refactor: testing
Redid testing structure, added tests and changed some tests. ref: N25B-301
This commit is contained in:
@@ -1,158 +0,0 @@
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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_speech_agent import RobotSpeechAgent
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from control_backend.core.agent_system import InternalMessage
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@pytest.fixture
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def zmq_context(mocker):
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mock_context = mocker.patch(
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"control_backend.agents.actuation.robot_speech_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 = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=True)
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settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
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settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
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# Swallow background task coroutines to avoid un-awaited warnings
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class Swallow:
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def __init__(self):
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self.calls = 0
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async def __call__(self, coro):
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self.calls += 1
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coro.close()
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swallow = Swallow()
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agent.add_background_task = swallow
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await agent.setup()
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fake_socket.bind.assert_any_call("tcp://localhost:5555")
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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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assert swallow.calls == 1
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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 = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=False)
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settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
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settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
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class Swallow:
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def __init__(self):
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self.calls = 0
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async def __call__(self, coro):
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self.calls += 1
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coro.close()
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swallow = Swallow()
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agent.add_background_task = swallow
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await agent.setup()
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fake_socket.connect.assert_any_call("tcp://localhost:5555")
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fake_socket.connect.assert_any_call("tcp://internal:1234")
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assert swallow.calls == 1
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@pytest.mark.asyncio
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async def test_handle_message_sends_command():
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"""Internal message is forwarded to robot pub socket as JSON."""
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pubsocket = AsyncMock()
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agent = RobotSpeechAgent("robot_speech")
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agent.pubsocket = pubsocket
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payload = {"endpoint": "actuate/speech", "data": "hello"}
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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_with(payload)
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@pytest.mark.asyncio
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async def test_zmq_command_loop_valid_payload(zmq_context):
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"""UI command is read from SUB and published."""
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command = {"endpoint": "actuate/speech", "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 = RobotSpeechAgent("robot_speech")
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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_with(command)
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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 = RobotSpeechAgent("robot_speech")
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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_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 = RobotSpeechAgent("robot_speech")
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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_stop_closes_sockets():
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pubsocket = MagicMock()
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subsocket = MagicMock()
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agent = RobotSpeechAgent("robot_speech")
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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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@@ -1,354 +0,0 @@
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import asyncio
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from unittest.mock import ANY, AsyncMock, MagicMock, patch
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import pytest
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from control_backend.agents.communication.ri_communication_agent import RICommunicationAgent
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def speech_agent_path():
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return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"
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@pytest.fixture
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def zmq_context(mocker):
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mock_context = mocker.patch(
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"control_backend.agents.communication.ri_communication_agent.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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def negotiation_message(
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actuation_port: int = 5556,
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bind_main: bool = False,
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bind_actuation: bool = True,
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main_port: int = 5555,
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):
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return {
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"endpoint": "negotiate/ports",
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"data": [
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{"id": "main", "port": main_port, "bind": bind_main},
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{"id": "actuation", "port": actuation_port, "bind": bind_actuation},
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],
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}
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@pytest.mark.asyncio
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async def test_setup_success_connects_and_starts_robot(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
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fake_socket.send_multipart = AsyncMock()
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with patch(speech_agent_path(), autospec=True) as MockRobot:
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robot_instance = MockRobot.return_value
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robot_instance.start = AsyncMock()
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agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
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class Swallow:
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def __init__(self):
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self.calls = 0
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async def __call__(self, coro):
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self.calls += 1
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coro.close()
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swallow = Swallow()
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agent.add_background_task = swallow
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await agent.setup()
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fake_socket.connect.assert_any_call("tcp://localhost:5555")
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fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
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robot_instance.start.assert_awaited_once()
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MockRobot.assert_called_once_with(ANY, address="tcp://*:5556", bind=True)
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assert swallow.calls == 1
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assert agent.connected is True
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@pytest.mark.asyncio
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async def test_setup_binds_when_requested(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock(return_value=negotiation_message(bind_main=True))
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fake_socket.send_multipart = AsyncMock()
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agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=True)
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class Swallow:
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def __init__(self):
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self.calls = 0
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async def __call__(self, coro):
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self.calls += 1
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coro.close()
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swallow = Swallow()
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agent.add_background_task = swallow
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with patch(speech_agent_path(), autospec=True) as MockRobot:
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MockRobot.return_value.start = AsyncMock()
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await agent.setup()
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fake_socket.bind.assert_any_call("tcp://localhost:5555")
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assert swallow.calls == 1
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@pytest.mark.asyncio
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async def test_negotiate_invalid_endpoint_retries(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
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fake_socket.send_multipart = AsyncMock()
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agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
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agent._req_socket = fake_socket
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success = await agent._negotiate_connection(max_retries=1)
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assert success is False
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@pytest.mark.asyncio
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async def test_negotiate_timeout(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
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fake_socket.send_multipart = AsyncMock()
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agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
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agent._req_socket = fake_socket
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success = await agent._negotiate_connection(max_retries=1)
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assert success is False
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@pytest.mark.asyncio
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async def test_handle_negotiation_response_updates_req_socket(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
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agent._req_socket = fake_socket
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with patch(speech_agent_path(), autospec=True) as MockRobot:
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MockRobot.return_value.start = AsyncMock()
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await agent._handle_negotiation_response(
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negotiation_message(
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main_port=6000,
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actuation_port=6001,
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bind_main=False,
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bind_actuation=False,
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)
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)
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fake_socket.connect.assert_any_call("tcp://localhost:6000")
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@pytest.mark.asyncio
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async def test_handle_disconnection_publishes_and_reconnects():
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pub_socket = AsyncMock()
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agent = RICommunicationAgent("ri_comm")
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agent.pub_socket = pub_socket
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agent.connected = True
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agent._negotiate_connection = AsyncMock(return_value=True)
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await agent._handle_disconnection()
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pub_socket.send_multipart.assert_awaited()
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assert agent.connected is True
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@pytest.mark.asyncio
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async def test_listen_loop_handles_non_ping(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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async def recv_once():
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agent._running = False
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return {"endpoint": "negotiate/ports", "data": {}}
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fake_socket.recv_json = recv_once
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = fake_socket
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agent.pub_socket = AsyncMock()
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agent.connected = True
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agent._running = True
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await agent._listen_loop()
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fake_socket.send_json.assert_called()
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@pytest.mark.asyncio
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async def test_negotiate_unexpected_error(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock(side_effect=Exception("boom"))
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = fake_socket
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assert await agent._negotiate_connection(max_retries=1) is False
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@pytest.mark.asyncio
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async def test_negotiate_handle_response_error(zmq_context):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = fake_socket
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agent._handle_negotiation_response = AsyncMock(side_effect=Exception("bad response"))
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assert await agent._negotiate_connection(max_retries=1) is False
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@pytest.mark.asyncio
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async def test_setup_warns_on_failed_negotiate(zmq_context, mocker):
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fake_socket = zmq_context.return_value.socket.return_value
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fake_socket.send_json = AsyncMock()
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fake_socket.recv_json = AsyncMock()
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agent = RICommunicationAgent("ri_comm")
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async def swallow(coro):
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coro.close()
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agent.add_background_task = swallow
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agent._negotiate_connection = AsyncMock(return_value=False)
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await agent.setup()
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assert agent.connected is False
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@pytest.mark.asyncio
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async def test_handle_negotiation_response_unhandled_id():
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agent = RICommunicationAgent("ri_comm")
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await agent._handle_negotiation_response(
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{"data": [{"id": "other", "port": 5000, "bind": False}]}
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)
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@pytest.mark.asyncio
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async def test_stop_closes_sockets():
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req = MagicMock()
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pub = MagicMock()
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = req
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agent.pub_socket = pub
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await agent.stop()
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req.close.assert_called_once()
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pub.close.assert_called_once()
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@pytest.mark.asyncio
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async def test_listen_loop_not_connected(monkeypatch):
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agent = RICommunicationAgent("ri_comm")
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agent._running = True
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agent.connected = False
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agent._req_socket = AsyncMock()
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async def fake_sleep(duration):
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agent._running = False
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monkeypatch.setattr("asyncio.sleep", fake_sleep)
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await agent._listen_loop()
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@pytest.mark.asyncio
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async def test_listen_loop_send_and_recv_timeout():
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req = AsyncMock()
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req.send_json = AsyncMock(side_effect=TimeoutError)
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req.recv_json = AsyncMock(side_effect=TimeoutError)
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = req
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agent.pub_socket = AsyncMock()
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agent.connected = True
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agent._running = True
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async def stop_run():
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agent._running = False
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agent._handle_disconnection = AsyncMock(side_effect=stop_run)
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await agent._listen_loop()
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agent._handle_disconnection.assert_awaited()
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@pytest.mark.asyncio
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async def test_listen_loop_missing_endpoint(monkeypatch):
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req = AsyncMock()
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req.send_json = AsyncMock()
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async def recv_once():
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agent._running = False
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return {"data": {}}
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req.recv_json = recv_once
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = req
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agent.pub_socket = AsyncMock()
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agent.connected = True
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agent._running = True
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await agent._listen_loop()
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@pytest.mark.asyncio
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async def test_listen_loop_generic_exception():
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req = AsyncMock()
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req.send_json = AsyncMock()
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req.recv_json = AsyncMock(side_effect=ValueError("boom"))
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agent = RICommunicationAgent("ri_comm")
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agent._req_socket = req
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agent.pub_socket = AsyncMock()
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agent.connected = True
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agent._running = True
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with pytest.raises(ValueError):
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await agent._listen_loop()
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@pytest.mark.asyncio
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async def test_handle_disconnection_timeout(monkeypatch):
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pub = AsyncMock()
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pub.send_multipart = AsyncMock(side_effect=TimeoutError)
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agent = RICommunicationAgent("ri_comm")
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agent.pub_socket = pub
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agent._negotiate_connection = AsyncMock(return_value=False)
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await agent._handle_disconnection()
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pub.send_multipart.assert_awaited()
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@pytest.mark.asyncio
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async def test_listen_loop_ping_sends_internal(zmq_context):
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||||
fake_socket = zmq_context.return_value.socket.return_value
|
||||
fake_socket.send_json = AsyncMock()
|
||||
pub_socket = AsyncMock()
|
||||
|
||||
agent = RICommunicationAgent("ri_comm")
|
||||
agent._req_socket = fake_socket
|
||||
agent.pub_socket = pub_socket
|
||||
agent.connected = True
|
||||
agent._running = True
|
||||
|
||||
async def recv_once():
|
||||
agent._running = False
|
||||
return {"endpoint": "ping", "data": {}}
|
||||
|
||||
fake_socket.recv_json = recv_once
|
||||
|
||||
await agent._listen_loop()
|
||||
|
||||
pub_socket.send_multipart.assert_awaited()
|
||||
Reference in New Issue
Block a user