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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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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