From 028ec20043d071a78acd925057c4d2347916c723 Mon Sep 17 00:00:00 2001 From: Kasper Date: Fri, 26 Sep 2025 20:36:06 +0200 Subject: [PATCH 01/37] chore: initialize UV repository --- .python-version | 1 + main.py | 6 + pyproject.toml | 9 + uv.lock | 642 ++++++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 658 insertions(+) create mode 100644 .python-version create mode 100644 main.py create mode 100644 pyproject.toml create mode 100644 uv.lock diff --git a/.python-version b/.python-version new file mode 100644 index 0000000..24ee5b1 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.13 diff --git a/main.py b/main.py new file mode 100644 index 0000000..8b4ae93 --- /dev/null +++ b/main.py @@ -0,0 +1,6 @@ +def main(): + print("Hello from pepperplus-cb!") + + +if __name__ == "__main__": + main() diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..7ad339d --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,9 @@ +[project] +name = "pepperplus-cb" +version 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It also exposes an SSE endpoint /sse for the UI to listen to. Every second, the CB sends the current time to UI. ref: N25B-107 ref: N25B-110 --- main.py | 41 +++++++++++++++++++++++++++++++++++++---- 1 file changed, 37 insertions(+), 4 deletions(-) diff --git a/main.py b/main.py index 8b4ae93..bbd88a5 100644 --- a/main.py +++ b/main.py @@ -1,6 +1,39 @@ -def main(): - print("Hello from pepperplus-cb!") +import asyncio +from fastapi import FastAPI, Request +from fastapi.middleware.cors import CORSMiddleware +from fastapi.responses import StreamingResponse +from pydantic import BaseModel +import datetime +from sse_starlette import EventSourceResponse -if __name__ == "__main__": - main() +class Message(BaseModel): + message: str + +app = FastAPI() + +app.add_middleware( + CORSMiddleware, + allow_origins=["http://localhost:5173"], + allow_credentials=True, + allow_methods=["*"], + allow_headers=["*"], +) + +@app.post("/message") +async def receive_message(message: Message): + print(f"Received message: {message}") + return { "status": "Message received" } + +@app.get("/sse") +async def sse_endpoint(request: Request): + async def event_generator(): + while True: + if await request.is_disconnected(): + break + + current_time = datetime.datetime.now().strftime("%H:%M:%S") + yield f"data: Server time: {current_time}\n\n" + await asyncio.sleep(1) + + return EventSourceResponse(event_generator()) From fb9cbc5ab91ddf6db55cf4c07c870835dd267a94 Mon Sep 17 00:00:00 2001 From: Kasper Date: Sat, 27 Sep 2025 10:06:12 +0200 Subject: [PATCH 04/37] chore: add .gitignore Uses a template for Python .gitignore files found [here](https://github.com/github/gitignore/blob/main/Python.gitignore). The only change from default is adding the .idea/ folder to the ignored list (which might not be preferred, we will have to find out). --- .gitignore | 273 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 273 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..4d2fe1b --- /dev/null +++ b/.gitignore @@ -0,0 +1,273 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[codz] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py.cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +# Pipfile.lock + +# UV +# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# uv.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +# poetry.lock +# poetry.toml + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +# pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python. +# https://pdm-project.org/en/latest/usage/project/#working-with-version-control +# pdm.lock +# pdm.toml +.pdm-python +.pdm-build/ + +# pixi +# Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control. +# pixi.lock +# Pixi creates a virtual environment in the .pixi directory, just like venv module creates one +# in the .venv directory. It is recommended not to include this directory in version control. +.pixi + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# Redis +*.rdb +*.aof +*.pid + +# RabbitMQ +mnesia/ +rabbitmq/ +rabbitmq-data/ + +# ActiveMQ +activemq-data/ + +# SageMath parsed files +*.sage.py + +# Environments +.env +.envrc +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +.idea/ + +# Abstra +# Abstra is an AI-powered process automation framework. +# Ignore directories containing user credentials, local state, and settings. +# Learn more at https://abstra.io/docs +.abstra/ + +# Visual Studio Code +# Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore +# that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore +# and can be added to the global gitignore or merged into this file. However, if you prefer, +# you could uncomment the following to ignore the entire vscode folder +# .vscode/ + +# Ruff stuff: +.ruff_cache/ + +# PyPI configuration file +.pypirc + +# Marimo +marimo/_static/ +marimo/_lsp/ +__marimo__/ + +# Streamlit +.streamlit/secrets.toml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 6b50ffba6a103c3e456cd70f7a282d3e14f5063d Mon Sep 17 00:00:00 2001 From: Kasper Date: Sat, 27 Sep 2025 10:18:39 +0200 Subject: [PATCH 05/37] refactor: use `StreamingResponse` instead of `EventSourceResponse` Use FastAPI's native `StreamingResponse` for less dependencies. This initially didn't work because I didn't include the additional header specifying the content type, which is an event stream. ref: N25B-110 --- main.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/main.py b/main.py index bbd88a5..80b292e 100644 --- a/main.py +++ b/main.py @@ -5,7 +5,6 @@ from fastapi.middleware.cors import CORSMiddleware from fastapi.responses import StreamingResponse from pydantic import BaseModel import datetime -from sse_starlette import EventSourceResponse class Message(BaseModel): message: str @@ -36,4 +35,4 @@ async def sse_endpoint(request: Request): yield f"data: Server time: {current_time}\n\n" await asyncio.sleep(1) - return EventSourceResponse(event_generator()) + return StreamingResponse(event_generator(), media_type="text/event-stream") From 116ca3dd101ad95b17214c79932f84108fa5ffd0 Mon Sep 17 00:00:00 2001 From: Kasper Date: Sat, 27 Sep 2025 10:20:23 +0200 Subject: [PATCH 06/37] chore: update dependencies Removed the dependency on sse_starlette, as it was no longer needed. --- pyproject.toml | 1 - uv.lock | 18 +----------------- 2 files changed, 1 insertion(+), 18 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 3ce58ad..beffe4b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -6,5 +6,4 @@ readme = "README.md" requires-python = ">=3.13" dependencies = [ "fastapi[all]>=0.117.1", - "sse-starlette>=3.0.2", ] diff --git a/uv.lock b/uv.lock index a1f5b6e..ca9dfd9 100644 --- a/uv.lock +++ b/uv.lock @@ -315,14 +315,10 @@ version = "0.1.0" source = { virtual = "." } dependencies = [ { name = "fastapi", extra = ["all"] }, - { name = "sse-starlette" }, ] [package.metadata] -requires-dist = [ - { name = "fastapi", extras = ["all"], specifier = ">=0.117.1" }, - { name = "sse-starlette", specifier = ">=3.0.2" }, -] +requires-dist = [{ name = "fastapi", extras = ["all"], specifier = ">=0.117.1" }] [[package]] name = "pydantic" @@ -552,18 +548,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/e9/44/75a9c9421471a6c4805dbf2356f7c181a29c1879239abab1ea2cc8f38b40/sniffio-1.3.1-py3-none-any.whl", hash = "sha256:2f6da418d1f1e0fddd844478f41680e794e6051915791a034ff65e5f100525a2", size = 10235, upload-time = "2024-02-25T23:20:01.196Z" }, ] -[[package]] -name = "sse-starlette" -version = "3.0.2" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "anyio" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/42/6f/22ed6e33f8a9e76ca0a412405f31abb844b779d52c5f96660766edcd737c/sse_starlette-3.0.2.tar.gz", hash = "sha256:ccd60b5765ebb3584d0de2d7a6e4f745672581de4f5005ab31c3a25d10b52b3a", size = 20985, upload-time = "2025-07-27T09:07:44.565Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/ef/10/c78f463b4ef22eef8491f218f692be838282cd65480f6e423d7730dfd1fb/sse_starlette-3.0.2-py3-none-any.whl", hash = "sha256:16b7cbfddbcd4eaca11f7b586f3b8a080f1afe952c15813455b162edea619e5a", size = 11297, upload-time = "2025-07-27T09:07:43.268Z" }, -] - [[package]] name = "starlette" version = "0.48.0" From 6e7c78e8886e19c815669353d9e960392bfcaa5a Mon Sep 17 00:00:00 2001 From: Kasper Date: Sat, 27 Sep 2025 10:36:59 +0200 Subject: [PATCH 07/37] docs: add comments --- main.py | 24 +++++++++++++++++------- 1 file changed, 17 insertions(+), 7 deletions(-) diff --git a/main.py b/main.py index 80b292e..d067140 100644 --- a/main.py +++ b/main.py @@ -6,33 +6,43 @@ from fastapi.responses import StreamingResponse from pydantic import BaseModel import datetime +# Use of Pydantic class for automatic request validation in FastAPI class Message(BaseModel): message: str app = FastAPI() +# This middleware allows other origins to communicate with us app.add_middleware( - CORSMiddleware, - allow_origins=["http://localhost:5173"], - allow_credentials=True, - allow_methods=["*"], - allow_headers=["*"], + CORSMiddleware, # https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/CORS + allow_origins=["http://localhost:5173"], # address of our UI application + allow_methods=["*"], # GET, POST, etc. ) +# Endpoint to receive messages from the UI @app.post("/message") async def receive_message(message: Message): + """ + Receives a message from the UI and prints it to the console. + """ print(f"Received message: {message}") return { "status": "Message received" } +# Endpoint for Server-Sent Events (SSE) @app.get("/sse") async def sse_endpoint(request: Request): + """ + Endpoint for Server-Sent Events. + """ async def event_generator(): while True: + # If connection to client closes, stop sending events if await request.is_disconnected(): break + # Send message containing current time every second current_time = datetime.datetime.now().strftime("%H:%M:%S") - yield f"data: Server time: {current_time}\n\n" + yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) await asyncio.sleep(1) - return StreamingResponse(event_generator(), media_type="text/event-stream") + return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams From 9c7e3cd0dcfc2ca090c6307e664356fd4939ce22 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 7 Oct 2025 16:23:37 +0200 Subject: [PATCH 08/37] feat: initial setup of SUB/PUB ports with json handling of sub messages and message queue to UI ref: N25B-151. --- main.py | 110 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 110 insertions(+) diff --git a/main.py b/main.py index d067140..9f6fc4c 100644 --- a/main.py +++ b/main.py @@ -1,15 +1,121 @@ import asyncio +from contextlib import asynccontextmanager from fastapi import FastAPI, Request from fastapi.middleware.cors import CORSMiddleware from fastapi.responses import StreamingResponse from pydantic import BaseModel import datetime +import json; # Use of Pydantic class for automatic request validation in FastAPI class Message(BaseModel): message: str +@asynccontextmanager +async def lifespan(app: FastAPI): + context = zmq.Context() + + # Set up sub and pub + zmq_state["context"] = zmq.asyncio.Context() + + subport = 5555 + pubport = 5556 + asyncio.create_task(zmq_subscriber(subport)) + asyncio.create_task(zmq_publisher(pubport)) + + sse_queue = asyncio.Queue() + + # TODO: figure out how this relates in more than one port used. + # zmq_state["socket"] = socket + + print(f"ZeroMQ publisher bound to port {port}") + + yield + + # zmq_state["socket"].close() + zmq_state["context"].term() + + + +async def zmq_subscriber(port): + """ + Set up the zmq subscriber to listen to the port given + """ + sub = zmq_state["context"].socket(zmq.SUB) + sub.connect(f"tcp://localhost:{port}") + sub.setsockopt_string(zmq.SUBSCRIBE, u"") + while True: + msg = await sub.recv_string() + print(f"Received from SUB: {msg}") + + # We got a message, let's see what we want to do with it. + processMessage(msg) + +async def zmq_publisher(port): + """ + Set up the zmq publisher to send to the port given + """ + pub = zmq_state["context"].socket(zmq.PUB) + pub.bind(f"tcp://*:{port}") + while True: + print() + +async def processMessage(msg): + """ + Process a raw received message to handle it correctly. + """ + queue = app.lifespan.sse_queue + # string handling + if type(msg) is str: + return + # do shit + + # json handling + else: + try: + data = json.loads(msg) + + # Connection event + if (data["event"] is "robot_connected"): + if not data["id"]: + return + name = data.get("name", "no name") + port = data.get("port", "no port") + + dataToSend = { + "event": "robot_connected", + "id": data["id"], + "name": name, + "port": port + } + + queue.put(dataToSend) + return + + # Disconnection event + if (data["event"] is "robot_disconnected"): + if not data["id"]: + return + name = data.get("name", "no name") + port = data.get("port", "no port") + + dataToSend = { + "event": "robot_disconnected", + "id": data["id"], + "name": name, + "port": port + } + + queue.put(dataToSend) + return + + except: + print("message received from RI, however, not a str or json.") + return + + # do shit + app = FastAPI() # This middleware allows other origins to communicate with us @@ -40,6 +146,10 @@ async def sse_endpoint(request: Request): if await request.is_disconnected(): break + # Let's check if we have to send any messages from our sse queue + if len(app.lifespan.sse_endpoint) is not 0: + yield app.life.see_endpoint.get() + # Send message containing current time every second current_time = datetime.datetime.now().strftime("%H:%M:%S") yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) From ed064b247720dd91400fd715702371d544177778 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 7 Oct 2025 18:30:39 +0200 Subject: [PATCH 09/37] fix: doesn't crash your entire WSL system when running. --- main.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/main.py b/main.py index 9f6fc4c..1b53eac 100644 --- a/main.py +++ b/main.py @@ -21,8 +21,8 @@ async def lifespan(app: FastAPI): subport = 5555 pubport = 5556 - asyncio.create_task(zmq_subscriber(subport)) - asyncio.create_task(zmq_publisher(pubport)) + # asyncio.create_task(zmq_subscriber(subport)) + # asyncio.create_task(zmq_publisher(pubport)) sse_queue = asyncio.Queue() From 6ebdde3836964b5ca6c680f3a2f024f090db6d4a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 8 Oct 2025 14:33:23 +0200 Subject: [PATCH 10/37] feat: automatically pings RI for disconnection, handles disconnection events and sends disconenction messages to UI. ref: N25B-151 --- main.py | 143 ++++++++++++++++++++++++++++++++++++++++---------------- 1 file changed, 102 insertions(+), 41 deletions(-) diff --git a/main.py b/main.py index 1b53eac..874dfc4 100644 --- a/main.py +++ b/main.py @@ -3,11 +3,16 @@ from contextlib import asynccontextmanager from fastapi import FastAPI, Request from fastapi.middleware.cors import CORSMiddleware +import zmq +import zmq.asyncio from fastapi.responses import StreamingResponse from pydantic import BaseModel import datetime import json; + +zmq_state = {} # Contains our sockets and context + # Use of Pydantic class for automatic request validation in FastAPI class Message(BaseModel): message: str @@ -21,80 +26,118 @@ async def lifespan(app: FastAPI): subport = 5555 pubport = 5556 - # asyncio.create_task(zmq_subscriber(subport)) - # asyncio.create_task(zmq_publisher(pubport)) + asyncio.create_task(zmq_subscriber(subport, app)) + asyncio.create_task(zmq_publisher(pubport, app)) + print("Set up both sub and pub") - sse_queue = asyncio.Queue() + app.state.sse_queue = asyncio.Queue() # Messages to send to UI + app.state.ri_queue = asyncio.Queue() # Messages to send to RI - # TODO: figure out how this relates in more than one port used. - # zmq_state["socket"] = socket - - print(f"ZeroMQ publisher bound to port {port}") + # Handle pings + app.state.received_ping = False + app.state.connected = False + app.state.connected_id = "" yield + - # zmq_state["socket"].close() - zmq_state["context"].term() - - - -async def zmq_subscriber(port): +async def zmq_subscriber(port, app): """ Set up the zmq subscriber to listen to the port given """ + print(f"Setting up ZMQ subscriber on port {port}") sub = zmq_state["context"].socket(zmq.SUB) sub.connect(f"tcp://localhost:{port}") sub.setsockopt_string(zmq.SUBSCRIBE, u"") + zmq_state["subsocket"] = sub + + print(f"Subscriber connected to localhost:{port}, waiting for messages...") + while True: + print(f"Listening for message from zmq sub on port {port}.") msg = await sub.recv_string() print(f"Received from SUB: {msg}") - + # We got a message, let's see what we want to do with it. - processMessage(msg) + await process_message_received(msg, app) -async def zmq_publisher(port): +async def zmq_publisher(port, app): """ Set up the zmq publisher to send to the port given """ + queue = app.state.ri_queue pub = zmq_state["context"].socket(zmq.PUB) pub.bind(f"tcp://*:{port}") + zmq_state["pubsocket"] = pub while True: - print() + if not queue.empty(): + # send different message to RI + return + if app.state.connected == True: + # (In case we have nothing else to send:) + # Let's ping our RI to see if they're still listening! + app.state.received_ping = False + zmq_state["pubsocket"].send_string("ping") + await asyncio.sleep(5) + # Let's see if we haven't returned a ping in the last 5 seconds... + if not app.state.received_ping == True: + # Let's send our UI a message the robot disappeared. + dataToSend = { + "event": "robot_disconnected", + "id": app.state.connected_id + } + # Reset connection details + app.state.connected = False + app.state.connectedID = "" + await put_message_in_ui_queue(dataToSend, app) + await asyncio.sleep(1) -async def processMessage(msg): + +async def put_message_in_ui_queue(data, app): + queue = app.state.sse_queue + await queue.put(data) + +async def put_message_in_ri_queue(data, app): + queue = app.state.ri_queue + await queue.put(data) + +async def process_message_received(msg, app): """ Process a raw received message to handle it correctly. """ - queue = app.lifespan.sse_queue + queue = app.state.sse_queue # string handling if type(msg) is str: - return - # do shit - - # json handling - else: try: + print("converting received data into json.") data = json.loads(msg) + print("converted data: ", data) + # Connection event - if (data["event"] is "robot_connected"): + if (data['event'] == 'robot_connected'): + print("robot connection event received.") if not data["id"]: return + + # Let our app know we're connected >:) + app.state.connected_id = data["id"] + app.state.connected = True + app.state.received_ping = True + + # Send data to UI name = data.get("name", "no name") port = data.get("port", "no port") - dataToSend = { "event": "robot_connected", "id": data["id"], "name": name, "port": port } - - queue.put(dataToSend) - return - + await queue.put(dataToSend) + # Disconnection event - if (data["event"] is "robot_disconnected"): + if (data['event'] == 'robot_disconnected'): if not data["id"]: return name = data.get("name", "no name") @@ -107,16 +150,26 @@ async def processMessage(msg): "port": port } - queue.put(dataToSend) + await queue.put(dataToSend) + + # Ping event + if (data['event'] == 'ping'): + print("ping received") + if not data["id"]: + print("no id given in ping event.") + return + + # TODO: You can add some logic here if the ID doens't match (so we switched robot at the same frame lol) + app.state.received_ping = True return except: - print("message received from RI, however, not a str or json.") + print("message received from RI, however, not a str or json, or another error has occured.") return - # do shit -app = FastAPI() + +app = FastAPI(lifespan=lifespan) # This middleware allows other origins to communicate with us app.add_middleware( @@ -140,6 +193,7 @@ async def sse_endpoint(request: Request): """ Endpoint for Server-Sent Events. """ + async def event_generator(): while True: # If connection to client closes, stop sending events @@ -147,12 +201,19 @@ async def sse_endpoint(request: Request): break # Let's check if we have to send any messages from our sse queue - if len(app.lifespan.sse_endpoint) is not 0: - yield app.life.see_endpoint.get() + queue = app.state.sse_queue + if not queue.empty(): + print("message queue not empty, fetching data.") + data = await queue.get() + data_json = json.dumps(data) + print(f"queue not empty. yielding msg to event_generator, msg: {data_json}\n\n") + yield f"data: {data_json}\n\n" + await asyncio.sleep(1) - # Send message containing current time every second - current_time = datetime.datetime.now().strftime("%H:%M:%S") - yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) - await asyncio.sleep(1) + else: + # Send message containing current time every second + current_time = datetime.datetime.now().strftime("%H:%M:%S") + yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) + await asyncio.sleep(1) return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams From 3d7ef2b874d80e0950dfafe9078da49c46a1a10d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 22 Oct 2025 10:28:48 +0200 Subject: [PATCH 11/37] feat: agent structure and implementation new architecture with unit tests ref: N25B-205 --- .vscode/settings.json | 7 + main.py | 219 -------- pyproject.toml | 4 + .../agents/ri_command_agent.py | 60 +++ .../agents/ri_communication_agent.py | 138 +++++ src/control_backend/core/config.py | 14 +- src/control_backend/main.py | 11 +- test/unit/test_ri_commands_agent.py | 84 +++ test/unit/test_ri_communication_agent.py | 498 ++++++++++++++++++ uv.lock | 141 +++++ 10 files changed, 953 insertions(+), 223 deletions(-) create mode 100644 .vscode/settings.json delete mode 100644 main.py create mode 100644 src/control_backend/agents/ri_command_agent.py create mode 100644 src/control_backend/agents/ri_communication_agent.py create mode 100644 test/unit/test_ri_commands_agent.py create mode 100644 test/unit/test_ri_communication_agent.py diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..b2b8866 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,7 @@ +{ + "python.testing.pytestArgs": [ + "test" + ], + "python.testing.unittestEnabled": false, + "python.testing.pytestEnabled": true +} \ No newline at end of file diff --git a/main.py b/main.py deleted file mode 100644 index 874dfc4..0000000 --- a/main.py +++ /dev/null @@ -1,219 +0,0 @@ -import asyncio -from contextlib import asynccontextmanager -from fastapi import FastAPI, Request -from fastapi.middleware.cors import CORSMiddleware - -import zmq -import zmq.asyncio -from fastapi.responses import StreamingResponse -from pydantic import BaseModel -import datetime -import json; - - -zmq_state = {} # Contains our sockets and context - -# Use of Pydantic class for automatic request validation in FastAPI -class Message(BaseModel): - message: str - -@asynccontextmanager -async def lifespan(app: FastAPI): - context = zmq.Context() - - # Set up sub and pub - zmq_state["context"] = zmq.asyncio.Context() - - subport = 5555 - pubport = 5556 - asyncio.create_task(zmq_subscriber(subport, app)) - asyncio.create_task(zmq_publisher(pubport, app)) - print("Set up both sub and pub") - - app.state.sse_queue = asyncio.Queue() # Messages to send to UI - app.state.ri_queue = asyncio.Queue() # Messages to send to RI - - # Handle pings - app.state.received_ping = False - app.state.connected = False - app.state.connected_id = "" - - yield - - -async def zmq_subscriber(port, app): - """ - Set up the zmq subscriber to listen to the port given - """ - print(f"Setting up ZMQ subscriber on port {port}") - sub = zmq_state["context"].socket(zmq.SUB) - sub.connect(f"tcp://localhost:{port}") - sub.setsockopt_string(zmq.SUBSCRIBE, u"") - zmq_state["subsocket"] = sub - - print(f"Subscriber connected to localhost:{port}, waiting for messages...") - - while True: - print(f"Listening for message from zmq sub on port {port}.") - msg = await sub.recv_string() - print(f"Received from SUB: {msg}") - - # We got a message, let's see what we want to do with it. - await process_message_received(msg, app) - -async def zmq_publisher(port, app): - """ - Set up the zmq publisher to send to the port given - """ - queue = app.state.ri_queue - pub = zmq_state["context"].socket(zmq.PUB) - pub.bind(f"tcp://*:{port}") - zmq_state["pubsocket"] = pub - while True: - if not queue.empty(): - # send different message to RI - return - if app.state.connected == True: - # (In case we have nothing else to send:) - # Let's ping our RI to see if they're still listening! - app.state.received_ping = False - zmq_state["pubsocket"].send_string("ping") - await asyncio.sleep(5) - # Let's see if we haven't returned a ping in the last 5 seconds... - if not app.state.received_ping == True: - # Let's send our UI a message the robot disappeared. - dataToSend = { - "event": "robot_disconnected", - "id": app.state.connected_id - } - # Reset connection details - app.state.connected = False - app.state.connectedID = "" - await put_message_in_ui_queue(dataToSend, app) - await asyncio.sleep(1) - - -async def put_message_in_ui_queue(data, app): - queue = app.state.sse_queue - await queue.put(data) - -async def put_message_in_ri_queue(data, app): - queue = app.state.ri_queue - await queue.put(data) - -async def process_message_received(msg, app): - """ - Process a raw received message to handle it correctly. - """ - queue = app.state.sse_queue - # string handling - if type(msg) is str: - try: - print("converting received data into json.") - data = json.loads(msg) - - print("converted data: ", data) - - # Connection event - if (data['event'] == 'robot_connected'): - print("robot connection event received.") - if not data["id"]: - return - - # Let our app know we're connected >:) - app.state.connected_id = data["id"] - app.state.connected = True - app.state.received_ping = True - - # Send data to UI - name = data.get("name", "no name") - port = data.get("port", "no port") - dataToSend = { - "event": "robot_connected", - "id": data["id"], - "name": name, - "port": port - } - await queue.put(dataToSend) - - # Disconnection event - if (data['event'] == 'robot_disconnected'): - if not data["id"]: - return - name = data.get("name", "no name") - port = data.get("port", "no port") - - dataToSend = { - "event": "robot_disconnected", - "id": data["id"], - "name": name, - "port": port - } - - await queue.put(dataToSend) - - # Ping event - if (data['event'] == 'ping'): - print("ping received") - if not data["id"]: - print("no id given in ping event.") - return - - # TODO: You can add some logic here if the ID doens't match (so we switched robot at the same frame lol) - app.state.received_ping = True - return - - except: - print("message received from RI, however, not a str or json, or another error has occured.") - return - # do shit - - -app = FastAPI(lifespan=lifespan) - -# This middleware allows other origins to communicate with us -app.add_middleware( - CORSMiddleware, # https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/CORS - allow_origins=["http://localhost:5173"], # address of our UI application - allow_methods=["*"], # GET, POST, etc. -) - -# Endpoint to receive messages from the UI -@app.post("/message") -async def receive_message(message: Message): - """ - Receives a message from the UI and prints it to the console. - """ - print(f"Received message: {message}") - return { "status": "Message received" } - -# Endpoint for Server-Sent Events (SSE) -@app.get("/sse") -async def sse_endpoint(request: Request): - """ - Endpoint for Server-Sent Events. - """ - - async def event_generator(): - while True: - # If connection to client closes, stop sending events - if await request.is_disconnected(): - break - - # Let's check if we have to send any messages from our sse queue - queue = app.state.sse_queue - if not queue.empty(): - print("message queue not empty, fetching data.") - data = await queue.get() - data_json = json.dumps(data) - print(f"queue not empty. yielding msg to event_generator, msg: {data_json}\n\n") - yield f"data: {data_json}\n\n" - await asyncio.sleep(1) - - else: - # Send message containing current time every second - current_time = datetime.datetime.now().strftime("%H:%M:%S") - yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) - await asyncio.sleep(1) - - return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams diff --git a/pyproject.toml b/pyproject.toml index d0a617f..7d1330b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,6 +11,10 @@ dependencies = [ "pyaudio>=0.2.14", "pydantic>=2.12.0", "pydantic-settings>=2.11.0", + "pytest>=8.4.2", + "pytest-asyncio>=1.2.0", + "pytest-cov>=7.0.0", + "pytest-mock>=3.15.1", "pyzmq>=27.1.0", "silero-vad>=6.0.0", "spade>=4.1.0", diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py new file mode 100644 index 0000000..02de887 --- /dev/null +++ b/src/control_backend/agents/ri_command_agent.py @@ -0,0 +1,60 @@ +import json +import logging +from spade.agent import Agent +from spade.behaviour import CyclicBehaviour +import zmq + +from control_backend.core.config import settings +from control_backend.core.zmq_context import context +from control_backend.schemas.message import Message + +logger = logging.getLogger(__name__) + +class RICommandAgent(Agent): + subsocket: zmq.Socket + pubsocket: zmq.Socket + address = "" + bind = False + + def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False): + super().__init__(jid, password, port, verify_security) + self.address = address + self.bind = bind + + class SendCommandsBehaviour(CyclicBehaviour): + async def run(self): + assert self.agent is not None + # Get a message internally (with topic command) + topic, body = await self.agent.subsocket.recv_multipart() + + # Try to get body + try: + message_json = json.loads(body.decode("utf-8")) + message = Message.model_validate(message_json) + logger.info("Received message \"%s\"", message.message) + + # Send to the robot. + await self.agent.pubsocket.send_json(message) + except Exception as e: + logger.error("Error processing message: %s", e) + + async def setup(self): + logger.info("Setting up %s", self.jid) + + # To the robot + self.pubsocket = context.socket(zmq.PUB) + if self.bind: + self.pubsocket.bind(self.address) + else : + self.pubsocket.connect(self.address) + + # Receive internal topics regarding commands + self.subsocket = context.socket(zmq.SUB) + self.subsocket.connect(settings.zmq_settings.internal_comm_address) + self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command") + + # Add behaviour to our agent + commands_behaviour = self.SendCommandsBehaviour() + self.add_behaviour(commands_behaviour) + + logger.info("Finished setting up %s", self.jid) diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py new file mode 100644 index 0000000..0c63cc5 --- /dev/null +++ b/src/control_backend/agents/ri_communication_agent.py @@ -0,0 +1,138 @@ +import asyncio +import json +import logging +from spade.agent import Agent +from spade.behaviour import CyclicBehaviour +import zmq + +from control_backend.core.config import settings +from control_backend.core.zmq_context import context +from control_backend.schemas.message import Message +from control_backend.agents.ri_command_agent import RICommandAgent + +logger = logging.getLogger(__name__) + +class RICommunicationAgent(Agent): + req_socket: zmq.Socket + _address = "" + _bind = True + + def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False): + super().__init__(jid, password, port, verify_security) + self._address = address + self._bind = bind + + class ListenBehaviour(CyclicBehaviour): + async def run(self): + assert self.agent is not None + + # We need to listen and sent pings. + message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}} + await self.agent.req_socket.send_json(message) + + # Wait up to three seconds for a reply:) + try: + message = await asyncio.wait_for( + self.agent.req_socket.recv_json(), + timeout=3.0) + + # We didnt get a reply :( + except asyncio.TimeoutError as e: + logger.info("No ping retrieved in 3 seconds, killing myself.") + self.kill() + + # message = Message.model_validate(message) + logger.info("Received message \"%s\"", message) + if "endpoint" not in message: + logger.error("No received endpoint in message, excepted ping endpoint.") + return + + # See what endpoint we received + match message["endpoint"]: + case "ping": + await asyncio.sleep(1) + case _: + logger.info("Received message with topic different than ping, while ping expected.") + + + async def setup(self, max_retries: int = 5): + logger.info("Setting up %s", self.jid) + retries = 0 + + # Let's try a certain amount of times before failing connection + while retries < max_retries: + # Bind request socket + self.req_socket = context.socket(zmq.REQ) + if self._bind: + self.req_socket.bind(self._address) + else: + self.req_socket.connect(self._address) + + # Send our message and receive one back:) + message = {"endpoint": "negotiate/ports", "data": None} + await self.req_socket.send_json(message) + + try: + received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0) + + except asyncio.TimeoutError: + logger.warning("No connection established in 20 seconds (attempt %d/%d)", retries + 1, max_retries) + retries += 1 + continue + + except Exception as e: + logger.error("Unexpected error during negotiation: %s", e) + retries += 1 + continue + + # Validate endpoint + endpoint = received_message.get("endpoint") + if endpoint != "negotiate/ports": + # TODO: Should this send a message back? + logger.error("Invalid endpoint '%s' received (attempt %d/%d)", endpoint, retries + 1, max_retries) + retries += 1 + continue + + # At this point, we have a valid response + try: + for port_data in received_message["data"]: + id = port_data["id"] + port = port_data["port"] + bind = port_data["bind"] + addr = f"tcp://localhost:{port}" + + match id: + case "main": + if addr != self._address: + if not bind: + self.req_socket.connect(addr) + else: + self.req_socket.bind(addr) + case "actuation": + ri_commands_agent = RICommandAgent( + settings.agent_settings.ri_command_agent_name + '@' + settings.agent_settings.host, + settings.agent_settings.ri_command_agent_name, + address=addr, + bind=bind ) + await ri_commands_agent.start() + case _: + logger.warning("Unhandled negotiation id: %s", id) + + except Exception as e: + logger.error("Error unpacking negotiation data: %s", e) + retries += 1 + continue + + # setup succeeded + break + + else: + logger.error("Failed to set up RICommunicationAgent after %d retries", max_retries) + return + + # Set up ping behaviour + listen_behaviour = self.ListenBehaviour() + self.add_behaviour(listen_behaviour) + logger.info("Finished setting up %s", self.jid) + + diff --git a/src/control_backend/core/config.py b/src/control_backend/core/config.py index fca21b3..43fdedc 100644 --- a/src/control_backend/core/config.py +++ b/src/control_backend/core/config.py @@ -1,15 +1,27 @@ +from re import L from pydantic import BaseModel from pydantic_settings import BaseSettings, SettingsConfigDict class ZMQSettings(BaseModel): internal_comm_address: str = "tcp://localhost:5560" +class AgentSettings(BaseModel): + host: str = "localhost" + bdi_core_agent_name: str = "bdi_core" + belief_collector_agent_name: str = "belief_collector" + test_agent_name: str = "test_agent" + + ri_communication_agent_name: str = "ri_communication_agent" + ri_command_agent_name: str = "ri_command_agent" + class Settings(BaseSettings): app_title: str = "PepperPlus" - + ui_url: str = "http://localhost:5173" zmq_settings: ZMQSettings = ZMQSettings() + + agent_settings: AgentSettings = AgentSettings() model_config = SettingsConfigDict(env_file=".env") diff --git a/src/control_backend/main.py b/src/control_backend/main.py index cd4d3fa..bb0f8d7 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -7,6 +7,7 @@ import zmq # Internal imports from control_backend.agents.test_agent import TestAgent +from control_backend.agents.ri_communication_agent import RICommunicationAgent from control_backend.api.v1.router import api_router from control_backend.core.config import settings from control_backend.core.zmq_context import context @@ -26,9 +27,13 @@ async def lifespan(app: FastAPI): logger.info("Internal publishing socket bound to %s", internal_comm_socket) # Initiate agents - test_agent = TestAgent("test_agent@localhost", "test_agent") - await test_agent.start() - + logger.info(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host) + logger.info(settings.agent_settings.ri_communication_agent_name) + ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host, + settings.agent_settings.ri_communication_agent_name, + address="tcp://*:5555", bind=True) + await ri_communication_agent.start() + yield logger.info("%s shutting down.", app.title) diff --git a/test/unit/test_ri_commands_agent.py b/test/unit/test_ri_commands_agent.py new file mode 100644 index 0000000..fc5f4aa --- /dev/null +++ b/test/unit/test_ri_commands_agent.py @@ -0,0 +1,84 @@ +import asyncio +import zmq +import json +import pytest +from unittest.mock import AsyncMock, MagicMock, patch +from control_backend.agents.ri_command_agent import RICommandAgent +from control_backend.schemas.message import Message + +@pytest.mark.asyncio +async def test_setup_bind(monkeypatch): + """Test setup with bind=True""" + fake_socket = MagicMock() + monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket) + + agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True) + monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) + + await agent.setup() + + # Ensure PUB socket bound + fake_socket.bind.assert_any_call("tcp://localhost:5555") + # Ensure SUB socket connected to internal address and subscribed + fake_socket.connect.assert_any_call("tcp://internal:1234") + fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command") + + # Ensure behaviour attached + assert any(isinstance(b, agent.SendCommandsBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_connect(monkeypatch): + """Test setup with bind=False""" + fake_socket = MagicMock() + monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket) + + agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) + + await agent.setup() + + # Ensure PUB socket connected + fake_socket.connect.assert_any_call("tcp://localhost:5555") + +@pytest.mark.asyncio +async def test_send_commands_behaviour_valid_message(caplog): + """Test behaviour with valid JSON message""" + fake_socket = AsyncMock() + message_dict = {"message": "hello"} + fake_socket.recv_multipart = AsyncMock(return_value=(b"command", json.dumps(message_dict).encode("utf-8"))) + fake_socket.send_json = AsyncMock() + + agent = RICommandAgent("test@server", "password") + agent.subsocket = fake_socket + agent.pubsocket = fake_socket + + behaviour = agent.SendCommandsBehaviour() + behaviour.agent = agent + + with caplog.at_level("INFO"): + await behaviour.run() + + fake_socket.recv_multipart.assert_awaited() + fake_socket.send_json.assert_awaited() + assert "Received message" in caplog.text + +@pytest.mark.asyncio +async def test_send_commands_behaviour_invalid_message(caplog): + """Test behaviour with invalid JSON message triggers error logging""" + fake_socket = AsyncMock() + fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}")) + fake_socket.send_json = AsyncMock() + + agent = RICommandAgent("test@server", "password") + agent.subsocket = fake_socket + agent.pubsocket = fake_socket + + behaviour = agent.SendCommandsBehaviour() + behaviour.agent = agent + + with caplog.at_level("ERROR"): + await behaviour.run() + + fake_socket.recv_multipart.assert_awaited() + fake_socket.send_json.assert_not_awaited() + assert "Error processing message" in caplog.text diff --git a/test/unit/test_ri_communication_agent.py b/test/unit/test_ri_communication_agent.py new file mode 100644 index 0000000..9cc14f0 --- /dev/null +++ b/test/unit/test_ri_communication_agent.py @@ -0,0 +1,498 @@ +import asyncio +import pytest +from unittest.mock import AsyncMock, MagicMock, patch, ANY +from control_backend.agents.ri_communication_agent import RICommunicationAgent + +def fake_json_correct_negototiate_1(): + return AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5556, "bind": True}, + ]}) + +def fake_json_correct_negototiate_2(): + return AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5557, "bind": True}, + ]}) + +def fake_json_correct_negototiate_3(): + return AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": True}, + {"id": "actuation", "port": 5557, "bind": True}, + ]}) + +def fake_json_correct_negototiate_4(): + # Different port, do bind + return AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 4555, "bind": True}, + {"id": "actuation", "port": 5557, "bind": True}, + ]}) + +def fake_json_correct_negototiate_5(): + # Different port, dont bind. + return AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 4555, "bind": False}, + {"id": "actuation", "port": 5557, "bind": True}, + ]}) + +def fake_json_wrong_negototiate_1(): + return AsyncMock(return_value={ + "endpoint": "ping", + "data": ""}) + +def fake_json_invalid_id_negototiate(): + return AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "banana", "port": 4555, "bind": False}, + {"id": "tomato", "port": 5557, "bind": True}, + ]}) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_1(monkeypatch): + """ + Test the setup of the communication agent + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_correct_negototiate_1() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup() + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) + fake_socket.recv_json.assert_awaited() + fake_agent_instance.start.assert_awaited() + MockCommandAgent.assert_called_once_with( + ANY, # Server Name + ANY, # Server Password + address="tcp://localhost:5556", # derived from the 'port' value in negotiation + bind=True + ) + # Ensure the agent attached a ListenBehaviour + assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_2(monkeypatch): + """ + Test the setup of the communication agent + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_correct_negototiate_2() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup() + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) + fake_socket.recv_json.assert_awaited() + fake_agent_instance.start.assert_awaited() + MockCommandAgent.assert_called_once_with( + ANY, # Server Name + ANY, # Server Password + address="tcp://localhost:5557", # derived from the 'port' value in negotiation + bind=True + ) + # Ensure the agent attached a ListenBehaviour + assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog): + """ + Test the functionality of setup with incorrect negotiation message + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_wrong_negototiate_1() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + + + # We are sending wrong negotiation info to the communication agent, so we should retry and expect a + # better response, within a limited time. + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + with caplog.at_level("ERROR"): + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup(max_retries=1) + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + fake_socket.recv_json.assert_awaited() + + # Since it failed, there should not be any command agent. + fake_agent_instance.start.assert_not_awaited() + assert "Failed to set up RICommunicationAgent" in caplog.text + + # Ensure the agent did not attach a ListenBehaviour + assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_4(monkeypatch): + """ + Test the setup of the communication agent with different bind value + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_correct_negototiate_3() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=True) + await agent.setup() + + # --- Assert --- + fake_socket.bind.assert_any_call("tcp://localhost:5555") + fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) + fake_socket.recv_json.assert_awaited() + fake_agent_instance.start.assert_awaited() + MockCommandAgent.assert_called_once_with( + ANY, # Server Name + ANY, # Server Password + address="tcp://localhost:5557", # derived from the 'port' value in negotiation + bind=True + ) + # Ensure the agent attached a ListenBehaviour + assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_5(monkeypatch): + """ + Test the setup of the communication agent + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_correct_negototiate_4() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup() + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) + fake_socket.recv_json.assert_awaited() + fake_agent_instance.start.assert_awaited() + MockCommandAgent.assert_called_once_with( + ANY, # Server Name + ANY, # Server Password + address="tcp://localhost:5557", # derived from the 'port' value in negotiation + bind=True + ) + # Ensure the agent attached a ListenBehaviour + assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_6(monkeypatch): + """ + Test the setup of the communication agent + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_correct_negototiate_5() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup() + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) + fake_socket.recv_json.assert_awaited() + fake_agent_instance.start.assert_awaited() + MockCommandAgent.assert_called_once_with( + ANY, # Server Name + ANY, # Server Password + address="tcp://localhost:5557", # derived from the 'port' value in negotiation + bind=True + ) + # Ensure the agent attached a ListenBehaviour + assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog): + """ + Test the functionality of setup with incorrect id + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = fake_json_invalid_id_negototiate() + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + # Mock RICommandAgent agent startup + + + # We are sending wrong negotiation info to the communication agent, so we should retry and expect a + # better response, within a limited time. + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + with caplog.at_level("WARNING"): + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup(max_retries=1) + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + fake_socket.recv_json.assert_awaited() + + # Since it failed, there should not be any command agent. + fake_agent_instance.start.assert_not_awaited() + assert "Unhandled negotiation id:" in caplog.text + + +@pytest.mark.asyncio +async def test_setup_creates_socket_and_negotiate_timeout(monkeypatch, caplog): + """ + Test the functionality of setup with incorrect negotiation message + """ + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError) + + # Mock context.socket to return our fake socket + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + fake_agent_instance = MockCommandAgent.return_value + fake_agent_instance.start = AsyncMock() + + # --- Act --- + with caplog.at_level("WARNING"): + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + await agent.setup(max_retries=1) + + # --- Assert --- + fake_socket.connect.assert_any_call("tcp://localhost:5555") + + # Since it failed, there should not be any command agent. + fake_agent_instance.start.assert_not_awaited() + assert "No connection established in 20 seconds" in caplog.text + + # Ensure the agent did not attach a ListenBehaviour + assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + +@pytest.mark.asyncio +async def test_listen_behaviour_ping_correct(caplog): + fake_socket = AsyncMock() + fake_socket.send_json = AsyncMock() + fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}}) + + # TODO: Integration test between actual server and password needed for spade agents + agent = RICommunicationAgent("test@server", "password") + agent.req_socket = fake_socket + + behaviour = agent.ListenBehaviour() + agent.add_behaviour(behaviour) + + # Run once (CyclicBehaviour normally loops) + with caplog.at_level("INFO"): + await behaviour.run() + + fake_socket.send_json.assert_awaited() + fake_socket.recv_json.assert_awaited() + assert "Received message" in caplog.text + +@pytest.mark.asyncio +async def test_listen_behaviour_ping_wrong_endpoint(caplog): + """ + Test if our listen behaviour can work with wrong messages (wrong endpoint) + """ + fake_socket = AsyncMock() + fake_socket.send_json = AsyncMock() + + # This is a message for the wrong endpoint >:( + fake_socket.recv_json = AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5556, "bind": True}, + ]}) + + agent = RICommunicationAgent("test@server", "password") + agent.req_socket = fake_socket + + behaviour = agent.ListenBehaviour() + agent.add_behaviour(behaviour) + + # Run once (CyclicBehaviour normally loops) + with caplog.at_level("INFO"): + await behaviour.run() + + + assert "Received message with topic different than ping, while ping expected." in caplog.text + fake_socket.send_json.assert_awaited() + fake_socket.recv_json.assert_awaited() + +@pytest.mark.asyncio +async def test_listen_behaviour_timeout(caplog): + fake_socket = AsyncMock() + fake_socket.send_json = AsyncMock() + # recv_json will never resolve, simulate timeout + fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError) + + agent = RICommunicationAgent("test@server", "password") + agent.req_socket = fake_socket + + behaviour = agent.ListenBehaviour() + agent.add_behaviour(behaviour) + + with caplog.at_level("INFO"): + await behaviour.run() + + assert "No ping retrieved in 3 seconds" in caplog.text + +@pytest.mark.asyncio +async def test_listen_behaviour_ping_no_endpoint(caplog): + """ + Test if our listen behaviour can work with wrong messages (wrong endpoint) + """ + fake_socket = AsyncMock() + fake_socket.send_json = AsyncMock() + + # This is a message without endpoint >:( + fake_socket.recv_json = AsyncMock(return_value={ + "data": "I dont have an endpoint >:)", + }) + + agent = RICommunicationAgent("test@server", "password") + agent.req_socket = fake_socket + + behaviour = agent.ListenBehaviour() + agent.add_behaviour(behaviour) + + # Run once (CyclicBehaviour normally loops) + with caplog.at_level("ERROR"): + await behaviour.run() + + assert "No received endpoint in message, excepted ping endpoint." in caplog.text + fake_socket.send_json.assert_awaited() + fake_socket.recv_json.assert_awaited() + +@pytest.mark.asyncio +async def test_setup_unexpected_exception(monkeypatch, caplog): + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + # Simulate unexpected exception during recv_json() + fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!")) + + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket + ) + + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + + with caplog.at_level("ERROR"): + await agent.setup(max_retries=1) + + # Ensure that the error was logged + assert "Unexpected error during negotiation: boom!" in caplog.text + +@pytest.mark.asyncio +async def test_setup_unpacking_exception(monkeypatch, caplog): + # --- Arrange --- + fake_socket = MagicMock() + fake_socket.send_json = AsyncMock() + + # Make recv_json return malformed negotiation data to trigger unpacking exception + malformed_data = {"endpoint": "negotiate/ports", "data": [ {"id": "main"} ]} # missing 'port' and 'bind' + fake_socket.recv_json = AsyncMock(return_value=malformed_data) + + # Patch context.socket + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket + ) + + # Patch RICommandAgent so it won't actually 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++++++ src/control_backend/main.py | 2 -- 3 files changed, 12 insertions(+), 2 deletions(-) diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py index 02de887..a5aeda3 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/ri_command_agent.py @@ -23,6 +23,9 @@ class RICommandAgent(Agent): class SendCommandsBehaviour(CyclicBehaviour): async def run(self): + """ + Run the command publishing loop indefinetely. + """ assert self.agent is not None # Get a message internally (with topic command) topic, body = await self.agent.subsocket.recv_multipart() @@ -39,6 +42,9 @@ class RICommandAgent(Agent): logger.error("Error processing message: %s", e) async def setup(self): + """ + Setup the command agent + """ logger.info("Setting up %s", self.jid) # To the robot diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index 0c63cc5..dbf243a 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -24,6 +24,9 @@ class RICommunicationAgent(Agent): class ListenBehaviour(CyclicBehaviour): async def run(self): + """ + Run the listening (ping) loop indefinetely. + """ assert self.agent is not None # We need to listen and sent pings. @@ -56,6 +59,9 @@ class RICommunicationAgent(Agent): async def setup(self, max_retries: int = 5): + """ + Try to setup the communication agent, we have 5 retries in case we dont have a response yet. + """ logger.info("Setting up %s", self.jid) retries = 0 diff --git a/src/control_backend/main.py b/src/control_backend/main.py index bb0f8d7..7623c09 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -27,8 +27,6 @@ async def lifespan(app: FastAPI): logger.info("Internal publishing socket bound to %s", internal_comm_socket) # Initiate agents - logger.info(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host) - logger.info(settings.agent_settings.ri_communication_agent_name) ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host, settings.agent_settings.ri_communication_agent_name, address="tcp://*:5555", bind=True) From 63590bd5a3380cf82f7f13d867f601b8cdee4f8a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 22 Oct 2025 11:09:58 +0200 Subject: [PATCH 13/37] fix: change address based on binding, bind ports dont use `localhost`. ref: N25B-205 --- src/control_backend/agents/ri_communication_agent.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index dbf243a..e9374a6 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -65,6 +65,7 @@ class RICommunicationAgent(Agent): logger.info("Setting up %s", self.jid) retries = 0 + # Let's try a certain amount of times before failing connection while retries < max_retries: # Bind request socket @@ -105,7 +106,11 @@ class RICommunicationAgent(Agent): id = port_data["id"] port = port_data["port"] bind = port_data["bind"] - addr = f"tcp://localhost:{port}" + + if not bind: + addr = f"tcp://localhost:{port}" + else: + addr = f"tcp://*:{port}" match id: case "main": From 77c6704632b71fa960f02b916b49c9fda2d65aea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 22 Oct 2025 11:12:58 +0200 Subject: [PATCH 14/37] fix: unit tests changes to account for address changes ref: N25B-205 --- test/unit/test_ri_communication_agent.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/test/unit/test_ri_communication_agent.py b/test/unit/test_ri_communication_agent.py index 9cc14f0..c14a6d8 100644 --- a/test/unit/test_ri_communication_agent.py +++ b/test/unit/test_ri_communication_agent.py @@ -88,7 +88,7 @@ async def test_setup_creates_socket_and_negotiate_1(monkeypatch): MockCommandAgent.assert_called_once_with( ANY, # Server Name ANY, # Server Password - address="tcp://localhost:5556", # derived from the 'port' value in negotiation + address="tcp://*:5556", # derived from the 'port' value in negotiation bind=True ) # Ensure the agent attached a ListenBehaviour @@ -124,7 +124,7 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch): MockCommandAgent.assert_called_once_with( ANY, # Server Name ANY, # Server Password - address="tcp://localhost:5557", # derived from the 'port' value in negotiation + address="tcp://*:5557", # derived from the 'port' value in negotiation bind=True ) # Ensure the agent attached a ListenBehaviour @@ -198,7 +198,7 @@ async def test_setup_creates_socket_and_negotiate_4(monkeypatch): MockCommandAgent.assert_called_once_with( ANY, # Server Name ANY, # Server Password - address="tcp://localhost:5557", # derived from the 'port' value in negotiation + address="tcp://*:5557", # derived from the 'port' value in negotiation bind=True ) # Ensure the agent attached a ListenBehaviour @@ -234,7 +234,7 @@ async def test_setup_creates_socket_and_negotiate_5(monkeypatch): MockCommandAgent.assert_called_once_with( ANY, # Server Name ANY, # Server Password - address="tcp://localhost:5557", # derived from the 'port' value in negotiation + address="tcp://*:5557", # derived from the 'port' value in negotiation bind=True ) # Ensure the agent attached a ListenBehaviour @@ -270,7 +270,7 @@ async def test_setup_creates_socket_and_negotiate_6(monkeypatch): MockCommandAgent.assert_called_once_with( ANY, # Server Name ANY, # Server Password - address="tcp://localhost:5557", # derived from the 'port' value in negotiation + address="tcp://*:5557", # derived from the 'port' value in negotiation bind=True ) # Ensure the agent attached a ListenBehaviour From d71cb60523deb60601769ce9c12ab60fab616aab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 22 Oct 2025 12:41:47 +0200 Subject: [PATCH 15/37] fix: gitignore + testing map structure ref: N25B-205 --- .gitignore | 2 +- .../api/v1/endpoints/sse_ping.py | 26 +++++++++++++++++++ src/control_backend/api/v1/router.py | 7 ++++- .../{ => agents}/test_ri_commands_agent.py | 0 .../test_ri_communication_agent.py | 0 5 files changed, 33 insertions(+), 2 deletions(-) create mode 100644 src/control_backend/api/v1/endpoints/sse_ping.py rename test/unit/{ => agents}/test_ri_commands_agent.py (100%) rename test/unit/{ => agents}/test_ri_communication_agent.py (100%) diff --git a/.gitignore b/.gitignore index 4d2fe1b..03bd8e3 100644 --- a/.gitignore +++ b/.gitignore @@ -199,7 +199,7 @@ cython_debug/ # that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore # and can be added to the global gitignore or merged into this file. However, if you prefer, # you could uncomment the following to ignore the entire vscode folder -# .vscode/ +.vscode/ # Ruff stuff: .ruff_cache/ diff --git a/src/control_backend/api/v1/endpoints/sse_ping.py b/src/control_backend/api/v1/endpoints/sse_ping.py new file mode 100644 index 0000000..32d3805 --- /dev/null +++ b/src/control_backend/api/v1/endpoints/sse_ping.py @@ -0,0 +1,26 @@ +from fastapi import APIRouter, Request +from fastapi.responses import StreamingResponse +import datetime +import asyncio + +router = APIRouter() + +@router.get("/sse_ping") +async def sse_ping(request: Request): + """ + Endpoint for Server-Sent Events. + """ + async def event_generator(): + while True: + # If connection to client closes, stop sending events + if await request.is_disconnected(): + break + + # Send message containing current time every second + current_time = datetime.datetime.now().strftime("%H:%M:%S") + yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) + await asyncio.sleep(1) + + return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams + + diff --git a/src/control_backend/api/v1/router.py b/src/control_backend/api/v1/router.py index 559b4d3..68f047e 100644 --- a/src/control_backend/api/v1/router.py +++ b/src/control_backend/api/v1/router.py @@ -1,6 +1,6 @@ from fastapi.routing import APIRouter -from control_backend.api.v1.endpoints import message, sse +from control_backend.api.v1.endpoints import message, sse, sse_ping api_router = APIRouter() @@ -13,3 +13,8 @@ api_router.include_router( sse.router, tags=["SSE"] ) + +api_router.include_router( + sse_ping.router, + tags=["SSE_ping"] +) diff --git a/test/unit/test_ri_commands_agent.py b/test/unit/agents/test_ri_commands_agent.py similarity index 100% rename from test/unit/test_ri_commands_agent.py rename to test/unit/agents/test_ri_commands_agent.py diff --git a/test/unit/test_ri_communication_agent.py b/test/unit/agents/test_ri_communication_agent.py similarity index 100% rename from test/unit/test_ri_communication_agent.py rename to test/unit/agents/test_ri_communication_agent.py From 530fc42c50a3cdd99d82b3ce27f4e77ac0e3439b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Wed, 22 Oct 2025 12:50:29 +0200 Subject: [PATCH 16/37] fix: router changes + hopefully gitignore ref: N25B-205 --- .../api/v1/endpoints/sse_ping.py | 26 ------------------- src/control_backend/api/v1/router.py | 9 ++----- 2 files changed, 2 insertions(+), 33 deletions(-) delete mode 100644 src/control_backend/api/v1/endpoints/sse_ping.py diff --git a/src/control_backend/api/v1/endpoints/sse_ping.py b/src/control_backend/api/v1/endpoints/sse_ping.py deleted file mode 100644 index 32d3805..0000000 --- a/src/control_backend/api/v1/endpoints/sse_ping.py +++ /dev/null @@ -1,26 +0,0 @@ -from fastapi import APIRouter, Request -from fastapi.responses import StreamingResponse -import datetime -import asyncio - -router = APIRouter() - -@router.get("/sse_ping") -async def sse_ping(request: Request): - """ - Endpoint for Server-Sent Events. - """ - async def event_generator(): - while True: - # If connection to client closes, stop sending events - if await request.is_disconnected(): - break - - # Send message containing current time every second - current_time = datetime.datetime.now().strftime("%H:%M:%S") - yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based) - await asyncio.sleep(1) - - return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams - - diff --git a/src/control_backend/api/v1/router.py b/src/control_backend/api/v1/router.py index 68f047e..2a17ab5 100644 --- a/src/control_backend/api/v1/router.py +++ b/src/control_backend/api/v1/router.py @@ -1,6 +1,6 @@ from fastapi.routing import APIRouter -from control_backend.api.v1.endpoints import message, sse, sse_ping +from control_backend.api.v1.endpoints import message, sse api_router = APIRouter() @@ -12,9 +12,4 @@ api_router.include_router( api_router.include_router( sse.router, tags=["SSE"] -) - -api_router.include_router( - sse_ping.router, - tags=["SSE_ping"] -) +) \ No newline at end of file From 1f8d7697626adea4db8d9ae17ecac7bfece645eb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Thu, 23 Oct 2025 12:54:53 +0200 Subject: [PATCH 17/37] chore: adjust message/command structure and write unit tests ref: N25B-205 --- .../agents/ri_command_agent.py | 7 ++-- .../agents/ri_communication_agent.py | 3 +- .../api/v1/endpoints/command.py | 23 ++++++++++++ src/control_backend/schemas/ri_message.py | 20 +++++++++++ test/unit/agents/test_ri_commands_agent.py | 12 ++++--- .../agents/test_ri_communication_agent.py | 2 +- test/unit/schemas/test_ri_message.py | 35 +++++++++++++++++++ 7 files changed, 90 insertions(+), 12 deletions(-) create mode 100644 src/control_backend/api/v1/endpoints/command.py create mode 100644 src/control_backend/schemas/ri_message.py create mode 100644 test/unit/schemas/test_ri_message.py diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py index a5aeda3..b11ba01 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/ri_command_agent.py @@ -6,7 +6,7 @@ import zmq from control_backend.core.config import settings from control_backend.core.zmq_context import context -from control_backend.schemas.message import Message +from control_backend.schemas.ri_message import SpeechCommand logger = logging.getLogger(__name__) @@ -33,9 +33,8 @@ class RICommandAgent(Agent): # Try to get body try: message_json = json.loads(body.decode("utf-8")) - message = Message.model_validate(message_json) - logger.info("Received message \"%s\"", message.message) - + message = SpeechCommand.model_validate(message_json) + # Send to the robot. await self.agent.pubsocket.send_json(message) except Exception as e: diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index e9374a6..2033857 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -44,8 +44,7 @@ class RICommunicationAgent(Agent): logger.info("No ping retrieved in 3 seconds, killing myself.") self.kill() - # message = Message.model_validate(message) - logger.info("Received message \"%s\"", message) + logger.debug("Received message \"%s\"", message) if "endpoint" not in message: logger.error("No received endpoint in message, excepted ping endpoint.") return diff --git a/src/control_backend/api/v1/endpoints/command.py b/src/control_backend/api/v1/endpoints/command.py new file mode 100644 index 0000000..fef07b8 --- /dev/null +++ b/src/control_backend/api/v1/endpoints/command.py @@ -0,0 +1,23 @@ +from fastapi import APIRouter, Request +import logging + +from zmq import Socket + +from control_backend.schemas.message import Message + +logger = logging.getLogger(__name__) + +router = APIRouter() + +@router.post("/message", status_code=202) +async def receive_message(message: Message, request: Request): + logger.info("Received message: %s", message.message) + + topic = b"message" + body = message.model_dump_json().encode("utf-8") + + pub_socket: Socket = request.app.state.internal_comm_socket + + pub_socket.send_multipart([topic, body]) + + return {"status": "Message received"} diff --git a/src/control_backend/schemas/ri_message.py b/src/control_backend/schemas/ri_message.py new file mode 100644 index 0000000..b369703 --- /dev/null +++ b/src/control_backend/schemas/ri_message.py @@ -0,0 +1,20 @@ +from enum import Enum +from typing import Any, Literal + +from pydantic import BaseModel, Field, ValidationError + + +class RIEndpoint(str, Enum): + SPEECH = "actuate/speech" + PING = "ping" + NEGOTIATE_PORTS = "negotiate/ports" + + +class RIMessage(BaseModel): + endpoint: RIEndpoint + data: Any + + +class SpeechCommand(RIMessage): + endpoint: RIEndpoint = RIEndpoint(RIEndpoint.SPEECH) + data: str diff --git a/test/unit/agents/test_ri_commands_agent.py b/test/unit/agents/test_ri_commands_agent.py index fc5f4aa..4ed8dc1 100644 --- a/test/unit/agents/test_ri_commands_agent.py +++ b/test/unit/agents/test_ri_commands_agent.py @@ -4,7 +4,7 @@ import json import pytest from unittest.mock import AsyncMock, MagicMock, patch from control_backend.agents.ri_command_agent import RICommandAgent -from control_backend.schemas.message import Message +from control_backend.schemas.ri_message import SpeechCommand @pytest.mark.asyncio async def test_setup_bind(monkeypatch): @@ -41,7 +41,7 @@ async def test_setup_connect(monkeypatch): fake_socket.connect.assert_any_call("tcp://localhost:5555") @pytest.mark.asyncio -async def test_send_commands_behaviour_valid_message(caplog): +async def test_send_commands_behaviour_valid_message(): """Test behaviour with valid JSON message""" fake_socket = AsyncMock() message_dict = {"message": "hello"} @@ -55,12 +55,14 @@ async def test_send_commands_behaviour_valid_message(caplog): behaviour = agent.SendCommandsBehaviour() behaviour.agent = agent - with caplog.at_level("INFO"): + with patch('control_backend.agents.ri_command_agent.SpeechCommand') as MockSpeechCommand: + mock_message = MagicMock() + MockSpeechCommand.model_validate.return_value = mock_message + await behaviour.run() fake_socket.recv_multipart.assert_awaited() - fake_socket.send_json.assert_awaited() - assert "Received message" in caplog.text + fake_socket.send_json.assert_awaited_with(mock_message) @pytest.mark.asyncio async def test_send_commands_behaviour_invalid_message(caplog): diff --git a/test/unit/agents/test_ri_communication_agent.py b/test/unit/agents/test_ri_communication_agent.py index c14a6d8..8228608 100644 --- a/test/unit/agents/test_ri_communication_agent.py +++ b/test/unit/agents/test_ri_communication_agent.py @@ -358,7 +358,7 @@ async def test_listen_behaviour_ping_correct(caplog): agent.add_behaviour(behaviour) # Run once (CyclicBehaviour normally loops) - with caplog.at_level("INFO"): + with caplog.at_level("DEBUG"): await behaviour.run() fake_socket.send_json.assert_awaited() diff --git a/test/unit/schemas/test_ri_message.py b/test/unit/schemas/test_ri_message.py new file mode 100644 index 0000000..b840f97 --- /dev/null +++ b/test/unit/schemas/test_ri_message.py @@ -0,0 +1,35 @@ +import pytest +from control_backend.schemas.ri_message import RIMessage, RIEndpoint, SpeechCommand +from pydantic import ValidationError + +def valid_command_1(): + return SpeechCommand(data="Hallo?") + +def invalid_command_1(): + return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.") + +def test_valid_speech_command_1(): + command = valid_command_1() + try: + RIMessage.model_validate(command) + SpeechCommand.model_validate(command) + assert True + except ValidationError: + assert False + + +def test_invalid_speech_command_1(): + command = invalid_command_1() + passed_ri_message_validation = False + try: + # Should succeed, still. + RIMessage.model_validate(command) + passed_ri_message_validation = True + + # Should fail. + SpeechCommand.model_validate(command) + assert False + except ValidationError: + assert passed_ri_message_validation + + \ No newline at end of file From a2a04740e51c978a4baf863abf05a7bfc315b056 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Thu, 23 Oct 2025 16:45:41 +0200 Subject: [PATCH 18/37] chore: add unit test for router and implement command router ref: N25B-205 --- .../agents/ri_command_agent.py | 6 +- src/control_backend/agents/test_agent.py | 37 ----------- .../api/v1/endpoints/command.py | 19 +++--- src/control_backend/api/v1/router.py | 7 ++- .../api/endpoints/test_command_endpoint.py | 62 +++++++++++++++++++ 5 files changed, 79 insertions(+), 52 deletions(-) delete mode 100644 src/control_backend/agents/test_agent.py create mode 100644 test/unit/api/endpoints/test_command_endpoint.py diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py index b11ba01..7ca1bf9 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/ri_command_agent.py @@ -32,9 +32,9 @@ class RICommandAgent(Agent): # Try to get body try: - message_json = json.loads(body.decode("utf-8")) - message = SpeechCommand.model_validate(message_json) - + message = SpeechCommand.model_validate(body) + + # Send to the robot. await self.agent.pubsocket.send_json(message) except Exception as e: diff --git a/src/control_backend/agents/test_agent.py b/src/control_backend/agents/test_agent.py deleted file mode 100644 index 749c96b..0000000 --- a/src/control_backend/agents/test_agent.py +++ /dev/null @@ -1,37 +0,0 @@ -import json -import logging -from spade.agent import Agent -from spade.behaviour import CyclicBehaviour -import zmq - -from control_backend.core.config import settings -from control_backend.core.zmq_context import context -from control_backend.schemas.message import Message - -logger = logging.getLogger(__name__) - -class TestAgent(Agent): - socket: zmq.Socket - - class ListenBehaviour(CyclicBehaviour): - async def run(self): - assert self.agent is not None - topic, body = await self.agent.socket.recv_multipart() - - try: - message_json = json.loads(body.decode("utf-8")) - message = Message.model_validate(message_json) - logger.info("Received message \"%s\"", message.message) - except Exception as e: - logger.error("Error processing message: %s", e) - - async def setup(self): - logger.info("Setting up %s", self.jid) - self.socket = context.socket(zmq.SUB) - self.socket.connect(settings.zmq_settings.internal_comm_address) - self.socket.setsockopt(zmq.SUBSCRIBE, b"message") - - b = self.ListenBehaviour() - self.add_behaviour(b) - - logger.info("Finished setting up %s", self.jid) diff --git a/src/control_backend/api/v1/endpoints/command.py b/src/control_backend/api/v1/endpoints/command.py index fef07b8..60cdf46 100644 --- a/src/control_backend/api/v1/endpoints/command.py +++ b/src/control_backend/api/v1/endpoints/command.py @@ -3,21 +3,18 @@ import logging from zmq import Socket -from control_backend.schemas.message import Message +from control_backend.schemas.ri_message import SpeechCommand, RIEndpoint logger = logging.getLogger(__name__) router = APIRouter() -@router.post("/message", status_code=202) -async def receive_message(message: Message, request: Request): - logger.info("Received message: %s", message.message) - - topic = b"message" - body = message.model_dump_json().encode("utf-8") - +@router.post("/command", status_code=202) +async def receive_command(command: SpeechCommand, request: Request): + # Validate and retrieve data. + SpeechCommand.model_validate(command) + topic = b"command" pub_socket: Socket = request.app.state.internal_comm_socket + pub_socket.send_multipart([topic, command]) - pub_socket.send_multipart([topic, body]) - - return {"status": "Message received"} + return {"status": "Command received"} diff --git a/src/control_backend/api/v1/router.py b/src/control_backend/api/v1/router.py index 2a17ab5..b7a6d5f 100644 --- a/src/control_backend/api/v1/router.py +++ b/src/control_backend/api/v1/router.py @@ -1,6 +1,6 @@ from fastapi.routing import APIRouter -from control_backend.api.v1.endpoints import message, sse +from control_backend.api.v1.endpoints import message, sse, command api_router = APIRouter() @@ -12,4 +12,9 @@ api_router.include_router( api_router.include_router( sse.router, tags=["SSE"] +) + +api_router.include_router( + command.router, + tags=["Commands"] ) \ No newline at end of file diff --git a/test/unit/api/endpoints/test_command_endpoint.py b/test/unit/api/endpoints/test_command_endpoint.py new file mode 100644 index 0000000..3ab1be3 --- /dev/null +++ b/test/unit/api/endpoints/test_command_endpoint.py @@ -0,0 +1,62 @@ +import pytest +from fastapi import FastAPI +from fastapi.testclient import TestClient +from unittest.mock import MagicMock + +from control_backend.api.v1.endpoints import command +from control_backend.schemas.ri_message import SpeechCommand + +@pytest.fixture +def app(): + """ + Creates a FastAPI test app and attaches the router under test. + Also sets up a mock internal_comm_socket. + """ + app = FastAPI() + app.include_router(command.router) + app.state.internal_comm_socket = MagicMock() # mock ZMQ socket + return app + + +@pytest.fixture +def client(app): + """Create a test client for the app.""" + return TestClient(app) + + +def test_receive_command_endpoint(client, app): + """ + Test that a POST to /command sends the right multipart message + and returns a 202 with the expected JSON body. + """ + mock_socket = app.state.internal_comm_socket + + # Prepare test payload that matches SpeechCommand + payload = {"endpoint": "actuate/speech", "data": "yooo"} + + # Send POST request + response = client.post("/command", json=payload) + + # Check response + assert response.status_code == 202 + assert response.json() == {"status": "Command received"} + + # Verify that the socket was called with the correct data + assert mock_socket.send_multipart.called, "Socket should be used to send data" + + args, kwargs = mock_socket.send_multipart.call_args + sent_data = args[0] + + assert sent_data[0] == b"command" + # Check JSON encoding roughly matches + assert isinstance(sent_data[1], SpeechCommand) + + +def test_receive_command_invalid_payload(client): + """ + Test invalid data handling (schema validation). + """ + # Missing required field(s) + bad_payload = {"invalid": "data"} + response = client.post("/command", json=bad_payload) + assert response.status_code == 422 # validation error \ No newline at end of file From 87bd12d7a53eb2229ba7c5653c74745ab22de50d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Thu, 23 Oct 2025 16:54:25 +0200 Subject: [PATCH 19/37] fix: restructure tests for integration ref: N25B-205 --- test/{unit => integration}/agents/test_ri_commands_agent.py | 0 test/{unit => integration}/agents/test_ri_communication_agent.py | 0 test/{unit => integration}/api/endpoints/test_command_endpoint.py | 0 test/{unit => integration}/schemas/test_ri_message.py | 0 test/{ => unit/conftest}/conftest.py | 0 5 files changed, 0 insertions(+), 0 deletions(-) rename test/{unit => integration}/agents/test_ri_commands_agent.py (100%) rename test/{unit => integration}/agents/test_ri_communication_agent.py (100%) rename test/{unit => integration}/api/endpoints/test_command_endpoint.py (100%) rename test/{unit => integration}/schemas/test_ri_message.py (100%) rename test/{ => unit/conftest}/conftest.py (100%) diff --git a/test/unit/agents/test_ri_commands_agent.py b/test/integration/agents/test_ri_commands_agent.py similarity index 100% rename from test/unit/agents/test_ri_commands_agent.py rename to test/integration/agents/test_ri_commands_agent.py diff --git a/test/unit/agents/test_ri_communication_agent.py b/test/integration/agents/test_ri_communication_agent.py similarity index 100% rename from test/unit/agents/test_ri_communication_agent.py rename to test/integration/agents/test_ri_communication_agent.py diff --git a/test/unit/api/endpoints/test_command_endpoint.py b/test/integration/api/endpoints/test_command_endpoint.py similarity index 100% rename from test/unit/api/endpoints/test_command_endpoint.py rename to test/integration/api/endpoints/test_command_endpoint.py diff --git a/test/unit/schemas/test_ri_message.py b/test/integration/schemas/test_ri_message.py similarity index 100% rename from test/unit/schemas/test_ri_message.py rename to test/integration/schemas/test_ri_message.py diff --git a/test/conftest.py b/test/unit/conftest/conftest.py similarity index 100% rename from test/conftest.py rename to test/unit/conftest/conftest.py From c1217a90176df41eaf0c1c8cdfff4501b15fb1e4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Thu, 23 Oct 2025 17:02:17 +0200 Subject: [PATCH 20/37] fix: fixed duplicate entry in uv.lock ref: N25B-205 --- uv.lock | 8 -------- 1 file changed, 8 deletions(-) diff --git a/uv.lock b/uv.lock index e6fd3d2..b6adc51 100644 --- a/uv.lock +++ b/uv.lock @@ -1357,14 +1357,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/54/20/4d324d65cc6d9205fabedc306948156824eb9f0ee1633355a8f7ec5c66bf/pluggy-1.6.0-py3-none-any.whl", hash = "sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746", size = 20538, upload-time = "2025-05-15T12:30:06.134Z" }, ] -[[package]] -name = "pluggy" -version = "1.6.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/f9/e2/3e91f31a7d2b083fe6ef3fa267035b518369d9511ffab804f839851d2779/pluggy-1.6.0.tar.gz", hash = "sha256:7dcc130b76258d33b90f61b658791dede3486c3e6bfb003ee5c9bfb396dd22f3", size = 69412, upload-time = "2025-05-15T12:30:07.975Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/54/20/4d324d65cc6d9205fabedc306948156824eb9f0ee1633355a8f7ec5c66bf/pluggy-1.6.0-py3-none-any.whl", hash = "sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746", size = 20538, upload-time = "2025-05-15T12:30:06.134Z" }, -] [[package]] name = "propcache" From 31e77de26b7df49853712618abdb3597be9eee66 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Thu, 23 Oct 2025 17:12:49 +0200 Subject: [PATCH 21/37] chore: fix style guide max characters --- .../agents/ri_communication_agent.py | 16 ++-- src/control_backend/main.py | 8 +- .../agents/test_ri_commands_agent.py | 15 ++-- .../agents/test_ri_communication_agent.py | 84 ++++++++++++------- 4 files changed, 83 insertions(+), 40 deletions(-) diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index 2033857..8889d7c 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -17,7 +17,9 @@ class RICommunicationAgent(Agent): _address = "" _bind = True - def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False): + def __init__(self, jid: str, password: str, port: int = 5222, + verify_security: bool = False, address = "tcp://localhost:0000", + bind = False): super().__init__(jid, password, port, verify_security) self._address = address self._bind = bind @@ -54,7 +56,8 @@ class RICommunicationAgent(Agent): case "ping": await asyncio.sleep(1) case _: - logger.info("Received message with topic different than ping, while ping expected.") + logger.info("Received message with topic different than ping," \ + " while ping expected.") async def setup(self, max_retries: int = 5): @@ -82,7 +85,8 @@ class RICommunicationAgent(Agent): received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0) except asyncio.TimeoutError: - logger.warning("No connection established in 20 seconds (attempt %d/%d)", retries + 1, max_retries) + logger.warning("No connection established in 20 seconds (attempt %d/%d)", + retries + 1, max_retries) retries += 1 continue @@ -95,7 +99,8 @@ class RICommunicationAgent(Agent): endpoint = received_message.get("endpoint") if endpoint != "negotiate/ports": # TODO: Should this send a message back? - logger.error("Invalid endpoint '%s' received (attempt %d/%d)", endpoint, retries + 1, max_retries) + logger.error("Invalid endpoint '%s' received (attempt %d/%d)", + endpoint, retries + 1, max_retries) retries += 1 continue @@ -120,7 +125,8 @@ class RICommunicationAgent(Agent): self.req_socket.bind(addr) case "actuation": ri_commands_agent = RICommandAgent( - settings.agent_settings.ri_command_agent_name + '@' + settings.agent_settings.host, + settings.agent_settings.ri_command_agent_name + + '@' + settings.agent_settings.host, settings.agent_settings.ri_command_agent_name, address=addr, bind=bind ) diff --git a/src/control_backend/main.py b/src/control_backend/main.py index 2e772a6..c475846 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -33,12 +33,16 @@ async def lifespan(app: FastAPI): logger.info("Internal publishing socket bound to %s", internal_comm_socket) # Initiate agents - ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host, + ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + + '@' + settings.agent_settings.host, settings.agent_settings.ri_communication_agent_name, address="tcp://*:5555", bind=True) await ri_communication_agent.start() - bdi_core = BDICoreAgent(settings.agent_settings.bdi_core_agent_name + '@' + settings.agent_settings.host, settings.agent_settings.bdi_core_agent_name, "src/control_backend/agents/bdi/rules.asl") + bdi_core = BDICoreAgent(settings.agent_settings.bdi_core_agent_name + + '@' + settings.agent_settings.host, + settings.agent_settings.bdi_core_agent_name, + "src/control_backend/agents/bdi/rules.asl") await bdi_core.start() yield diff --git a/test/integration/agents/test_ri_commands_agent.py b/test/integration/agents/test_ri_commands_agent.py index 4ed8dc1..a21af3c 100644 --- a/test/integration/agents/test_ri_commands_agent.py +++ b/test/integration/agents/test_ri_commands_agent.py @@ -10,10 +10,12 @@ from control_backend.schemas.ri_message import SpeechCommand async def test_setup_bind(monkeypatch): """Test setup with bind=True""" fake_socket = MagicMock() - monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", + lambda _: fake_socket) agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True) - monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) + monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", + MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) await agent.setup() @@ -30,10 +32,12 @@ async def test_setup_bind(monkeypatch): async def test_setup_connect(monkeypatch): """Test setup with bind=False""" fake_socket = MagicMock() - monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", + lambda _: fake_socket) agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False) - monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) + monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", + MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) await agent.setup() @@ -45,7 +49,8 @@ async def test_send_commands_behaviour_valid_message(): """Test behaviour with valid JSON message""" fake_socket = AsyncMock() message_dict = {"message": "hello"} - fake_socket.recv_multipart = AsyncMock(return_value=(b"command", json.dumps(message_dict).encode("utf-8"))) + fake_socket.recv_multipart = AsyncMock(return_value=(b"command", + json.dumps(message_dict).encode("utf-8"))) fake_socket.send_json = AsyncMock() agent = RICommandAgent("test@server", "password") diff --git a/test/integration/agents/test_ri_communication_agent.py b/test/integration/agents/test_ri_communication_agent.py index 8228608..d778640 100644 --- a/test/integration/agents/test_ri_communication_agent.py +++ b/test/integration/agents/test_ri_communication_agent.py @@ -69,15 +69,18 @@ async def test_setup_creates_socket_and_negotiate_1(monkeypatch): fake_socket.recv_json = fake_json_correct_negototiate_1() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup() # --- Assert --- @@ -105,15 +108,18 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch): fake_socket.recv_json = fake_json_correct_negototiate_2() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup() # --- Assert --- @@ -141,20 +147,23 @@ async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog): fake_socket.recv_json = fake_json_wrong_negototiate_1() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup # We are sending wrong negotiation info to the communication agent, so we should retry and expect a # better response, within a limited time. - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- with caplog.at_level("ERROR"): - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup(max_retries=1) # --- Assert --- @@ -179,15 +188,18 @@ async def test_setup_creates_socket_and_negotiate_4(monkeypatch): fake_socket.recv_json = fake_json_correct_negototiate_3() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=True) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=True) await agent.setup() # --- Assert --- @@ -215,15 +227,18 @@ async def test_setup_creates_socket_and_negotiate_5(monkeypatch): fake_socket.recv_json = fake_json_correct_negototiate_4() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup() # --- Assert --- @@ -251,15 +266,18 @@ async def test_setup_creates_socket_and_negotiate_6(monkeypatch): fake_socket.recv_json = fake_json_correct_negototiate_5() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup() # --- Assert --- @@ -287,20 +305,23 @@ async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog): fake_socket.recv_json = fake_json_invalid_id_negototiate() # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) # Mock RICommandAgent agent startup # We are sending wrong negotiation info to the communication agent, so we should retry and expect a # better response, within a limited time. - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- with caplog.at_level("WARNING"): - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup(max_retries=1) # --- Assert --- @@ -323,15 +344,18 @@ async def test_setup_creates_socket_and_negotiate_timeout(monkeypatch, caplog): fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError) # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket) + monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", + lambda _: fake_socket) - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- with caplog.at_level("WARNING"): - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) await agent.setup(max_retries=1) # --- Assert --- @@ -453,7 +477,8 @@ async def test_setup_unexpected_exception(monkeypatch, caplog): lambda _: fake_socket ) - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) with caplog.at_level("ERROR"): await agent.setup(max_retries=1) @@ -468,7 +493,8 @@ async def test_setup_unpacking_exception(monkeypatch, caplog): fake_socket.send_json = AsyncMock() # Make recv_json return malformed negotiation data to trigger unpacking exception - malformed_data = {"endpoint": "negotiate/ports", "data": [ {"id": "main"} ]} # missing 'port' and 'bind' + malformed_data = {"endpoint": "negotiate/ports", + "data": [ {"id": "main"} ]} # missing 'port' and 'bind' fake_socket.recv_json = AsyncMock(return_value=malformed_data) # Patch context.socket @@ -478,11 +504,13 @@ async def test_setup_unpacking_exception(monkeypatch, caplog): ) # Patch RICommandAgent so it won't actually start - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent", + autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent("test@server", "password", + address="tcp://localhost:5555", bind=False) # --- Act & Assert --- with caplog.at_level("ERROR"): From 4859c3ac0467920d2c89aded017e31a8a35c0c2c Mon Sep 17 00:00:00 2001 From: Kasper Date: Mon, 27 Oct 2025 15:10:31 +0100 Subject: [PATCH 22/37] style: fix style --- .pre-commit-config.yaml | 10 ++ pyproject.toml | 23 +++ src/control_backend/agents/bdi/bdi_core.py | 6 +- .../agents/bdi/behaviours/belief_setter.py | 14 +- .../api/v1/endpoints/message.py | 3 +- src/control_backend/api/v1/endpoints/sse.py | 3 +- src/control_backend/api/v1/router.py | 10 +- src/control_backend/core/config.py | 9 +- src/control_backend/main.py | 32 ++-- src/control_backend/schemas/message.py | 3 +- test/conftest.py | 22 ++- .../bdi/behaviours/test_belief_setter.py | 40 ++--- uv.lock | 141 ++++++++++++++++++ 13 files changed, 241 insertions(+), 75 deletions(-) create mode 100644 .pre-commit-config.yaml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..c6ed188 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,10 @@ +repos: +- repo: https://github.com/astral-sh/ruff-pre-commit + # Ruff version. + rev: v0.14.2 + hooks: + # Run the linter. + - id: ruff-check + args: [ --fix ] + # Run the formatter. + - id: ruff-format \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 6776668..96dd3d0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -20,6 +20,11 @@ dependencies = [ ] [dependency-groups] +dev = [ + "pre-commit>=4.3.0", + "ruff>=0.14.2", + "ruff-format>=0.3.0", +] test = [ "pytest>=8.4.2", "pytest-asyncio>=1.2.0", @@ -29,3 +34,21 @@ test = [ [tool.pytest.ini_options] pythonpath = ["src"] + +[tool.ruff] +line-length = 100 + +[tool.ruff.lint] +extend-select = [ + "E", # pycodestyle + "F", # pyflakes + "I", # isort (import sorting) + "UP", # pyupgrade (modernize code) + "B", # flake8-bugbear (common bugs) + "C4", # flake8-comprehensions (unnecessary comprehensions) +] + +ignore = [ + "E226", # spaces around operators + "E701", # multiple statements on a single line +] diff --git a/src/control_backend/agents/bdi/bdi_core.py b/src/control_backend/agents/bdi/bdi_core.py index 7311061..1696303 100644 --- a/src/control_backend/agents/bdi/bdi_core.py +++ b/src/control_backend/agents/bdi/bdi_core.py @@ -5,13 +5,15 @@ from spade_bdi.bdi import BDIAgent from control_backend.agents.bdi.behaviours.belief_setter import BeliefSetter + class BDICoreAgent(BDIAgent): """ - This is the Brain agent that does the belief inference with AgentSpeak. + This is the Brain agent that does the belief inference with AgentSpeak. This is a continous process that happens automatically in the background. This class contains all the actions that can be called from AgentSpeak plans. It has the BeliefSetter behaviour. """ + logger = logging.getLogger("BDI Core") async def setup(self): @@ -31,5 +33,3 @@ class BDICoreAgent(BDIAgent): def _send_to_llm(self, message) -> str: """TODO: implement""" return f"This is a reply to {message}" - - diff --git a/src/control_backend/agents/bdi/behaviours/belief_setter.py b/src/control_backend/agents/bdi/behaviours/belief_setter.py index 777dda3..d36fe5e 100644 --- a/src/control_backend/agents/bdi/behaviours/belief_setter.py +++ b/src/control_backend/agents/bdi/behaviours/belief_setter.py @@ -8,15 +8,17 @@ from spade_bdi.bdi import BDIAgent from control_backend.core.config import settings + class BeliefSetter(CyclicBehaviour): """ - This is the behaviour that the BDI agent runs. - This behaviour waits for incoming message and processes it based on sender. - Currently, t only waits for messages containing beliefs from Belief Collector and adds these to its KB. + This is the behaviour that the BDI agent runs. This behaviour waits for incoming + message and processes it based on sender. Currently, it only waits for messages + containing beliefs from BeliefCollector and adds these to its KB. """ + agent: BDIAgent logger = logging.getLogger("BDI/Belief Setter") - + async def run(self): msg = await self.receive(timeout=0.1) if msg: @@ -36,7 +38,8 @@ class BeliefSetter(CyclicBehaviour): pass def _process_belief_message(self, message: Message): - if not message.body: return + if not message.body: + return match message.thread: case "beliefs": @@ -48,7 +51,6 @@ class BeliefSetter(CyclicBehaviour): case _: pass - def _set_beliefs(self, beliefs: dict[str, list[list[str]]]): if self.agent.bdi is None: self.logger.warning("Cannot set beliefs, since agent's BDI is not yet initialized.") diff --git a/src/control_backend/api/v1/endpoints/message.py b/src/control_backend/api/v1/endpoints/message.py index fef07b8..1053c3c 100644 --- a/src/control_backend/api/v1/endpoints/message.py +++ b/src/control_backend/api/v1/endpoints/message.py @@ -1,6 +1,6 @@ -from fastapi import APIRouter, Request import logging +from fastapi import APIRouter, Request from zmq import Socket from control_backend.schemas.message import Message @@ -9,6 +9,7 @@ logger = logging.getLogger(__name__) router = APIRouter() + @router.post("/message", status_code=202) async def receive_message(message: Message, request: Request): logger.info("Received message: %s", message.message) diff --git a/src/control_backend/api/v1/endpoints/sse.py b/src/control_backend/api/v1/endpoints/sse.py index e16b7e2..190e517 100644 --- a/src/control_backend/api/v1/endpoints/sse.py +++ b/src/control_backend/api/v1/endpoints/sse.py @@ -2,7 +2,8 @@ from fastapi import APIRouter, Request router = APIRouter() + # TODO: implement @router.get("/sse") async def sse(request: Request): - pass \ No newline at end of file + pass diff --git a/src/control_backend/api/v1/router.py b/src/control_backend/api/v1/router.py index 559b4d3..f2fb39a 100644 --- a/src/control_backend/api/v1/router.py +++ b/src/control_backend/api/v1/router.py @@ -4,12 +4,6 @@ from control_backend.api.v1.endpoints import message, sse api_router = APIRouter() -api_router.include_router( - message.router, - tags=["Messages"] -) +api_router.include_router(message.router, tags=["Messages"]) -api_router.include_router( - sse.router, - tags=["SSE"] -) +api_router.include_router(sse.router, tags=["SSE"]) diff --git a/src/control_backend/core/config.py b/src/control_backend/core/config.py index 07a828d..1056133 100644 --- a/src/control_backend/core/config.py +++ b/src/control_backend/core/config.py @@ -1,16 +1,18 @@ -from re import L from pydantic import BaseModel from pydantic_settings import BaseSettings, SettingsConfigDict + class ZMQSettings(BaseModel): internal_comm_address: str = "tcp://localhost:5560" + class AgentSettings(BaseModel): host: str = "localhost" bdi_core_agent_name: str = "bdi_core" belief_collector_agent_name: str = "belief_collector" test_agent_name: str = "test_agent" + class Settings(BaseSettings): app_title: str = "PepperPlus" @@ -19,7 +21,8 @@ class Settings(BaseSettings): zmq_settings: ZMQSettings = ZMQSettings() agent_settings: AgentSettings = AgentSettings() - + model_config = SettingsConfigDict(env_file=".env") - + + settings = Settings() diff --git a/src/control_backend/main.py b/src/control_backend/main.py index 1f377c4..1a98b97 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -1,25 +1,23 @@ # Standard library imports -import asyncio -import json # External imports import contextlib +import logging + +import zmq from fastapi import FastAPI from fastapi.middleware.cors import CORSMiddleware -import logging -from spade.agent import Agent, Message -from spade.behaviour import OneShotBehaviour -import zmq # Internal imports from control_backend.agents.bdi.bdi_core import BDICoreAgent from control_backend.api.v1.router import api_router -from control_backend.core.config import AgentSettings, settings +from control_backend.core.config import settings from control_backend.core.zmq_context import context logger = logging.getLogger(__name__) logging.basicConfig(level=logging.DEBUG) + @contextlib.asynccontextmanager async def lifespan(app: FastAPI): logger.info("%s starting up.", app.title) @@ -32,24 +30,30 @@ async def lifespan(app: FastAPI): logger.info("Internal publishing socket bound to %s", internal_comm_socket) # Initiate agents - bdi_core = BDICoreAgent(settings.agent_settings.bdi_core_agent_name + '@' + settings.agent_settings.host, settings.agent_settings.bdi_core_agent_name, "src/control_backend/agents/bdi/rules.asl") + bdi_core = BDICoreAgent( + settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host, + settings.agent_settings.bdi_core_agent_name, + "src/control_backend/agents/bdi/rules.asl", + ) await bdi_core.start() - + yield - + logger.info("%s shutting down.", app.title) + # if __name__ == "__main__": app = FastAPI(title=settings.app_title, lifespan=lifespan) # This middleware allows other origins to communicate with us app.add_middleware( - CORSMiddleware, # https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/CORS - allow_origins=[settings.ui_url], # address of our UI application - allow_methods=["*"], # GET, POST, etc. + CORSMiddleware, # https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/CORS + allow_origins=[settings.ui_url], # address of our UI application + allow_methods=["*"], # GET, POST, etc. ) -app.include_router(api_router, prefix="") # TODO: make prefix /api/v1 +app.include_router(api_router, prefix="") # TODO: make prefix /api/v1 + @app.get("/") async def root(): diff --git a/src/control_backend/schemas/message.py b/src/control_backend/schemas/message.py index a128ae7..8b65c80 100644 --- a/src/control_backend/schemas/message.py +++ b/src/control_backend/schemas/message.py @@ -1,4 +1,5 @@ from pydantic import BaseModel + class Message(BaseModel): - message: str \ No newline at end of file + message: str diff --git a/test/conftest.py b/test/conftest.py index 1e51aca..d7c10f2 100644 --- a/test/conftest.py +++ b/test/conftest.py @@ -1,8 +1,6 @@ import sys from unittest.mock import MagicMock -import sys -from unittest.mock import MagicMock def pytest_configure(config): """ @@ -17,21 +15,21 @@ def pytest_configure(config): mock_spade_bdi.bdi = MagicMock() mock_spade.agent.Message = MagicMock() - mock_spade.behaviour.CyclicBehaviour = type('CyclicBehaviour', (object,), {}) - mock_spade_bdi.bdi.BDIAgent = type('BDIAgent', (object,), {}) + mock_spade.behaviour.CyclicBehaviour = type("CyclicBehaviour", (object,), {}) + mock_spade_bdi.bdi.BDIAgent = type("BDIAgent", (object,), {}) - sys.modules['spade'] = mock_spade - sys.modules['spade.agent'] = mock_spade.agent - sys.modules['spade.behaviour'] = mock_spade.behaviour - sys.modules['spade_bdi'] = mock_spade_bdi - sys.modules['spade_bdi.bdi'] = mock_spade_bdi.bdi + sys.modules["spade"] = mock_spade + sys.modules["spade.agent"] = mock_spade.agent + sys.modules["spade.behaviour"] = mock_spade.behaviour + sys.modules["spade_bdi"] = mock_spade_bdi + sys.modules["spade_bdi.bdi"] = mock_spade_bdi.bdi # --- Mock the config module to prevent Pydantic ImportError --- mock_config_module = MagicMock() - + # The code under test does `from ... import settings`, so our mock module # must have a `settings` attribute. We'll make it a MagicMock so we can # configure it later in our tests using mocker.patch. mock_config_module.settings = MagicMock() - - sys.modules['control_backend.core.config'] = mock_config_module + + sys.modules["control_backend.core.config"] = mock_config_module diff --git a/test/unit/agents/bdi/behaviours/test_belief_setter.py b/test/unit/agents/bdi/behaviours/test_belief_setter.py index 8932834..b8f5570 100644 --- a/test/unit/agents/bdi/behaviours/test_belief_setter.py +++ b/test/unit/agents/bdi/behaviours/test_belief_setter.py @@ -1,6 +1,6 @@ import json import logging -from unittest.mock import MagicMock, AsyncMock, call +from unittest.mock import AsyncMock, MagicMock, call import pytest @@ -26,11 +26,11 @@ def belief_setter(mock_agent, mocker): # Patch the settings to use a predictable agent name mocker.patch( "control_backend.agents.bdi.behaviours.belief_setter.settings.agent_settings.belief_collector_agent_name", - COLLECTOR_AGENT_NAME + COLLECTOR_AGENT_NAME, ) # Patch asyncio.sleep to prevent tests from actually waiting mocker.patch("asyncio.sleep", return_value=None) - + setter = BeliefSetter() setter.agent = mock_agent # Mock the receive method, we will control its return value in each test @@ -69,7 +69,7 @@ async def test_run_message_received(belief_setter, mocker): Test that when a message is received, _process_message is called. """ # Arrange - msg = MagicMock(); + msg = MagicMock() belief_setter.receive.return_value = msg mocker.patch.object(belief_setter, "_process_message") @@ -115,14 +115,9 @@ def test_process_belief_message_valid_json(belief_setter, mocker): Test processing a valid belief message with correct thread and JSON body. """ # Arrange - beliefs_payload = { - "is_hot": [["kitchen"]], - "is_clean": [["kitchen"], ["bathroom"]] - } + beliefs_payload = {"is_hot": [["kitchen"]], "is_clean": [["kitchen"], ["bathroom"]]} msg = create_mock_message( - sender_node=COLLECTOR_AGENT_JID, - body=json.dumps(beliefs_payload), - thread="beliefs" + sender_node=COLLECTOR_AGENT_JID, body=json.dumps(beliefs_payload), thread="beliefs" ) mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs") @@ -139,9 +134,7 @@ def test_process_belief_message_invalid_json(belief_setter, mocker, caplog): """ # Arrange msg = create_mock_message( - sender_node=COLLECTOR_AGENT_JID, - body="this is not a json string", - thread="beliefs" + sender_node=COLLECTOR_AGENT_JID, body="this is not a json string", thread="beliefs" ) mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs") @@ -160,9 +153,7 @@ def test_process_belief_message_wrong_thread(belief_setter, mocker): """ # Arrange msg = create_mock_message( - sender_node=COLLECTOR_AGENT_JID, - body='{"some": "data"}', - thread="not_beliefs" + sender_node=COLLECTOR_AGENT_JID, body='{"some": "data"}', thread="not_beliefs" ) mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs") @@ -172,16 +163,13 @@ def test_process_belief_message_wrong_thread(belief_setter, mocker): # Assert mock_set_beliefs.assert_not_called() + def test_process_belief_message_empty_body(belief_setter, mocker): """ Test that a message with an empty body is ignored. """ # Arrange - msg = create_mock_message( - sender_node=COLLECTOR_AGENT_JID, - body="", - thread="beliefs" - ) + msg = create_mock_message(sender_node=COLLECTOR_AGENT_JID, body="", thread="beliefs") mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs") # Act @@ -198,9 +186,9 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog): # Arrange beliefs_to_set = { "is_hot": [["kitchen"], ["living_room"]], - "door_is": [["front_door", "closed"]] + "door_is": [["front_door", "closed"]], } - + # Act with caplog.at_level(logging.INFO): belief_setter._set_beliefs(beliefs_to_set) @@ -209,11 +197,11 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog): expected_calls = [ call("is_hot", "kitchen"), call("is_hot", "living_room"), - call("door_is", "front_door", "closed") + call("door_is", "front_door", "closed"), ] mock_agent.bdi.set_belief.assert_has_calls(expected_calls, any_order=True) assert mock_agent.bdi.set_belief.call_count == 3 - + # Check logs 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"2024-10-14T23:38:10.888Z" }, ] +[[package]] +name = "virtualenv" +version = "20.35.3" +source = { registry = "https://pypi.org/simple" } +dependencies = [ + { name = "distlib" }, + { name = "filelock" }, + { name = "platformdirs" }, +] +sdist = { url = "https://files.pythonhosted.org/packages/a4/d5/b0ccd381d55c8f45d46f77df6ae59fbc23d19e901e2d523395598e5f4c93/virtualenv-20.35.3.tar.gz", hash = "sha256:4f1a845d131133bdff10590489610c98c168ff99dc75d6c96853801f7f67af44", size = 6002907, upload-time = "2025-10-10T21:23:33.178Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/27/73/d9a94da0e9d470a543c1b9d3ccbceb0f59455983088e727b8a1824ed90fb/virtualenv-20.35.3-py3-none-any.whl", hash = "sha256:63d106565078d8c8d0b206d48080f938a8b25361e19432d2c9db40d2899c810a", size = 5981061, upload-time = "2025-10-10T21:23:30.433Z" }, +] + [[package]] name = "watchfiles" version = "1.1.0" From 65cfdda7d9766934391d42b0e3036ffaf716cfdb Mon Sep 17 00:00:00 2001 From: Kasper Date: Mon, 27 Oct 2025 15:20:04 +0100 Subject: [PATCH 23/37] docs: add linting/formatting pre-commit entry to the README --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index c2a8702..62ff566 100644 --- a/README.md +++ b/README.md @@ -42,3 +42,9 @@ If your commit fails its either: branch name != /description-of-branch , commit name != : description of the commit. : N25B-Num's + +To add automatic linting and formatting, run: + +```shell +uv run pre-commit install +``` \ No newline at end of file From 149d20e77b816aab227034952e4106f0b7a080bc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 11:05:27 +0100 Subject: [PATCH 24/37] chore: apply recommended changes for merging --- src/control_backend/agents/ri_command_agent.py | 4 ++-- src/control_backend/api/v1/endpoints/command.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py index 7ca1bf9..9e3ee5b 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/ri_command_agent.py @@ -32,11 +32,11 @@ class RICommandAgent(Agent): # Try to get body try: + body = json.loads(body) message = SpeechCommand.model_validate(body) - # Send to the robot. - await self.agent.pubsocket.send_json(message) + await self.agent.pubsocket.send_json(message.model_dump()) except Exception as e: logger.error("Error processing message: %s", e) diff --git a/src/control_backend/api/v1/endpoints/command.py b/src/control_backend/api/v1/endpoints/command.py index 60cdf46..14e6fae 100644 --- a/src/control_backend/api/v1/endpoints/command.py +++ b/src/control_backend/api/v1/endpoints/command.py @@ -15,6 +15,6 @@ async def receive_command(command: SpeechCommand, request: Request): SpeechCommand.model_validate(command) topic = b"command" pub_socket: Socket = request.app.state.internal_comm_socket - pub_socket.send_multipart([topic, command]) + pub_socket.send_multipart([topic, command.model_dump_json().encode()]) return {"status": "Command received"} From 47a87d0b4ade425ba0905e950e8068ea3c929404 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 11:31:05 +0100 Subject: [PATCH 25/37] fix: unit tests fixes and ruff formating N25B-205 --- .../agents/ri_command_agent.py | 21 +- .../agents/ri_communication_agent.py | 71 ++-- .../api/v1/endpoints/command.py | 2 + src/control_backend/api/v1/router.py | 10 +- src/control_backend/core/config.py | 1 + src/control_backend/main.py | 19 +- src/control_backend/schemas/ri_message.py | 2 +- .../agents/test_ri_commands_agent.py | 35 +- .../agents/test_ri_communication_agent.py | 343 +++++++++++------- .../api/endpoints/test_command_endpoint.py | 5 +- test/integration/schemas/test_ri_message.py | 7 +- 11 files changed, 307 insertions(+), 209 deletions(-) diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py index 9e3ee5b..01fc824 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/ri_command_agent.py @@ -10,13 +10,22 @@ from control_backend.schemas.ri_message import SpeechCommand logger = logging.getLogger(__name__) + class RICommandAgent(Agent): subsocket: zmq.Socket pubsocket: zmq.Socket address = "" bind = False - def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False): + def __init__( + self, + jid: str, + password: str, + port: int = 5222, + verify_security: bool = False, + address="tcp://localhost:0000", + bind=False, + ): super().__init__(jid, password, port, verify_security) self.address = address self.bind = bind @@ -29,12 +38,12 @@ class RICommandAgent(Agent): assert self.agent is not None # Get a message internally (with topic command) topic, body = await self.agent.subsocket.recv_multipart() - + # Try to get body try: body = json.loads(body) message = SpeechCommand.model_validate(body) - + # Send to the robot. await self.agent.pubsocket.send_json(message.model_dump()) except Exception as e: @@ -48,11 +57,11 @@ class RICommandAgent(Agent): # To the robot self.pubsocket = context.socket(zmq.PUB) - if self.bind: + if self.bind: self.pubsocket.bind(self.address) - else : + else: self.pubsocket.connect(self.address) - + # Receive internal topics regarding commands self.subsocket = context.socket(zmq.SUB) self.subsocket.connect(settings.zmq_settings.internal_comm_address) diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index 8889d7c..504c707 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -12,14 +12,21 @@ from control_backend.agents.ri_command_agent import RICommandAgent logger = logging.getLogger(__name__) + class RICommunicationAgent(Agent): req_socket: zmq.Socket _address = "" _bind = True - def __init__(self, jid: str, password: str, port: int = 5222, - verify_security: bool = False, address = "tcp://localhost:0000", - bind = False): + def __init__( + self, + jid: str, + password: str, + port: int = 5222, + verify_security: bool = False, + address="tcp://localhost:0000", + bind=False, + ): super().__init__(jid, password, port, verify_security) self._address = address self._bind = bind @@ -37,28 +44,26 @@ class RICommunicationAgent(Agent): # Wait up to three seconds for a reply:) try: - message = await asyncio.wait_for( - self.agent.req_socket.recv_json(), - timeout=3.0) + message = await asyncio.wait_for(self.agent.req_socket.recv_json(), timeout=3.0) # We didnt get a reply :( - except asyncio.TimeoutError as e: + except asyncio.TimeoutError as e: logger.info("No ping retrieved in 3 seconds, killing myself.") self.kill() - logger.debug("Received message \"%s\"", message) + logger.debug('Received message "%s"', message) if "endpoint" not in message: logger.error("No received endpoint in message, excepted ping endpoint.") return - + # See what endpoint we received match message["endpoint"]: - case "ping": + case "ping": await asyncio.sleep(1) case _: - logger.info("Received message with topic different than ping," \ - " while ping expected.") - + logger.info( + "Received message with topic different than ping, while ping expected." + ) async def setup(self, max_retries: int = 5): """ @@ -67,14 +72,13 @@ class RICommunicationAgent(Agent): logger.info("Setting up %s", self.jid) retries = 0 - # Let's try a certain amount of times before failing connection while retries < max_retries: # Bind request socket self.req_socket = context.socket(zmq.REQ) - if self._bind: + if self._bind: self.req_socket.bind(self._address) - else: + else: self.req_socket.connect(self._address) # Send our message and receive one back:) @@ -85,10 +89,13 @@ class RICommunicationAgent(Agent): received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0) except asyncio.TimeoutError: - logger.warning("No connection established in 20 seconds (attempt %d/%d)", - retries + 1, max_retries) + logger.warning( + "No connection established in 20 seconds (attempt %d/%d)", + retries + 1, + max_retries, + ) retries += 1 - continue + continue except Exception as e: logger.error("Unexpected error during negotiation: %s", e) @@ -99,10 +106,14 @@ class RICommunicationAgent(Agent): endpoint = received_message.get("endpoint") if endpoint != "negotiate/ports": # TODO: Should this send a message back? - logger.error("Invalid endpoint '%s' received (attempt %d/%d)", - endpoint, retries + 1, max_retries) + logger.error( + "Invalid endpoint '%s' received (attempt %d/%d)", + endpoint, + retries + 1, + max_retries, + ) retries += 1 - continue + continue # At this point, we have a valid response try: @@ -113,7 +124,7 @@ class RICommunicationAgent(Agent): if not bind: addr = f"tcp://localhost:{port}" - else: + else: addr = f"tcp://*:{port}" match id: @@ -125,11 +136,13 @@ class RICommunicationAgent(Agent): self.req_socket.bind(addr) case "actuation": ri_commands_agent = RICommandAgent( - settings.agent_settings.ri_command_agent_name + - '@' + settings.agent_settings.host, - settings.agent_settings.ri_command_agent_name, - address=addr, - bind=bind ) + settings.agent_settings.ri_command_agent_name + + "@" + + settings.agent_settings.host, + settings.agent_settings.ri_command_agent_name, + address=addr, + bind=bind, + ) await ri_commands_agent.start() case _: logger.warning("Unhandled negotiation id: %s", id) @@ -150,5 +163,3 @@ class RICommunicationAgent(Agent): listen_behaviour = self.ListenBehaviour() self.add_behaviour(listen_behaviour) logger.info("Finished setting up %s", self.jid) - - diff --git a/src/control_backend/api/v1/endpoints/command.py b/src/control_backend/api/v1/endpoints/command.py index 14e6fae..badaf90 100644 --- a/src/control_backend/api/v1/endpoints/command.py +++ b/src/control_backend/api/v1/endpoints/command.py @@ -9,6 +9,7 @@ logger = logging.getLogger(__name__) router = APIRouter() + @router.post("/command", status_code=202) async def receive_command(command: SpeechCommand, request: Request): # Validate and retrieve data. @@ -16,5 +17,6 @@ async def receive_command(command: SpeechCommand, request: Request): topic = b"command" pub_socket: Socket = request.app.state.internal_comm_socket pub_socket.send_multipart([topic, command.model_dump_json().encode()]) + return {"status": "Command received"} diff --git a/src/control_backend/api/v1/router.py b/src/control_backend/api/v1/router.py index 396921b..dc7aea9 100644 --- a/src/control_backend/api/v1/router.py +++ b/src/control_backend/api/v1/router.py @@ -6,12 +6,6 @@ api_router = APIRouter() api_router.include_router(message.router, tags=["Messages"]) -api_router.include_router( - sse.router, - tags=["SSE"] -) +api_router.include_router(sse.router, tags=["SSE"]) -api_router.include_router( - command.router, - tags=["Commands"] -) +api_router.include_router(command.router, tags=["Commands"]) diff --git a/src/control_backend/core/config.py b/src/control_backend/core/config.py index 069b7e9..f48d54f 100644 --- a/src/control_backend/core/config.py +++ b/src/control_backend/core/config.py @@ -15,6 +15,7 @@ class AgentSettings(BaseModel): ri_communication_agent_name: str = "ri_communication_agent" ri_command_agent_name: str = "ri_command_agent" + class Settings(BaseSettings): app_title: str = "PepperPlus" diff --git a/src/control_backend/main.py b/src/control_backend/main.py index 7878d5e..e398552 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -31,16 +31,19 @@ async def lifespan(app: FastAPI): logger.info("Internal publishing socket bound to %s", internal_comm_socket) # Initiate agents - ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + - '@' + settings.agent_settings.host, - settings.agent_settings.ri_communication_agent_name, - address="tcp://*:5555", bind=True) + ri_communication_agent = RICommunicationAgent( + settings.agent_settings.ri_communication_agent_name + "@" + settings.agent_settings.host, + settings.agent_settings.ri_communication_agent_name, + address="tcp://*:5555", + bind=True, + ) await ri_communication_agent.start() - bdi_core = BDICoreAgent(settings.agent_settings.bdi_core_agent_name + - '@' + settings.agent_settings.host, - settings.agent_settings.bdi_core_agent_name, - "src/control_backend/agents/bdi/rules.asl") + bdi_core = BDICoreAgent( + settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host, + settings.agent_settings.bdi_core_agent_name, + "src/control_backend/agents/bdi/rules.asl", + ) await bdi_core.start() yield diff --git a/src/control_backend/schemas/ri_message.py b/src/control_backend/schemas/ri_message.py index b369703..97b7930 100644 --- a/src/control_backend/schemas/ri_message.py +++ b/src/control_backend/schemas/ri_message.py @@ -12,7 +12,7 @@ class RIEndpoint(str, Enum): class RIMessage(BaseModel): endpoint: RIEndpoint - data: Any + data: Any class SpeechCommand(RIMessage): diff --git a/test/integration/agents/test_ri_commands_agent.py b/test/integration/agents/test_ri_commands_agent.py index a21af3c..219d682 100644 --- a/test/integration/agents/test_ri_commands_agent.py +++ b/test/integration/agents/test_ri_commands_agent.py @@ -6,16 +6,20 @@ from unittest.mock import AsyncMock, MagicMock, patch from control_backend.agents.ri_command_agent import RICommandAgent from control_backend.schemas.ri_message import SpeechCommand + @pytest.mark.asyncio async def test_setup_bind(monkeypatch): """Test setup with bind=True""" fake_socket = MagicMock() - monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket + ) agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True) - monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", - MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) + monkeypatch.setattr( + "control_backend.agents.ri_command_agent.settings", + MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")), + ) await agent.setup() @@ -28,29 +32,35 @@ async def test_setup_bind(monkeypatch): # Ensure behaviour attached assert any(isinstance(b, agent.SendCommandsBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_connect(monkeypatch): """Test setup with bind=False""" fake_socket = MagicMock() - monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket + ) agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False) - monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", - MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234"))) + monkeypatch.setattr( + "control_backend.agents.ri_command_agent.settings", + MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")), + ) await agent.setup() # Ensure PUB socket connected fake_socket.connect.assert_any_call("tcp://localhost:5555") + @pytest.mark.asyncio async def test_send_commands_behaviour_valid_message(): """Test behaviour with valid JSON message""" fake_socket = AsyncMock() message_dict = {"message": "hello"} - fake_socket.recv_multipart = AsyncMock(return_value=(b"command", - json.dumps(message_dict).encode("utf-8"))) + fake_socket.recv_multipart = AsyncMock( + return_value=(b"command", json.dumps(message_dict).encode("utf-8")) + ) fake_socket.send_json = AsyncMock() agent = RICommandAgent("test@server", "password") @@ -60,14 +70,15 @@ async def test_send_commands_behaviour_valid_message(): behaviour = agent.SendCommandsBehaviour() behaviour.agent = agent - with patch('control_backend.agents.ri_command_agent.SpeechCommand') as MockSpeechCommand: + with patch("control_backend.agents.ri_command_agent.SpeechCommand") as MockSpeechCommand: mock_message = MagicMock() MockSpeechCommand.model_validate.return_value = mock_message await behaviour.run() fake_socket.recv_multipart.assert_awaited() - fake_socket.send_json.assert_awaited_with(mock_message) + fake_socket.send_json.assert_awaited_with(mock_message.model_dump()) + @pytest.mark.asyncio async def test_send_commands_behaviour_invalid_message(caplog): diff --git a/test/integration/agents/test_ri_communication_agent.py b/test/integration/agents/test_ri_communication_agent.py index d778640..3e4a056 100644 --- a/test/integration/agents/test_ri_communication_agent.py +++ b/test/integration/agents/test_ri_communication_agent.py @@ -3,60 +3,84 @@ import pytest from unittest.mock import AsyncMock, MagicMock, patch, ANY from control_backend.agents.ri_communication_agent import RICommunicationAgent + def fake_json_correct_negototiate_1(): - return AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 5555, "bind": False}, - {"id": "actuation", "port": 5556, "bind": True}, - ]}) + return AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5556, "bind": True}, + ], + } + ) + def fake_json_correct_negototiate_2(): - return AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 5555, "bind": False}, - {"id": "actuation", "port": 5557, "bind": True}, - ]}) + return AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5557, "bind": True}, + ], + } + ) + def fake_json_correct_negototiate_3(): - return AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 5555, "bind": True}, - {"id": "actuation", "port": 5557, "bind": True}, - ]}) + return AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": True}, + {"id": "actuation", "port": 5557, "bind": True}, + ], + } + ) + def fake_json_correct_negototiate_4(): # Different port, do bind - return AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 4555, "bind": True}, - {"id": "actuation", "port": 5557, "bind": True}, - ]}) + return AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 4555, "bind": True}, + {"id": "actuation", "port": 5557, "bind": True}, + ], + } + ) + def fake_json_correct_negototiate_5(): # Different port, dont bind. - return AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 4555, "bind": False}, - {"id": "actuation", "port": 5557, "bind": True}, - ]}) + return AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 4555, "bind": False}, + {"id": "actuation", "port": 5557, "bind": True}, + ], + } + ) + def fake_json_wrong_negototiate_1(): - return AsyncMock(return_value={ - "endpoint": "ping", - "data": ""}) + return AsyncMock(return_value={"endpoint": "ping", "data": ""}) + def fake_json_invalid_id_negototiate(): - return AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "banana", "port": 4555, "bind": False}, - {"id": "tomato", "port": 5557, "bind": True}, - ]}) + return AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "banana", "port": 4555, "bind": False}, + {"id": "tomato", "port": 5557, "bind": True}, + ], + } + ) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_1(monkeypatch): @@ -67,20 +91,23 @@ async def test_setup_creates_socket_and_negotiate_1(monkeypatch): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_correct_negototiate_1() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup() # --- Assert --- @@ -89,14 +116,15 @@ async def test_setup_creates_socket_and_negotiate_1(monkeypatch): fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, # Server Name - ANY, # Server Password + ANY, # Server Name + ANY, # Server Password address="tcp://*:5556", # derived from the 'port' value in negotiation - bind=True + bind=True, ) # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_2(monkeypatch): """ @@ -106,20 +134,23 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_correct_negototiate_2() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup() # --- Assert --- @@ -128,14 +159,15 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch): fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, # Server Name - ANY, # Server Password + ANY, # Server Name + ANY, # Server Password address="tcp://*:5557", # derived from the 'port' value in negotiation - bind=True + bind=True, ) # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog): """ @@ -145,25 +177,27 @@ async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_wrong_negototiate_1() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - # We are sending wrong negotiation info to the communication agent, so we should retry and expect a # better response, within a limited time. - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- with caplog.at_level("ERROR"): - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup(max_retries=1) # --- Assert --- @@ -173,10 +207,11 @@ async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog): # Since it failed, there should not be any command agent. fake_agent_instance.start.assert_not_awaited() assert "Failed to set up RICommunicationAgent" in caplog.text - + # Ensure the agent did not attach a ListenBehaviour assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_4(monkeypatch): """ @@ -186,20 +221,23 @@ async def test_setup_creates_socket_and_negotiate_4(monkeypatch): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_correct_negototiate_3() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=True) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=True + ) await agent.setup() # --- Assert --- @@ -208,14 +246,15 @@ async def test_setup_creates_socket_and_negotiate_4(monkeypatch): fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, # Server Name - ANY, # Server Password + ANY, # Server Name + ANY, # Server Password address="tcp://*:5557", # derived from the 'port' value in negotiation - bind=True + bind=True, ) # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_5(monkeypatch): """ @@ -225,20 +264,23 @@ async def test_setup_creates_socket_and_negotiate_5(monkeypatch): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_correct_negototiate_4() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup() # --- Assert --- @@ -247,14 +289,15 @@ async def test_setup_creates_socket_and_negotiate_5(monkeypatch): fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, # Server Name - ANY, # Server Password + ANY, # Server Name + ANY, # Server Password address="tcp://*:5557", # derived from the 'port' value in negotiation - bind=True + bind=True, ) # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_6(monkeypatch): """ @@ -264,20 +307,23 @@ async def test_setup_creates_socket_and_negotiate_6(monkeypatch): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_correct_negototiate_5() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup() # --- Assert --- @@ -286,14 +332,15 @@ async def test_setup_creates_socket_and_negotiate_6(monkeypatch): fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, # Server Name - ANY, # Server Password + ANY, # Server Name + ANY, # Server Password address="tcp://*:5557", # derived from the 'port' value in negotiation - bind=True + bind=True, ) # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog): """ @@ -303,25 +350,27 @@ async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = fake_json_invalid_id_negototiate() - + # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) # Mock RICommandAgent agent startup - # We are sending wrong negotiation info to the communication agent, so we should retry and expect a # better response, within a limited time. - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- with caplog.at_level("WARNING"): - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup(max_retries=1) # --- Assert --- @@ -342,32 +391,36 @@ async def test_setup_creates_socket_and_negotiate_timeout(monkeypatch, caplog): fake_socket = MagicMock() fake_socket.send_json = AsyncMock() fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError) - - # Mock context.socket to return our fake socket - monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket) - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + # Mock context.socket to return our fake socket + monkeypatch.setattr( + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket + ) + + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- with caplog.at_level("WARNING"): - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup(max_retries=1) # --- Assert --- fake_socket.connect.assert_any_call("tcp://localhost:5555") - + # Since it failed, there should not be any command agent. fake_agent_instance.start.assert_not_awaited() assert "No connection established in 20 seconds" in caplog.text - + # Ensure the agent did not attach a ListenBehaviour assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + @pytest.mark.asyncio async def test_listen_behaviour_ping_correct(caplog): fake_socket = AsyncMock() @@ -389,6 +442,7 @@ async def test_listen_behaviour_ping_correct(caplog): fake_socket.recv_json.assert_awaited() assert "Received message" in caplog.text + @pytest.mark.asyncio async def test_listen_behaviour_ping_wrong_endpoint(caplog): """ @@ -398,12 +452,15 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog): fake_socket.send_json = AsyncMock() # This is a message for the wrong endpoint >:( - fake_socket.recv_json = AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 5555, "bind": False}, - {"id": "actuation", "port": 5556, "bind": True}, - ]}) + fake_socket.recv_json = AsyncMock( + return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5556, "bind": True}, + ], + } + ) agent = RICommunicationAgent("test@server", "password") agent.req_socket = fake_socket @@ -415,11 +472,11 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog): with caplog.at_level("INFO"): await behaviour.run() - assert "Received message with topic different than ping, while ping expected." in caplog.text fake_socket.send_json.assert_awaited() fake_socket.recv_json.assert_awaited() + @pytest.mark.asyncio async def test_listen_behaviour_timeout(caplog): fake_socket = AsyncMock() @@ -438,6 +495,7 @@ async def test_listen_behaviour_timeout(caplog): assert "No ping retrieved in 3 seconds" in caplog.text + @pytest.mark.asyncio async def test_listen_behaviour_ping_no_endpoint(caplog): """ @@ -447,9 +505,11 @@ async def test_listen_behaviour_ping_no_endpoint(caplog): fake_socket.send_json = AsyncMock() # This is a message without endpoint >:( - fake_socket.recv_json = AsyncMock(return_value={ - "data": "I dont have an endpoint >:)", - }) + fake_socket.recv_json = AsyncMock( + return_value={ + "data": "I dont have an endpoint >:)", + } + ) agent = RICommunicationAgent("test@server", "password") agent.req_socket = fake_socket @@ -465,6 +525,7 @@ async def test_listen_behaviour_ping_no_endpoint(caplog): fake_socket.send_json.assert_awaited() fake_socket.recv_json.assert_awaited() + @pytest.mark.asyncio async def test_setup_unexpected_exception(monkeypatch, caplog): fake_socket = MagicMock() @@ -473,12 +534,12 @@ async def test_setup_unexpected_exception(monkeypatch, caplog): fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!")) monkeypatch.setattr( - "control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket ) - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) with caplog.at_level("ERROR"): await agent.setup(max_retries=1) @@ -486,6 +547,7 @@ async def test_setup_unexpected_exception(monkeypatch, caplog): # Ensure that the error was logged assert "Unexpected error during negotiation: boom!" in caplog.text + @pytest.mark.asyncio async def test_setup_unpacking_exception(monkeypatch, caplog): # --- Arrange --- @@ -493,24 +555,27 @@ async def test_setup_unpacking_exception(monkeypatch, caplog): fake_socket.send_json = AsyncMock() # Make recv_json return malformed negotiation data to trigger unpacking exception - malformed_data = {"endpoint": "negotiate/ports", - "data": [ {"id": "main"} ]} # missing 'port' and 'bind' + malformed_data = { + "endpoint": "negotiate/ports", + "data": [{"id": "main"}], + } # missing 'port' and 'bind' fake_socket.recv_json = AsyncMock(return_value=malformed_data) # Patch context.socket monkeypatch.setattr( - "control_backend.agents.ri_communication_agent.context.socket", - lambda _: fake_socket + "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket ) # Patch RICommandAgent so it won't actually start - with patch("control_backend.agents.ri_communication_agent.RICommandAgent", - autospec=True) as MockCommandAgent: + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() - agent = RICommunicationAgent("test@server", "password", - address="tcp://localhost:5555", bind=False) + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) # --- Act & Assert --- with caplog.at_level("ERROR"): @@ -523,4 +588,4 @@ async def test_setup_unpacking_exception(monkeypatch, caplog): fake_agent_instance.start.assert_not_awaited() # Ensure no behaviour was attached - assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) \ No newline at end of file + assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) diff --git a/test/integration/api/endpoints/test_command_endpoint.py b/test/integration/api/endpoints/test_command_endpoint.py index 3ab1be3..07bd866 100644 --- a/test/integration/api/endpoints/test_command_endpoint.py +++ b/test/integration/api/endpoints/test_command_endpoint.py @@ -6,6 +6,7 @@ from unittest.mock import MagicMock from control_backend.api.v1.endpoints import command from control_backend.schemas.ri_message import SpeechCommand + @pytest.fixture def app(): """ @@ -49,7 +50,7 @@ def test_receive_command_endpoint(client, app): assert sent_data[0] == b"command" # Check JSON encoding roughly matches - assert isinstance(sent_data[1], SpeechCommand) + assert isinstance(SpeechCommand.model_validate_json(sent_data[1].decode()), SpeechCommand) def test_receive_command_invalid_payload(client): @@ -59,4 +60,4 @@ def test_receive_command_invalid_payload(client): # Missing required field(s) bad_payload = {"invalid": "data"} response = client.post("/command", json=bad_payload) - assert response.status_code == 422 # validation error \ No newline at end of file + assert response.status_code == 422 # validation error diff --git a/test/integration/schemas/test_ri_message.py b/test/integration/schemas/test_ri_message.py index b840f97..aef9ae6 100644 --- a/test/integration/schemas/test_ri_message.py +++ b/test/integration/schemas/test_ri_message.py @@ -2,12 +2,15 @@ import pytest from control_backend.schemas.ri_message import RIMessage, RIEndpoint, SpeechCommand from pydantic import ValidationError + def valid_command_1(): return SpeechCommand(data="Hallo?") + def invalid_command_1(): return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.") + def test_valid_speech_command_1(): command = valid_command_1() try: @@ -16,7 +19,7 @@ def test_valid_speech_command_1(): assert True except ValidationError: assert False - + def test_invalid_speech_command_1(): command = invalid_command_1() @@ -31,5 +34,3 @@ def test_invalid_speech_command_1(): assert False except ValidationError: assert passed_ri_message_validation - - \ No newline at end of file From 473c0fdce13d995f72040a611423c1573ae45242 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 12:07:42 +0100 Subject: [PATCH 26/37] fix: fix gitlab ci pipeline ref: N25B-205 --- .gitlab-ci.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index f4e1883..bde7611 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -22,5 +22,6 @@ test: tags: - test script: - - uv run --only-group test pytest + - uv run pytest test/integration + - uv run --only-group test pytest test/unit From c75f5de97c31fdda8aa5b4815ec68686bcf9a65c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 12:20:43 +0100 Subject: [PATCH 27/37] fix: fix only group integration testing to exclude missing dependencies ref: N25B-205 --- .gitlab-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index bde7611..95895ea 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -22,6 +22,6 @@ test: tags: - test script: - - uv run pytest test/integration + - uv run --only-group test pytest test/integration - uv run --only-group test pytest test/unit From 423309e0630ddd322f5f690ce1bac935fb236743 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 13:26:33 +0100 Subject: [PATCH 28/37] fix: unit test refactoring with conftest and more mocks ref: N25B-205 --- .gitlab-ci.yml | 2 +- pyproject.toml | 6 ++ .../agents/ri_communication_agent.py | 1 - ...ands_agent.py => test_ri_command_agent.py} | 2 - .../agents/test_ri_communication_agent.py | 45 ++++++++------- test/integration/conftest.py | 57 +++++++++++++++++++ uv.lock | 56 +++++++++++++++++- 7 files changed, 142 insertions(+), 27 deletions(-) rename test/integration/agents/{test_ri_commands_agent.py => test_ri_command_agent.py} (97%) create mode 100644 test/integration/conftest.py diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 95895ea..cac27bf 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -22,6 +22,6 @@ test: tags: - test script: - - uv run --only-group test pytest test/integration + - uv run --only-group integration-test pytest test/integration - uv run --only-group test pytest test/unit diff --git a/pyproject.toml b/pyproject.toml index faa584e..ee88a50 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,6 +29,12 @@ dev = [ "ruff>=0.14.2", "ruff-format>=0.3.0", ] +integration-test = [ + {include-group = "test"}, + "asyncio>=4.0.0", + "soundfile>=0.13.1", + "zmq>=0.0.0", +] test = [ "pytest>=8.4.2", "pytest-asyncio>=1.2.0", diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index 504c707..71c2e52 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -7,7 +7,6 @@ import zmq from control_backend.core.config import settings from control_backend.core.zmq_context import context -from control_backend.schemas.message import Message from control_backend.agents.ri_command_agent import RICommandAgent logger = logging.getLogger(__name__) diff --git a/test/integration/agents/test_ri_commands_agent.py b/test/integration/agents/test_ri_command_agent.py similarity index 97% rename from test/integration/agents/test_ri_commands_agent.py rename to test/integration/agents/test_ri_command_agent.py index 219d682..fa310a8 100644 --- a/test/integration/agents/test_ri_commands_agent.py +++ b/test/integration/agents/test_ri_command_agent.py @@ -1,10 +1,8 @@ -import asyncio import zmq import json import pytest from unittest.mock import AsyncMock, MagicMock, patch from control_backend.agents.ri_command_agent import RICommandAgent -from control_backend.schemas.ri_message import SpeechCommand @pytest.mark.asyncio diff --git a/test/integration/agents/test_ri_communication_agent.py b/test/integration/agents/test_ri_communication_agent.py index 3e4a056..ba2cdc2 100644 --- a/test/integration/agents/test_ri_communication_agent.py +++ b/test/integration/agents/test_ri_communication_agent.py @@ -81,47 +81,45 @@ def fake_json_invalid_id_negototiate(): } ) +def mock_command_agent(): + """Fixture to create a mock BDIAgent.""" + agent = MagicMock() + agent.bdi = MagicMock() + agent.jid = "ri_command_agent@test" + return agent + + + @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_1(monkeypatch): - """ - Test the setup of the communication agent - """ - # --- Arrange --- fake_socket = MagicMock() fake_socket.send_json = AsyncMock() - fake_socket.recv_json = fake_json_correct_negototiate_1() + fake_socket.recv_json = AsyncMock(return_value={ + "endpoint": "negotiate/ports", + "data": [ + {"id": "main", "port": 5555, "bind": False}, + {"id": "actuation", "port": 5556, "bind": True}, + ], + }) - # Mock context.socket to return our fake socket monkeypatch.setattr( "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket ) - # Mock RICommandAgent agent startup - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + with patch("control_backend.agents.ri_communication_agent.RICommandAgent") as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() - # --- Act --- - agent = RICommunicationAgent( - "test@server", "password", address="tcp://localhost:5555", bind=False - ) + agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) await agent.setup() - # --- Assert --- fake_socket.connect.assert_any_call("tcp://localhost:5555") fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) - fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, # Server Name - ANY, # Server Password - address="tcp://*:5556", # derived from the 'port' value in negotiation - bind=True, + ANY, ANY, address="tcp://*:5556", bind=True ) - # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) @@ -141,6 +139,9 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch): ) # Mock RICommandAgent agent startup + + patch("control_backend.agents.ri_communication_agent.RICommandAgent", mock_command_agent) + with patch( "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True ) as MockCommandAgent: @@ -588,4 +589,4 @@ async def test_setup_unpacking_exception(monkeypatch, caplog): fake_agent_instance.start.assert_not_awaited() # Ensure no behaviour was attached - assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) + assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) \ No newline at end of file diff --git a/test/integration/conftest.py b/test/integration/conftest.py new file mode 100644 index 0000000..8e05e25 --- /dev/null +++ b/test/integration/conftest.py @@ -0,0 +1,57 @@ +import sys +from unittest.mock import MagicMock, AsyncMock + +class DummyCyclicBehaviour: + async def run(self): + pass + + def kill(self): + self.is_killed = True + return None + +class DummyAgent: + def __init__(self, jid=None, password=None, *_, **__): + self.jid = jid + self.password = password + self.behaviours = [] + + async def start(self): + return AsyncMock() + + def add_behaviour(self, behaviour): + behaviour.agent = self + self.behaviours.append(behaviour) + + async def stop(self): + pass + + +def pytest_configure(config): + """ + This hook runs at the start of the pytest session, before any tests are + collected. It mocks heavy or unavailable modules to prevent ImportErrors. + """ + # --- Mock spade and spade-bdi --- + mock_spade = MagicMock() + mock_spade.agent = MagicMock(Agent=DummyAgent) + mock_spade.behaviour = MagicMock(CyclicBehaviour=DummyCyclicBehaviour) + mock_spade_bdi = MagicMock() + mock_spade_bdi.bdi = MagicMock() + + mock_spade.agent.Message = MagicMock() + + sys.modules["spade"] = mock_spade + sys.modules["spade.agent"] = mock_spade.agent + sys.modules["spade.behaviour"] = mock_spade.behaviour + sys.modules["spade_bdi"] = mock_spade_bdi + sys.modules["spade_bdi.bdi"] = mock_spade_bdi.bdi + + # --- Mock the config module to prevent Pydantic ImportError --- + mock_config_module = MagicMock() + + # The code under test does `from ... import settings`, so our mock module + # must have a `settings` attribute. We'll make it a MagicMock so we can + # configure it later in our tests using mocker.patch. + mock_config_module.settings = MagicMock() + + sys.modules["control_backend.core.config"] = mock_config_module \ No newline at end of file diff --git a/uv.lock b/uv.lock index 3f1a137..1c53b3f 100644 --- a/uv.lock +++ b/uv.lock @@ -127,6 +127,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/f8/ed/e97229a566617f2ae958a6b13e7cc0f585470eac730a73e9e82c32a3cdd2/arrow-1.3.0-py3-none-any.whl", hash = "sha256:c728b120ebc00eb84e01882a6f5e7927a53960aa990ce7dd2b10f39005a67f80", size = 66419, upload-time = "2023-09-30T22:11:16.072Z" }, ] +[[package]] +name = "asyncio" +version = "4.0.0" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/71/ea/26c489a11f7ca862d5705db67683a7361ce11c23a7b98fc6c2deaeccede2/asyncio-4.0.0.tar.gz", hash = "sha256:570cd9e50db83bc1629152d4d0b7558d6451bb1bfd5dfc2e935d96fc2f40329b", size = 5371, upload-time = 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"sha256:9f6d73c1436b934e3f01df1e1b21ff765cd1d28c77dfb9ace207f746d4610ee1", size = 85171, upload-time = "2025-10-06T14:12:16.935Z" }, { url = "https://files.pythonhosted.org/packages/73/ae/b48f95715333080afb75a4504487cbe142cae1268afc482d06692d605ae6/yarl-1.22.0-py3-none-any.whl", hash = "sha256:1380560bdba02b6b6c90de54133c81c9f2a453dee9912fe58c1dcced1edb7cff", size = 46814, upload-time = "2025-10-06T14:12:53.872Z" }, ] + +[[package]] +name = "zmq" +version = "0.0.0" +source = { registry = "https://pypi.org/simple" } +dependencies = [ + { name = "pyzmq" }, +] +sdist = { url = "https://files.pythonhosted.org/packages/6e/78/833b2808793c1619835edb1a4e17a023d5d625f4f97ff25ffff986d1f472/zmq-0.0.0.tar.gz", hash = "sha256:6b1a1de53338646e8c8405803cffb659e8eb7bb02fff4c9be62a7acfac8370c9", size = 966, upload-time = "2015-05-21T17:34:26.603Z" } From acb6a69467f65229ae4eb36efe090890395961d3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 13:28:38 +0100 Subject: [PATCH 29/37] fix: quick fix for pydantic import for tests Ref: N25B-205 --- pyproject.toml | 1 + uv.lock | 2 ++ 2 files changed, 3 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index ee88a50..00818e9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,6 +32,7 @@ dev = [ integration-test = [ {include-group = "test"}, "asyncio>=4.0.0", + "pydantic>=2.12.0", "soundfile>=0.13.1", "zmq>=0.0.0", ] diff --git a/uv.lock b/uv.lock index 1c53b3f..975edb3 100644 --- a/uv.lock +++ b/uv.lock @@ -1365,6 +1365,7 @@ dev = [ ] integration-test = [ { name = "asyncio" }, + { name = "pydantic" }, { name = "pytest" }, { name = "pytest-asyncio" }, { name = "pytest-cov" }, @@ -1407,6 +1408,7 @@ dev = [ ] integration-test = [ { name = "asyncio", specifier = ">=4.0.0" }, + { name = "pydantic", specifier = ">=2.12.0" }, { name = "pytest", specifier = ">=8.4.2" }, { name = "pytest-asyncio", specifier = ">=1.2.0" }, { name = "pytest-cov", specifier = ">=7.0.0" }, From 3730943b9ef28f2f32280ee008228bec5f5dff62 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 13:30:15 +0100 Subject: [PATCH 30/37] fix: quick fix for fastapi import for tests ref: N25B-205 --- pyproject.toml | 1 + uv.lock | 2 ++ 2 files changed, 3 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index 00818e9..962d768 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,6 +32,7 @@ dev = [ integration-test = [ {include-group = "test"}, "asyncio>=4.0.0", + "fastapi>=0.115.6", "pydantic>=2.12.0", "soundfile>=0.13.1", "zmq>=0.0.0", diff --git a/uv.lock b/uv.lock index 975edb3..1d27939 100644 --- a/uv.lock +++ b/uv.lock @@ -1365,6 +1365,7 @@ dev = [ ] integration-test = [ { name = "asyncio" }, + { name = "fastapi" }, { name = "pydantic" }, { name = "pytest" }, { name = "pytest-asyncio" }, @@ -1408,6 +1409,7 @@ dev = [ ] integration-test = [ { name = "asyncio", specifier = ">=4.0.0" }, + { name = "fastapi", specifier = ">=0.115.6" }, { name = "pydantic", specifier = ">=2.12.0" }, { name = "pytest", specifier = ">=8.4.2" }, { name = "pytest-asyncio", specifier = ">=1.2.0" }, From a1b8a7a05e278c7469d99f64e76c742888fe0d33 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 14:14:33 +0100 Subject: [PATCH 31/37] Revert "fix: quick fix for fastapi import for tests" This reverts commit 3730943b9ef28f2f32280ee008228bec5f5dff62. --- pyproject.toml | 1 - uv.lock | 2 -- 2 files changed, 3 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 962d768..00818e9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,7 +32,6 @@ dev = [ integration-test = [ {include-group = "test"}, "asyncio>=4.0.0", - "fastapi>=0.115.6", "pydantic>=2.12.0", "soundfile>=0.13.1", "zmq>=0.0.0", diff --git a/uv.lock b/uv.lock index 1d27939..975edb3 100644 --- a/uv.lock +++ b/uv.lock @@ -1365,7 +1365,6 @@ dev = [ ] integration-test = [ { name = "asyncio" }, - { name = "fastapi" }, { name = "pydantic" }, { name = "pytest" }, { name = "pytest-asyncio" }, @@ -1409,7 +1408,6 @@ dev = [ ] integration-test = [ { name = "asyncio", specifier = ">=4.0.0" }, - { name = "fastapi", specifier = ">=0.115.6" }, { name = "pydantic", specifier = ">=2.12.0" }, { name = "pytest", specifier = ">=8.4.2" }, { name = "pytest-asyncio", specifier = ">=1.2.0" }, From 437b21a6d61d096f3f3a964a115e2037f1cf2023 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 14:16:15 +0100 Subject: [PATCH 32/37] Revert "fix: quick fix for pydantic import for tests" This reverts commit acb6a69467f65229ae4eb36efe090890395961d3. --- pyproject.toml | 1 - uv.lock | 2 -- 2 files changed, 3 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 00818e9..ee88a50 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,7 +32,6 @@ dev = [ integration-test = [ {include-group = "test"}, "asyncio>=4.0.0", - "pydantic>=2.12.0", "soundfile>=0.13.1", "zmq>=0.0.0", ] diff --git a/uv.lock b/uv.lock index 975edb3..1c53b3f 100644 --- a/uv.lock +++ b/uv.lock @@ -1365,7 +1365,6 @@ dev = [ ] integration-test = [ { name = "asyncio" }, - { name = "pydantic" }, { name = "pytest" }, { name = "pytest-asyncio" }, { name = "pytest-cov" }, @@ -1408,7 +1407,6 @@ dev = [ ] integration-test = [ { name = "asyncio", specifier = ">=4.0.0" }, - { name = "pydantic", specifier = ">=2.12.0" }, { name = "pytest", specifier = ">=8.4.2" }, { name = "pytest-asyncio", specifier = ">=1.2.0" }, { name = "pytest-cov", specifier = ">=7.0.0" }, From fd11e63b78e712eead923a59e86f61d4ff390632 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 14:16:39 +0100 Subject: [PATCH 33/37] Revert "fix: unit test refactoring with conftest and more mocks" This reverts commit 423309e0630ddd322f5f690ce1bac935fb236743. --- .gitlab-ci.yml | 2 +- pyproject.toml | 6 -- .../agents/ri_communication_agent.py | 1 + ...and_agent.py => test_ri_commands_agent.py} | 2 + .../agents/test_ri_communication_agent.py | 45 +++++++-------- test/integration/conftest.py | 57 ------------------- uv.lock | 56 +----------------- 7 files changed, 27 insertions(+), 142 deletions(-) rename test/integration/agents/{test_ri_command_agent.py => test_ri_commands_agent.py} (97%) delete mode 100644 test/integration/conftest.py diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index cac27bf..95895ea 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -22,6 +22,6 @@ test: tags: - test script: - - uv run --only-group integration-test pytest test/integration + - uv run --only-group test pytest test/integration - uv run --only-group test pytest test/unit diff --git a/pyproject.toml b/pyproject.toml index ee88a50..faa584e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,12 +29,6 @@ dev = [ "ruff>=0.14.2", "ruff-format>=0.3.0", ] -integration-test = [ - {include-group = "test"}, - "asyncio>=4.0.0", - "soundfile>=0.13.1", - "zmq>=0.0.0", -] test = [ "pytest>=8.4.2", "pytest-asyncio>=1.2.0", diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/ri_communication_agent.py index 71c2e52..504c707 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/ri_communication_agent.py @@ -7,6 +7,7 @@ import zmq from control_backend.core.config import settings from control_backend.core.zmq_context import context +from control_backend.schemas.message import Message from control_backend.agents.ri_command_agent import RICommandAgent logger = logging.getLogger(__name__) diff --git a/test/integration/agents/test_ri_command_agent.py b/test/integration/agents/test_ri_commands_agent.py similarity index 97% rename from test/integration/agents/test_ri_command_agent.py rename to test/integration/agents/test_ri_commands_agent.py index fa310a8..219d682 100644 --- a/test/integration/agents/test_ri_command_agent.py +++ b/test/integration/agents/test_ri_commands_agent.py @@ -1,8 +1,10 @@ +import asyncio import zmq import json import pytest from unittest.mock import AsyncMock, MagicMock, patch from control_backend.agents.ri_command_agent import RICommandAgent +from control_backend.schemas.ri_message import SpeechCommand @pytest.mark.asyncio diff --git a/test/integration/agents/test_ri_communication_agent.py b/test/integration/agents/test_ri_communication_agent.py index ba2cdc2..3e4a056 100644 --- a/test/integration/agents/test_ri_communication_agent.py +++ b/test/integration/agents/test_ri_communication_agent.py @@ -81,45 +81,47 @@ def fake_json_invalid_id_negototiate(): } ) -def mock_command_agent(): - """Fixture to create a mock BDIAgent.""" - agent = MagicMock() - agent.bdi = MagicMock() - agent.jid = "ri_command_agent@test" - return agent - - - @pytest.mark.asyncio async def test_setup_creates_socket_and_negotiate_1(monkeypatch): + """ + Test the setup of the communication agent + """ + # --- Arrange --- fake_socket = MagicMock() fake_socket.send_json = AsyncMock() - fake_socket.recv_json = AsyncMock(return_value={ - "endpoint": "negotiate/ports", - "data": [ - {"id": "main", "port": 5555, "bind": False}, - {"id": "actuation", "port": 5556, "bind": True}, - ], - }) + fake_socket.recv_json = fake_json_correct_negototiate_1() + # Mock context.socket to return our fake socket monkeypatch.setattr( "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket ) - with patch("control_backend.agents.ri_communication_agent.RICommandAgent") as MockCommandAgent: + # Mock RICommandAgent agent startup + with patch( + "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True + ) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() - agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False) + # --- Act --- + agent = RICommunicationAgent( + "test@server", "password", address="tcp://localhost:5555", bind=False + ) await agent.setup() + # --- Assert --- fake_socket.connect.assert_any_call("tcp://localhost:5555") fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None}) + fake_socket.recv_json.assert_awaited() fake_agent_instance.start.assert_awaited() MockCommandAgent.assert_called_once_with( - ANY, ANY, address="tcp://*:5556", bind=True + ANY, # Server Name + ANY, # Server Password + address="tcp://*:5556", # derived from the 'port' value in negotiation + bind=True, ) + # Ensure the agent attached a ListenBehaviour assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) @@ -139,9 +141,6 @@ async def test_setup_creates_socket_and_negotiate_2(monkeypatch): ) # Mock RICommandAgent agent startup - - patch("control_backend.agents.ri_communication_agent.RICommandAgent", mock_command_agent) - with patch( "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True ) as MockCommandAgent: @@ -589,4 +588,4 @@ async def test_setup_unpacking_exception(monkeypatch, caplog): fake_agent_instance.start.assert_not_awaited() # Ensure no behaviour was attached - assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) \ No newline at end of file + assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours) diff --git a/test/integration/conftest.py b/test/integration/conftest.py deleted file mode 100644 index 8e05e25..0000000 --- a/test/integration/conftest.py +++ /dev/null @@ -1,57 +0,0 @@ -import sys -from unittest.mock import MagicMock, AsyncMock - -class DummyCyclicBehaviour: - async def run(self): - pass - - def kill(self): - self.is_killed = True - return None - -class DummyAgent: - def __init__(self, jid=None, password=None, *_, **__): - self.jid = jid - self.password = password - self.behaviours = [] - - async def start(self): - return AsyncMock() - - def add_behaviour(self, behaviour): - behaviour.agent = self - self.behaviours.append(behaviour) - - async def stop(self): - pass - - -def pytest_configure(config): - """ - This hook runs at the start of the pytest session, before any tests are - collected. It mocks heavy or unavailable modules to prevent ImportErrors. - """ - # --- Mock spade and spade-bdi --- - mock_spade = MagicMock() - mock_spade.agent = MagicMock(Agent=DummyAgent) - mock_spade.behaviour = MagicMock(CyclicBehaviour=DummyCyclicBehaviour) - mock_spade_bdi = MagicMock() - mock_spade_bdi.bdi = MagicMock() - - mock_spade.agent.Message = MagicMock() - - sys.modules["spade"] = mock_spade - sys.modules["spade.agent"] = mock_spade.agent - sys.modules["spade.behaviour"] = mock_spade.behaviour - sys.modules["spade_bdi"] = mock_spade_bdi - sys.modules["spade_bdi.bdi"] = mock_spade_bdi.bdi - - # --- Mock the config module to prevent Pydantic ImportError --- - mock_config_module = MagicMock() - - # The code under test does `from ... import settings`, so our mock module - # must have a `settings` attribute. We'll make it a MagicMock so we can - # configure it later in our tests using mocker.patch. - mock_config_module.settings = MagicMock() - - sys.modules["control_backend.core.config"] = mock_config_module \ No newline at end of file diff --git a/uv.lock b/uv.lock index 1c53b3f..3f1a137 100644 --- a/uv.lock +++ b/uv.lock @@ -127,15 +127,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/f8/ed/e97229a566617f2ae958a6b13e7cc0f585470eac730a73e9e82c32a3cdd2/arrow-1.3.0-py3-none-any.whl", hash = "sha256:c728b120ebc00eb84e01882a6f5e7927a53960aa990ce7dd2b10f39005a67f80", size = 66419, upload-time = "2023-09-30T22:11:16.072Z" }, ] -[[package]] -name = "asyncio" -version = "4.0.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/71/ea/26c489a11f7ca862d5705db67683a7361ce11c23a7b98fc6c2deaeccede2/asyncio-4.0.0.tar.gz", hash = "sha256:570cd9e50db83bc1629152d4d0b7558d6451bb1bfd5dfc2e935d96fc2f40329b", size = 5371, upload-time = "2025-08-05T02:51:46.605Z" } -wheels = [ - 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test script: - - uv run --only-group test pytest test/integration + - uv run pytest test/integration - uv run --only-group test pytest test/unit From bea6bf2a60dd49ba310ea60dca813d19dba25fb7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 14:18:55 +0100 Subject: [PATCH 35/37] fix: Reverted to different branch and updated gitlab cicd for this branch ref: N25B-205 --- .gitlab-ci.yml | 2 +- pyproject.toml | 3 +++ uv.lock | 24 +++++++++++++++++++++++- 3 files changed, 27 insertions(+), 2 deletions(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index bde7611..e924239 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -22,6 +22,6 @@ test: tags: - test script: - - uv run pytest test/integration + - uv run --group integration-test pytest test/integration - uv run --only-group test pytest test/unit diff --git a/pyproject.toml b/pyproject.toml index faa584e..8299d0f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,6 +29,9 @@ dev = [ "ruff>=0.14.2", "ruff-format>=0.3.0", ] +integration-test = [ + "soundfile>=0.13.1", +] test = [ "pytest>=8.4.2", "pytest-asyncio>=1.2.0", diff --git a/uv.lock b/uv.lock index 3f1a137..07ec3c1 100644 --- a/uv.lock +++ b/uv.lock @@ -1354,6 +1354,9 @@ dev = [ { name = "ruff" }, { name = "ruff-format" }, ] +integration-test = [ + { name = "soundfile" }, +] test = [ { name = "pytest" }, { name = "pytest-asyncio" }, @@ -1387,6 +1390,7 @@ dev = [ { name = "ruff", specifier = ">=0.14.2" }, { name = "ruff-format", specifier = ">=0.3.0" }, ] +integration-test = [{ name = "soundfile", specifier = ">=0.13.1" }] test = [ { name = "pytest", specifier = ">=8.4.2" }, { name = "pytest-asyncio", specifier = ">=1.2.0" }, @@ -1412,7 +1416,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/54/20/4d324d65cc6d9205fabedc306948156824eb9f0ee1633355a8f7ec5c66bf/pluggy-1.6.0-py3-none-any.whl", hash = "sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746", size = 20538, upload-time = "2025-05-15T12:30:06.134Z" }, ] - 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test script: - - uv run --group integration-test pytest test/integration + # - uv run --group integration-test pytest test/integration - uv run --only-group test pytest test/unit From 158911b134a499c2d9b57d00829f033ce85125a9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Otgaar?= Date: Tue, 28 Oct 2025 14:38:31 +0100 Subject: [PATCH 37/37] fix: change conftest place ref: N25B-205 --- test/unit/{conftest => }/conftest.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename test/unit/{conftest => }/conftest.py (100%) diff --git a/test/unit/conftest/conftest.py b/test/unit/conftest.py similarity index 100% rename from test/unit/conftest/conftest.py rename to test/unit/conftest.py