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build: merge

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merge with riAgent

ref: N25B-208
This commit is contained in:
JobvAlewijk
2025-10-28 15:03:47 +01:00
parent f44413ca1e b551e4e042
commit 6846a18b3b
25 changed files with 1372 additions and 76 deletions
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2
.gitignore vendored
View File

@@ -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/

3
.gitlab-ci.yml
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@@ -22,5 +22,6 @@ test:
tags:
- test
script:
- uv run --only-group test pytest
# - uv run --group integration-test pytest test/integration
- uv run --only-group test pytest test/unit

10
.pre-commit-config.yaml Normal file
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@@ -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

7
.vscode/settings.json vendored Normal file
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@@ -0,0 +1,7 @@
{
"python.testing.pytestArgs": [
"test"
],
"python.testing.unittestEnabled": false,
"python.testing.pytestEnabled": true
}

6
README.md
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@@ -53,3 +53,9 @@ If your commit fails its either:
branch name != <type>/description-of-branch ,
commit name != <type>: description of the commit.
<ref>: N25B-Num's
To add automatic linting and formatting, run:
```shell
uv run pre-commit install
```

30
pyproject.toml
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@@ -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",
@@ -20,6 +24,14 @@ dependencies = [
]
[dependency-groups]
dev = [
"pre-commit>=4.3.0",
"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",
@@ -29,3 +41,21 @@ 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
]

2
src/control_backend/agents/bdi/bdi_core.py
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@@ -13,7 +13,7 @@ from control_backend.core.config import settings
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 and can aks and recieve requests from the LLM agent.

14
src/control_backend/agents/bdi/behaviours/belief_setter.py
View File

@@ -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:
@@ -37,7 +39,8 @@ 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":
@@ -49,7 +52,6 @@ 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.")

74
src/control_backend/agents/ri_command_agent.py Normal file
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@@ -0,0 +1,74 @@
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.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,
):
super().__init__(jid, password, port, verify_security)
self.address = address
self.bind = bind
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()
# 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:
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
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)

165
src/control_backend/agents/ri_communication_agent.py Normal file
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@@ -0,0 +1,165 @@
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):
"""
Run the listening (ping) loop indefinetely.
"""
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()
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":
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):
"""
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
# 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"]
if not bind:
addr = f"tcp://localhost:{port}"
else:
addr = f"tcp://*:{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)

22
src/control_backend/api/v1/endpoints/command.py Normal file
View File

@@ -0,0 +1,22 @@
from fastapi import APIRouter, Request
import logging
from zmq import Socket
from control_backend.schemas.ri_message import SpeechCommand, RIEndpoint
logger = logging.getLogger(__name__)
router = APIRouter()
@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.model_dump_json().encode()])
return {"status": "Command received"}

3
src/control_backend/api/v1/endpoints/message.py
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@@ -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)

3
src/control_backend/api/v1/endpoints/sse.py
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@@ -2,7 +2,8 @@ from fastapi import APIRouter, Request
router = APIRouter()
# TODO: implement
@router.get("/sse")
async def sse(request: Request):
pass
pass

14
src/control_backend/api/v1/router.py
View File

@@ -1,15 +1,11 @@
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()
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"])
api_router.include_router(command.router, tags=["Commands"])

11
src/control_backend/core/config.py
View File

@@ -1,10 +1,11 @@
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 = "xmpp.twirre.dev"
bdi_core_agent_name: str = "bdi_core"
@@ -12,6 +13,10 @@ class AgentSettings(BaseModel):
llm_agent_name: str = "llm_agent"
test_agent_name: str = "test_agent"
ri_communication_agent_name: str = "ri_communication_agent"
ri_command_agent_name: str = "ri_command_agent"
class LLMSettings(BaseModel):
local_llm_url: str = "http://127.0.0.1:1234/v1/chat/completions"
local_llm_model: str = "openai/gpt-oss-20b"
@@ -26,9 +31,7 @@ class Settings(BaseSettings):
agent_settings: AgentSettings = AgentSettings()
llm_settings: LLMSettings = LLMSettings()
model_config = SettingsConfigDict(env_file=".env")
settings = Settings()

33
src/control_backend/main.py
View File

@@ -1,26 +1,25 @@
# 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.ri_communication_agent import RICommunicationAgent
from control_backend.agents.bdi.bdi_core import BDICoreAgent
from control_backend.agents.llm.llm import LLMAgent
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)
@@ -34,6 +33,13 @@ async def lifespan(app: FastAPI):
# 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,
)
await ri_communication_agent.start()
llm_agent = LLMAgent(settings.agent_settings.llm_agent_name + '@' + settings.agent_settings.host,
@@ -42,23 +48,24 @@ async def lifespan(app: FastAPI):
bdi_core = BDICoreAgent(settings.agent_settings.bdi_core_agent_name + '@' + settings.agent_settings.host,
"secret, ask twirre", "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():

3
src/control_backend/schemas/message.py
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@@ -1,4 +1,5 @@
from pydantic import BaseModel
class Message(BaseModel):
message: str
message: str

20
src/control_backend/schemas/ri_message.py Normal file
View File

@@ -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

102
test/integration/agents/test_ri_commands_agent.py Normal file
View File

@@ -0,0 +1,102 @@
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
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():
"""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 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.model_dump())
@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

591
test/integration/agents/test_ri_communication_agent.py Normal file
View File

@@ -0,0 +1,591 @@
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://*: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://*: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://*: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://*: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://*: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("DEBUG"):
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 start
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 & Assert ---
with caplog.at_level("ERROR"):
await agent.setup(max_retries=1)
# Ensure the unpacking exception was logged
assert "Error unpacking negotiation data" in caplog.text
# Ensure no command agent was started
fake_agent_instance.start.assert_not_awaited()
# Ensure no behaviour was attached
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)

63
test/integration/api/endpoints/test_command_endpoint.py Normal file
View File

@@ -0,0 +1,63 @@
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(SpeechCommand.model_validate_json(sent_data[1].decode()), 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

36
test/integration/schemas/test_ri_message.py Normal file
View File

@@ -0,0 +1,36 @@
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

40
test/unit/agents/bdi/behaviours/test_belief_setter.py
View File

@@ -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
assert "Set belief is_hot with arguments ['kitchen']" in caplog.text
assert "Set belief is_hot with arguments ['living_room']" in caplog.text

22
test/conftest.py → test/unit/conftest.py
View File

@@ -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

172
uv.lock generated
View File

@@ -240,6 +240,15 @@ wheels = [
{ url = "https://files.pythonhosted.org/packages/ae/3a/dbeec9d1ee0844c679f6bb5d6ad4e9f198b1224f4e7a32825f47f6192b0c/cffi-2.0.0-cp314-cp314t-win_arm64.whl", hash = "sha256:0a1527a803f0a659de1af2e1fd700213caba79377e27e4693648c2923da066f9", size = 184195, upload-time = "2025-09-08T23:23:43.004Z" },
]
[[package]]
name = "cfgv"
version = "3.4.0"
source = { registry = "https://pypi.org/simple" }
sdist = { url = "https://files.pythonhosted.org/packages/11/74/539e56497d9bd1d484fd863dd69cbbfa653cd2aa27abfe35653494d85e94/cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560", size = 7114, upload-time = "2023-08-12T20:38:17.776Z" }
wheels = [
{ url = "https://files.pythonhosted.org/packages/c5/55/51844dd50c4fc7a33b653bfaba4c2456f06955289ca770a5dbd5fd267374/cfgv-3.4.0-py2.py3-none-any.whl", hash = "sha256:b7265b1f29fd3316bfcd2b330d63d024f2bfd8bcb8b0272f8e19a504856c48f9", size = 7249, upload-time = "2023-08-12T20:38:16.269Z" },
]
[[package]]
name = "charset-normalizer"
version = "3.4.3"
@@ -394,6 +403,15 @@ wheels = [
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