14 @@ class RICommunicationAgent(Agent):
endpoint = received_message.get("endpoint")
if endpoint != "negotiate/ports":
# TODO: Should this send a message back?
logger.error("Invalid endpoint '%s' received (attempt %d/%d)",
endpoint, retries + 1, max_retries)
logger.error(
"Invalid endpoint '%s' received (attempt %d/%d)",
endpoint,
retries + 1,
max_retries,
)
retries += 1
continue
continue
# At this point, we have a valid response
try:
@@ -113,7 +124,7 @@ class RICommunicationAgent(Agent):
if not bind:
addr = f"tcp://localhost:{port}"
else:
else:
addr = f"tcp://*:{port}"
match id:
@@ -125,11 +136,13 @@ class RICommunicationAgent(Agent):
self.req_socket.bind(addr)
case "actuation":
ri_commands_agent = RICommandAgent(
settings.agent_settings.ri_command_agent_name +
'@' + settings.agent_settings.host,
settings.agent_settings.ri_command_agent_name,
address=addr,
bind=bind )
settings.agent_settings.ri_command_agent_name
+ "@"
+ settings.agent_settings.host,
settings.agent_settings.ri_command_agent_name,
address=addr,
bind=bind,
)
await ri_commands_agent.start()
case _:
logger.warning("Unhandled negotiation id: %s", id)
@@ -150,5 +163,3 @@ class RICommunicationAgent(Agent):
listen_behaviour = self.ListenBehaviour()
self.add_behaviour(listen_behaviour)
logger.info("Finished setting up %s", self.jid)

2
src/control_backend/api/v1/endpoints/command.py
View File

@@ -9,6 +9,7 @@ logger = logging.getLogger(__name__)
router = APIRouter()
@router.post("/command", status_code=202)
async def receive_command(command: SpeechCommand, request: Request):
# Validate and retrieve data.
@@ -16,5 +17,6 @@ async def receive_command(command: SpeechCommand, request: Request):
topic = b"command"
pub_socket: Socket = request.app.state.internal_comm_socket
pub_socket.send_multipart([topic, command.model_dump_json().encode()])
return {"status": "Command received"}

10
src/control_backend/api/v1/router.py
View File

@@ -6,12 +6,6 @@ api_router = APIRouter()
api_router.include_router(message.router, tags=["Messages"])
api_router.include_router(
sse.router,
tags=["SSE"]
)
api_router.include_router(sse.router, tags=["SSE"])
api_router.include_router(
command.router,
tags=["Commands"]
)
api_router.include_router(command.router, tags=["Commands"])

1
src/control_backend/core/config.py
View File

@@ -15,6 +15,7 @@ class AgentSettings(BaseModel):
ri_communication_agent_name: str = "ri_communication_agent"
ri_command_agent_name: str = "ri_command_agent"
class Settings(BaseSettings):
app_title: str = "PepperPlus"

19
src/control_backend/main.py
View File

@@ -31,16 +31,19 @@ async def lifespan(app: FastAPI):
logger.info("Internal publishing socket bound to %s", internal_comm_socket)
# Initiate agents
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)
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()
bdi_core = BDICoreAgent(settings.agent_settings.bdi_core_agent_name +
'@' + settings.agent_settings.host,
settings.agent_settings.bdi_core_agent_name,
"src/control_backend/agents/bdi/rules.asl")
bdi_core = BDICoreAgent(
settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host,
settings.agent_settings.bdi_core_agent_name,
"src/control_backend/agents/bdi/rules.asl",
)
await bdi_core.start()
yield

2
src/control_backend/schemas/ri_message.py
View File

@@ -12,7 +12,7 @@ class RIEndpoint(str, Enum):
class RIMessage(BaseModel):
endpoint: RIEndpoint
data: Any
data: Any
class SpeechCommand(RIMessage):

35
test/integration/agents/test_ri_commands_agent.py
View File

@@ -6,16 +6,20 @@ from unittest.mock import AsyncMock, MagicMock, patch
from control_backend.agents.ri_command_agent import RICommandAgent
from control_backend.schemas.ri_message import SpeechCommand
@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)
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")))
monkeypatch.setattr(
"control_backend.agents.ri_command_agent.settings",
MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")),
)
await agent.setup()
@@ -28,29 +32,35 @@ async def test_setup_bind(monkeypatch):
# 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)
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")))
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():
"""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.recv_multipart = AsyncMock(
return_value=(b"command", json.dumps(message_dict).encode("utf-8"))
)
fake_socket.send_json = AsyncMock()
agent = RICommandAgent("test@server", "password")
@@ -60,14 +70,15 @@ async def test_send_commands_behaviour_valid_message():
behaviour = agent.SendCommandsBehaviour()
behaviour.agent = agent
with patch('control_backend.agents.ri_command_agent.SpeechCommand') as MockSpeechCommand:
with patch("control_backend.agents.ri_command_agent.SpeechCommand") as MockSpeechCommand:
mock_message = MagicMock()
MockSpeechCommand.model_validate.return_value = mock_message
await behaviour.run()
fake_socket.recv_multipart.assert_awaited()
fake_socket.send_json.assert_awaited_with(mock_message)
fake_socket.send_json.assert_awaited_with(mock_message.model_dump())
@pytest.mark.asyncio
async def test_send_commands_behaviour_invalid_message(caplog):

343
test/integration/agents/test_ri_communication_agent.py
View File

@@ -3,60 +3,84 @@ 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},
]})
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},
]})
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},
]})
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},
]})
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},
]})
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": ""})
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},
]})
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):
@@ -67,20 +91,23 @@ async def test_setup_creates_socket_and_negotiate_1(monkeypatch):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
await agent.setup()
# --- Assert ---
@@ -89,14 +116,15 @@ async def test_setup_creates_socket_and_negotiate_1(monkeypatch):
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
ANY, # Server Name
ANY, # Server Password
ANY, # Server Name
ANY, # Server Password
address="tcp://*:5556", # derived from the 'port' value in negotiation
bind=True
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):
"""
@@ -106,20 +134,23 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
await agent.setup()
# --- Assert ---
@@ -128,14 +159,15 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch):
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
ANY, # Server Name
ANY, # Server Password
ANY, # Server Name
ANY, # Server Password
address="tcp://*:5557", # derived from the 'port' value in negotiation
bind=True
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):
"""
@@ -145,25 +177,27 @@ async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
await agent.setup(max_retries=1)
# --- Assert ---
@@ -173,10 +207,11 @@ async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog):
# 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):
"""
@@ -186,20 +221,23 @@ async def test_setup_creates_socket_and_negotiate_4(monkeypatch):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=True
)
await agent.setup()
# --- Assert ---
@@ -208,14 +246,15 @@ async def test_setup_creates_socket_and_negotiate_4(monkeypatch):
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
ANY, # Server Name
ANY, # Server Password
ANY, # Server Name
ANY, # Server Password
address="tcp://*:5557", # derived from the 'port' value in negotiation
bind=True
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):
"""
@@ -225,20 +264,23 @@ async def test_setup_creates_socket_and_negotiate_5(monkeypatch):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
await agent.setup()
# --- Assert ---
@@ -247,14 +289,15 @@ async def test_setup_creates_socket_and_negotiate_5(monkeypatch):
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
ANY, # Server Name
ANY, # Server Password
ANY, # Server Name
ANY, # Server Password
address="tcp://*:5557", # derived from the 'port' value in negotiation
bind=True
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):
"""
@@ -264,20 +307,23 @@ async def test_setup_creates_socket_and_negotiate_6(monkeypatch):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
await agent.setup()
# --- Assert ---
@@ -286,14 +332,15 @@ async def test_setup_creates_socket_and_negotiate_6(monkeypatch):
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
ANY, # Server Name
ANY, # Server Password
ANY, # Server Name
ANY, # Server Password
address="tcp://*:5557", # derived from the 'port' value in negotiation
bind=True
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):
"""
@@ -303,25 +350,27 @@ async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog):
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)
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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
await agent.setup(max_retries=1)
# --- Assert ---
@@ -342,32 +391,36 @@ async def test_setup_creates_socket_and_negotiate_timeout(monkeypatch, caplog):
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:
# 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)
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()
@@ -389,6 +442,7 @@ async def test_listen_behaviour_ping_correct(caplog):
fake_socket.recv_json.assert_awaited()
assert "Received message" in caplog.text
@pytest.mark.asyncio
async def test_listen_behaviour_ping_wrong_endpoint(caplog):
"""
@@ -398,12 +452,15 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog):
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},
]})
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
@@ -415,11 +472,11 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog):
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()
@@ -438,6 +495,7 @@ async def test_listen_behaviour_timeout(caplog):
assert "No ping retrieved in 3 seconds" in caplog.text
@pytest.mark.asyncio
async def test_listen_behaviour_ping_no_endpoint(caplog):
"""
@@ -447,9 +505,11 @@ async def test_listen_behaviour_ping_no_endpoint(caplog):
fake_socket.send_json = AsyncMock()
# This is a message without endpoint >:(
fake_socket.recv_json = AsyncMock(return_value={
"data": "I dont have an endpoint >:)",
})
fake_socket.recv_json = AsyncMock(
return_value={
"data": "I dont have an endpoint >:)",
}
)
agent = RICommunicationAgent("test@server", "password")
agent.req_socket = fake_socket
@@ -465,6 +525,7 @@ async def test_listen_behaviour_ping_no_endpoint(caplog):
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()
@@ -473,12 +534,12 @@ async def test_setup_unexpected_exception(monkeypatch, caplog):
fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
monkeypatch.setattr(
"control_backend.agents.ri_communication_agent.context.socket",
lambda _: fake_socket
"control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
)
agent = RICommunicationAgent("test@server", "password",
address="tcp://localhost:5555", bind=False)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
with caplog.at_level("ERROR"):
await agent.setup(max_retries=1)
@@ -486,6 +547,7 @@ async def test_setup_unexpected_exception(monkeypatch, caplog):
# 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 ---
@@ -493,24 +555,27 @@ async def test_setup_unpacking_exception(monkeypatch, caplog):
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'
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
"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:
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)
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
)
# --- Act & Assert ---
with caplog.at_level("ERROR"):
@@ -523,4 +588,4 @@ async def test_setup_unpacking_exception(monkeypatch, caplog):
fake_agent_instance.start.assert_not_awaited()
# Ensure no behaviour was attached
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)

5
test/integration/api/endpoints/test_command_endpoint.py
View File

@@ -6,6 +6,7 @@ from unittest.mock import MagicMock
from control_backend.api.v1.endpoints import command
from control_backend.schemas.ri_message import SpeechCommand
@pytest.fixture
def app():
"""
@@ -49,7 +50,7 @@ def test_receive_command_endpoint(client, app):
assert sent_data[0] == b"command"
# Check JSON encoding roughly matches
assert isinstance(sent_data[1], SpeechCommand)
assert isinstance(SpeechCommand.model_validate_json(sent_data[1].decode()), SpeechCommand)
def test_receive_command_invalid_payload(client):
@@ -59,4 +60,4 @@ def test_receive_command_invalid_payload(client):
# Missing required field(s)
bad_payload = {"invalid": "data"}
response = client.post("/command", json=bad_payload)
assert response.status_code == 422 # validation error
assert response.status_code == 422 # validation error

7
test/integration/schemas/test_ri_message.py
View File

@@ -2,12 +2,15 @@ import pytest
from control_backend.schemas.ri_message import RIMessage, RIEndpoint, SpeechCommand
from pydantic import ValidationError
def valid_command_1():
return SpeechCommand(data="Hallo?")
def invalid_command_1():
return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.")
def test_valid_speech_command_1():
command = valid_command_1()
try:
@@ -16,7 +19,7 @@ def test_valid_speech_command_1():
assert True
except ValidationError:
assert False
def test_invalid_speech_command_1():
command = invalid_command_1()
@@ -31,5 +34,3 @@ def test_invalid_speech_command_1():
assert False
except ValidationError:
assert passed_ri_message_validation