feat: create tests for all currect functionality and add get available tags router
ref: N25B-334
This commit is contained in:
Björn Otgaar
392
test/unit/agents/actuation/test_robot_gesture_agent.py
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392
test/unit/agents/actuation/test_robot_gesture_agent.py
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@@ -0,0 +1,392 @@
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import json
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from unittest.mock import AsyncMock, MagicMock
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import pytest
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import zmq
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from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
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from control_backend.core.agent_system import InternalMessage
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from control_backend.schemas.ri_message import RIEndpoint
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@pytest.fixture
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def zmq_context(mocker):
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"""Mock the ZMQ context."""
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mock_context = mocker.patch(
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"control_backend.agents.actuation.robot_gesture_agent.azmq.Context.instance"
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)
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mock_context.return_value = MagicMock()
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return mock_context
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@pytest.mark.asyncio
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async def test_setup_bind(zmq_context, mocker):
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"""Setup binds and subscribes to internal commands."""
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fake_socket = zmq_context.return_value.socket.return_value
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agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=True)
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settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
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settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
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agent.add_behavior = MagicMock()
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await agent.setup()
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# Check PUB socket binding
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fake_socket.bind.assert_any_call("tcp://localhost:5556")
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# Check SUB socket connection and subscriptions
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fake_socket.connect.assert_any_call("tcp://internal:1234")
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fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
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fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"send_gestures")
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# Check behavior was added
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agent.add_behavior.assert_called() # Twice, even.
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@pytest.mark.asyncio
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async def test_setup_connect(zmq_context, mocker):
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"""Setup connects when bind=False."""
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fake_socket = zmq_context.return_value.socket.return_value
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agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=False)
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settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
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settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
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agent.add_behavior = MagicMock()
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await agent.setup()
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# Check PUB socket connection (not binding)
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fake_socket.connect.assert_any_call("tcp://localhost:5556")
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fake_socket.connect.assert_any_call("tcp://internal:1234")
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# Check behavior was added
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agent.add_behavior.assert_called() # Twice, actually.
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@pytest.mark.asyncio
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async def test_handle_message_sends_valid_gesture_command():
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"""Internal message with valid gesture tag is forwarded to robot pub socket."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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payload = {
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"endpoint": RIEndpoint.GESTURE_TAG,
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"data": "hello", # "hello" is in availableTags
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}
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
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await agent.handle_message(msg)
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pubsocket.send_json.assert_awaited_once()
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@pytest.mark.asyncio
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async def test_handle_message_sends_non_gesture_command():
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"""Internal message with non-gesture endpoint is not handled by this agent."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
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await agent.handle_message(msg)
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pubsocket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_handle_message_rejects_invalid_gesture_tag():
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"""Internal message with invalid gesture tag is not forwarded."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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# Use a tag that's not in availableTags
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payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
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await agent.handle_message(msg)
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pubsocket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_handle_message_invalid_payload():
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"""Invalid payload is caught and does not send."""
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pubsocket = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
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await agent.handle_message(msg)
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pubsocket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_valid_gesture_payload():
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"""UI command with valid gesture tag is read from SUB and published."""
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command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
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fake_socket = AsyncMock()
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async def recv_once():
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# stop after first iteration
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agent._running = False
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return (b"command", json.dumps(command).encode("utf-8"))
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_awaited_once()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_valid_non_gesture_payload():
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"""UI command with non-gesture endpoint is not handled by this agent."""
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command = {"endpoint": "some_other_endpoint", "data": "anything"}
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", json.dumps(command).encode("utf-8"))
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_invalid_gesture_tag():
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"""UI command with invalid gesture tag is not forwarded."""
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command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", json.dumps(command).encode("utf-8"))
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_invalid_json():
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"""Invalid JSON is ignored without sending."""
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", b"{not_json}")
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_zmq_command_loop_ignores_send_gestures_topic():
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"""send_gestures topic is ignored in command loop."""
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"send_gestures", b"{}")
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fake_socket.recv_multipart = recv_once
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fake_socket.send_json = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._zmq_command_loop()
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fake_socket.send_json.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_without_amount():
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"""Fetch gestures request without amount returns all tags."""
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"send_gestures", b"{}")
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fake_socket.recv_multipart = recv_once
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fake_socket.send_multipart = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_socket.send_multipart.assert_awaited_once()
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# Check the response contains all tags
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args, kwargs = fake_socket.send_multipart.call_args
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assert args[0][0] == b"get_gestures"
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response = json.loads(args[0][1])
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assert "tags" in response
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assert len(response["tags"]) > 0
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# Check it includes some expected tags
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assert "hello" in response["tags"]
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assert "yes" in response["tags"]
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_with_amount():
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"""Fetch gestures request with amount returns limited tags."""
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fake_socket = AsyncMock()
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amount = 5
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async def recv_once():
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agent._running = False
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return (b"send_gestures", json.dumps(amount).encode())
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fake_socket.recv_multipart = recv_once
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fake_socket.send_multipart = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_socket.send_multipart.assert_awaited_once()
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args, kwargs = fake_socket.send_multipart.call_args
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assert args[0][0] == b"get_gestures"
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response = json.loads(args[0][1])
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assert "tags" in response
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assert len(response["tags"]) == amount
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_ignores_command_topic():
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"""Command topic is ignored in fetch gestures loop."""
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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return (b"command", b"{}")
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fake_socket.recv_multipart = recv_once
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fake_socket.send_multipart = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._fetch_gestures_loop()
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fake_socket.send_multipart.assert_not_awaited()
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@pytest.mark.asyncio
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async def test_fetch_gestures_loop_invalid_request():
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"""Invalid request body is handled gracefully."""
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fake_socket = AsyncMock()
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async def recv_once():
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agent._running = False
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# Send a non-integer, non-JSON body
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return (b"send_gestures", b"not_json")
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fake_socket.recv_multipart = recv_once
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fake_socket.send_multipart = AsyncMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.subsocket = fake_socket
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agent.pubsocket = fake_socket
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agent._running = True
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await agent._fetch_gestures_loop()
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# Should still send a response (all tags)
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fake_socket.send_multipart.assert_awaited_once()
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def test_available_tags():
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"""Test that availableTags returns the expected list."""
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agent = RobotGestureAgent("robot_gesture")
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tags = agent.availableTags()
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assert isinstance(tags, list)
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assert len(tags) > 0
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# Check some expected tags are present
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assert "hello" in tags
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assert "yes" in tags
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assert "no" in tags
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# Check a non-existent tag is not present
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assert "invalid_tag_not_in_list" not in tags
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@pytest.mark.asyncio
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async def test_stop_closes_sockets():
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"""Stop method closes both sockets."""
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pubsocket = MagicMock()
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subsocket = MagicMock()
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agent = RobotGestureAgent("robot_gesture")
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agent.pubsocket = pubsocket
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agent.subsocket = subsocket
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await agent.stop()
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pubsocket.close.assert_called_once()
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subsocket.close.assert_called_once()
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@pytest.mark.asyncio
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async def test_initialization_with_custom_gesture_data():
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"""Agent can be initialized with custom gesture data."""
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custom_gestures = ["custom1", "custom2", "custom3"]
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agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures)
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# Note: The current implementation doesn't use the gesture_data parameter
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# in availableTags(). This test documents that behavior.
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# If you update the agent to use gesture_data, update this test accordingly.
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assert agent.gesture_data == custom_gestures
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@@ -1,7 +1,8 @@
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import json
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from unittest.mock import AsyncMock, MagicMock
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from unittest.mock import AsyncMock, MagicMock, patch
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import pytest
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import zmq.asyncio
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from fastapi import FastAPI
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from fastapi.testclient import TestClient
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@@ -26,6 +27,26 @@ def client(app):
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return TestClient(app)
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@pytest.fixture
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def mock_zmq_context():
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"""Mock the ZMQ context."""
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with patch("control_backend.api.v1.endpoints.robot.Context.instance") as mock_context:
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context_instance = MagicMock()
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mock_context.return_value = context_instance
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yield context_instance
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@pytest.fixture
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def mock_sockets(mock_zmq_context):
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"""Mock ZMQ sockets."""
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mock_sub_socket = AsyncMock(spec=zmq.asyncio.Socket)
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mock_pub_socket = AsyncMock(spec=zmq.asyncio.Socket)
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mock_zmq_context.socket.return_value = mock_sub_socket
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return {"sub": mock_sub_socket, "pub": mock_pub_socket}
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def test_receive_command_success(client):
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"""
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Test for successful reception of a command. Ensures the status code is 202 and the response body
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@@ -69,6 +90,7 @@ def test_ping_check_returns_none(client):
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assert response.json() is None
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# TODO: Convert these mock sockets to the fixture.
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@pytest.mark.asyncio
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async def test_ping_stream_yields_ping_event(monkeypatch):
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"""Test that ping_stream yields a proper SSE message when a ping is received."""
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@@ -154,3 +176,251 @@ async def test_ping_stream_yields_json_values(monkeypatch):
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mock_sub_socket.connect.assert_called_once()
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mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
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mock_sub_socket.recv_multipart.assert_awaited()
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# New tests for get_available_gesture_tags endpoint
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@pytest.mark.asyncio
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async def test_get_available_gesture_tags_success(client, monkeypatch):
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"""
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Test successful retrieval of available gesture tags.
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"""
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# Arrange
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mock_sub_socket = AsyncMock()
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mock_sub_socket.connect = MagicMock()
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mock_sub_socket.setsockopt = MagicMock()
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# Simulate a response with gesture tags
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response_data = {"tags": ["wave", "nod", "point", "dance"]}
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mock_sub_socket.recv_multipart = AsyncMock(
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return_value=[b"get_gestures", json.dumps(response_data).encode()]
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)
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mock_context = MagicMock()
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mock_context.socket.return_value = mock_sub_socket
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monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
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mock_pub_socket = AsyncMock()
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client.app.state.endpoints_pub_socket = mock_pub_socket
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# Mock settings
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mock_settings = MagicMock()
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mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
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monkeypatch.setattr(robot, "settings", mock_settings)
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# Mock logger to avoid actual logging
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mock_logger = MagicMock()
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monkeypatch.setattr(robot.logger, "debug", mock_logger)
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# Act
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response = client.get("/get_available_gesture_tags")
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# Assert
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assert response.status_code == 200
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assert response.json() == {"available_gesture_tags": ["wave", "nod", "point", "dance"]}
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|
||||
# Verify ZeroMQ interactions
|
||||
mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
|
||||
mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"get_gestures")
|
||||
mock_pub_socket.send_multipart.assert_awaited_once_with([b"send_gestures", b""])
|
||||
mock_sub_socket.recv_multipart.assert_awaited_once()
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_get_available_gesture_tags_with_amount(client, monkeypatch):
|
||||
"""
|
||||
Test retrieval of gesture tags with a specific amount parameter.
|
||||
This tests the TODO in the endpoint about getting a certain amount from the UI.
|
||||
"""
|
||||
# Arrange
|
||||
mock_sub_socket = AsyncMock()
|
||||
mock_sub_socket.connect = MagicMock()
|
||||
mock_sub_socket.setsockopt = MagicMock()
|
||||
|
||||
# Simulate a response with gesture tags
|
||||
response_data = {"tags": ["wave", "nod"]}
|
||||
mock_sub_socket.recv_multipart = AsyncMock(
|
||||
return_value=[b"get_gestures", json.dumps(response_data).encode()]
|
||||
)
|
||||
|
||||
mock_context = MagicMock()
|
||||
mock_context.socket.return_value = mock_sub_socket
|
||||
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
|
||||
|
||||
mock_pub_socket = AsyncMock()
|
||||
client.app.state.endpoints_pub_socket = mock_pub_socket
|
||||
|
||||
# Mock settings
|
||||
mock_settings = MagicMock()
|
||||
mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
|
||||
monkeypatch.setattr(robot, "settings", mock_settings)
|
||||
|
||||
# Mock logger
|
||||
mock_logger = MagicMock()
|
||||
monkeypatch.setattr(robot.logger, "debug", mock_logger)
|
||||
|
||||
# Act - Note: The endpoint currently doesn't support query parameters for amount,
|
||||
# but we're testing what happens if the UI sends an amount (the TODO in the code)
|
||||
# For now, we test the current behavior
|
||||
response = client.get("/get_available_gesture_tags")
|
||||
|
||||
# Assert
|
||||
assert response.status_code == 200
|
||||
assert response.json() == {"available_gesture_tags": ["wave", "nod"]}
|
||||
|
||||
# The endpoint currently doesn't use the amount parameter, so it should send empty bytes
|
||||
mock_pub_socket.send_multipart.assert_awaited_once_with([b"send_gestures", b""])
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_get_available_gesture_tags_timeout(client, monkeypatch):
|
||||
"""
|
||||
Test timeout scenario when fetching gesture tags.
|
||||
"""
|
||||
# Arrange
|
||||
mock_sub_socket = AsyncMock()
|
||||
mock_sub_socket.connect = MagicMock()
|
||||
mock_sub_socket.setsockopt = MagicMock()
|
||||
|
||||
# Simulate a timeout
|
||||
mock_sub_socket.recv_multipart = AsyncMock(side_effect=TimeoutError)
|
||||
|
||||
mock_context = MagicMock()
|
||||
mock_context.socket.return_value = mock_sub_socket
|
||||
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
|
||||
|
||||
mock_pub_socket = AsyncMock()
|
||||
client.app.state.endpoints_pub_socket = mock_pub_socket
|
||||
|
||||
# Mock settings
|
||||
mock_settings = MagicMock()
|
||||
mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
|
||||
monkeypatch.setattr(robot, "settings", mock_settings)
|
||||
|
||||
# Mock logger to verify debug message is logged
|
||||
mock_logger = MagicMock()
|
||||
monkeypatch.setattr(robot.logger, "debug", mock_logger)
|
||||
|
||||
# Act
|
||||
response = client.get("/get_available_gesture_tags")
|
||||
|
||||
# Assert
|
||||
assert response.status_code == 200
|
||||
# On timeout, body becomes b"" and json.loads(b"") raises JSONDecodeError
|
||||
# But looking at the endpoint code, it will try to parse empty bytes which will fail
|
||||
# Let's check what actually happens
|
||||
assert response.json() == {"available_gesture_tags": []}
|
||||
|
||||
# Verify the timeout was logged
|
||||
mock_logger.assert_called_once_with("got timeout error fetching gestures")
|
||||
|
||||
# Verify ZeroMQ interactions
|
||||
mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
|
||||
mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"get_gestures")
|
||||
mock_pub_socket.send_multipart.assert_awaited_once_with([b"send_gestures", b""])
|
||||
mock_sub_socket.recv_multipart.assert_awaited_once()
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
|
||||
"""
|
||||
Test scenario when response contains no tags.
|
||||
"""
|
||||
# Arrange
|
||||
mock_sub_socket = AsyncMock()
|
||||
mock_sub_socket.connect = MagicMock()
|
||||
mock_sub_socket.setsockopt = MagicMock()
|
||||
|
||||
# Simulate a response with empty tags
|
||||
response_data = {"tags": []}
|
||||
mock_sub_socket.recv_multipart = AsyncMock(
|
||||
return_value=[b"get_gestures", json.dumps(response_data).encode()]
|
||||
)
|
||||
|
||||
mock_context = MagicMock()
|
||||
mock_context.socket.return_value = mock_sub_socket
|
||||
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
|
||||
|
||||
mock_pub_socket = AsyncMock()
|
||||
client.app.state.endpoints_pub_socket = mock_pub_socket
|
||||
|
||||
# Mock settings
|
||||
mock_settings = MagicMock()
|
||||
mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
|
||||
monkeypatch.setattr(robot, "settings", mock_settings)
|
||||
|
||||
# Act
|
||||
response = client.get("/get_available_gesture_tags")
|
||||
|
||||
# Assert
|
||||
assert response.status_code == 200
|
||||
assert response.json() == {"available_gesture_tags": []}
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_get_available_gesture_tags_missing_tags_key(client, monkeypatch):
|
||||
"""
|
||||
Test scenario when response JSON doesn't contain 'tags' key.
|
||||
"""
|
||||
# Arrange
|
||||
mock_sub_socket = AsyncMock()
|
||||
mock_sub_socket.connect = MagicMock()
|
||||
mock_sub_socket.setsockopt = MagicMock()
|
||||
|
||||
# Simulate a response without 'tags' key
|
||||
response_data = {"some_other_key": "value"}
|
||||
mock_sub_socket.recv_multipart = AsyncMock(
|
||||
return_value=[b"get_gestures", json.dumps(response_data).encode()]
|
||||
)
|
||||
|
||||
mock_context = MagicMock()
|
||||
mock_context.socket.return_value = mock_sub_socket
|
||||
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
|
||||
|
||||
mock_pub_socket = AsyncMock()
|
||||
client.app.state.endpoints_pub_socket = mock_pub_socket
|
||||
|
||||
# Mock settings
|
||||
mock_settings = MagicMock()
|
||||
mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
|
||||
monkeypatch.setattr(robot, "settings", mock_settings)
|
||||
|
||||
# Act
|
||||
response = client.get("/get_available_gesture_tags")
|
||||
|
||||
# Assert
|
||||
assert response.status_code == 200
|
||||
# .get("tags", []) should return empty list if 'tags' key is missing
|
||||
assert response.json() == {"available_gesture_tags": []}
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
|
||||
"""
|
||||
Test scenario when response contains invalid JSON.
|
||||
"""
|
||||
# Arrange
|
||||
mock_sub_socket = AsyncMock()
|
||||
mock_sub_socket.connect = MagicMock()
|
||||
mock_sub_socket.setsockopt = MagicMock()
|
||||
|
||||
# Simulate a response with invalid JSON
|
||||
mock_sub_socket.recv_multipart = AsyncMock(return_value=[b"get_gestures", b"invalid json"])
|
||||
|
||||
mock_context = MagicMock()
|
||||
mock_context.socket.return_value = mock_sub_socket
|
||||
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
|
||||
|
||||
mock_pub_socket = AsyncMock()
|
||||
client.app.state.endpoints_pub_socket = mock_pub_socket
|
||||
|
||||
# Mock settings
|
||||
mock_settings = MagicMock()
|
||||
mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
|
||||
monkeypatch.setattr(robot, "settings", mock_settings)
|
||||
|
||||
# Act
|
||||
response = client.get("/get_available_gesture_tags")
|
||||
|
||||
# Assert - invalid JSON should raise an exception
|
||||
assert response.status_code == 200
|
||||
assert response.json() == {"available_gesture_tags": []}
|
||||
|
||||
Reference in New Issue
Block a user