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Merge remote-tracking branch 'origin/dev' into feat/environment-variables

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# Conflicts:
#	src/control_backend/core/config.py
#	test/unit/agents/actuation/test_robot_speech_agent.py
This commit is contained in:
Twirre Meulenbelt
2025-12-29 12:40:16 +01:00
parent 5282c2471f
commit 7d798f2e77
2 changed files with 28 additions and 24 deletions
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50
test/unit/agents/actuation/test_robot_gesture_agent.py
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@@ -73,7 +73,7 @@ async def test_setup_connect(zmq_context, mocker):
async def test_handle_message_sends_valid_gesture_command():
"""Internal message with valid gesture tag is forwarded to robot pub socket."""
pubsocket = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.pubsocket = pubsocket
payload = {
@@ -91,7 +91,7 @@ async def test_handle_message_sends_valid_gesture_command():
async def test_handle_message_sends_non_gesture_command():
"""Internal message with non-gesture endpoint is not forwarded by this agent."""
pubsocket = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.pubsocket = pubsocket
payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
@@ -107,7 +107,7 @@ async def test_handle_message_sends_non_gesture_command():
async def test_handle_message_rejects_invalid_gesture_tag():
"""Internal message with invalid gesture tag is not forwarded."""
pubsocket = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.pubsocket = pubsocket
# Use a tag that's not in gesture_data
@@ -123,7 +123,7 @@ async def test_handle_message_rejects_invalid_gesture_tag():
async def test_handle_message_invalid_payload():
"""Invalid payload is caught and does not send."""
pubsocket = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.pubsocket = pubsocket
msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
@@ -142,12 +142,12 @@ async def test_zmq_command_loop_valid_gesture_payload():
async def recv_once():
# stop after first iteration
agent._running = False
return (b"command", json.dumps(command).encode("utf-8"))
return b"command", json.dumps(command).encode("utf-8")
fake_socket.recv_multipart = recv_once
fake_socket.send_json = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.subsocket = fake_socket
agent.pubsocket = fake_socket
agent._running = True
@@ -165,12 +165,12 @@ async def test_zmq_command_loop_valid_non_gesture_payload():
async def recv_once():
agent._running = False
return (b"command", json.dumps(command).encode("utf-8"))
return b"command", json.dumps(command).encode("utf-8")
fake_socket.recv_multipart = recv_once
fake_socket.send_json = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.subsocket = fake_socket
agent.pubsocket = fake_socket
agent._running = True
@@ -188,12 +188,12 @@ async def test_zmq_command_loop_invalid_gesture_tag():
async def recv_once():
agent._running = False
return (b"command", json.dumps(command).encode("utf-8"))
return b"command", json.dumps(command).encode("utf-8")
fake_socket.recv_multipart = recv_once
fake_socket.send_json = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.subsocket = fake_socket
agent.pubsocket = fake_socket
agent._running = True
@@ -210,12 +210,12 @@ async def test_zmq_command_loop_invalid_json():
async def recv_once():
agent._running = False
return (b"command", b"{not_json}")
return b"command", b"{not_json}"
fake_socket.recv_multipart = recv_once
fake_socket.send_json = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.subsocket = fake_socket
agent.pubsocket = fake_socket
agent._running = True
@@ -232,12 +232,12 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
async def recv_once():
agent._running = False
return (b"send_gestures", b"{}")
return b"send_gestures", b"{}"
fake_socket.recv_multipart = recv_once
fake_socket.send_json = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.subsocket = fake_socket
agent.pubsocket = fake_socket
agent._running = True
@@ -259,7 +259,9 @@ async def test_fetch_gestures_loop_without_amount():
fake_repsocket.recv = recv_once
fake_repsocket.send = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
agent = RobotGestureAgent(
"robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
)
agent.repsocket = fake_repsocket
agent._running = True
@@ -287,7 +289,9 @@ async def test_fetch_gestures_loop_with_amount():
fake_repsocket.recv = recv_once
fake_repsocket.send = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
agent = RobotGestureAgent(
"robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
)
agent.repsocket = fake_repsocket
agent._running = True
@@ -315,7 +319,7 @@ async def test_fetch_gestures_loop_with_integer_request():
fake_repsocket.recv = recv_once
fake_repsocket.send = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.repsocket = fake_repsocket
agent._running = True
@@ -340,7 +344,7 @@ async def test_fetch_gestures_loop_with_invalid_json():
fake_repsocket.recv = recv_once
fake_repsocket.send = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.repsocket = fake_repsocket
agent._running = True
@@ -365,7 +369,7 @@ async def test_fetch_gestures_loop_with_non_integer_json():
fake_repsocket.recv = recv_once
fake_repsocket.send = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.repsocket = fake_repsocket
agent._running = True
@@ -381,7 +385,7 @@ async def test_fetch_gestures_loop_with_non_integer_json():
def test_gesture_data_attribute():
"""Test that gesture_data returns the expected list."""
gesture_data = ["hello", "yes", "no", "wave"]
agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data)
agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data, address="")
assert agent.gesture_data == gesture_data
assert isinstance(agent.gesture_data, list)
@@ -398,7 +402,7 @@ async def test_stop_closes_sockets():
pubsocket = MagicMock()
subsocket = MagicMock()
repsocket = MagicMock()
agent = RobotGestureAgent("robot_gesture")
agent = RobotGestureAgent("robot_gesture", address="")
agent.pubsocket = pubsocket
agent.subsocket = subsocket
agent.repsocket = repsocket
@@ -415,7 +419,7 @@ async def test_stop_closes_sockets():
async def test_initialization_with_custom_gesture_data():
"""Agent can be initialized with custom gesture data."""
custom_gestures = ["custom1", "custom2", "custom3"]
agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures)
agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures, address="")
assert agent.gesture_data == custom_gestures
@@ -432,7 +436,7 @@ async def test_fetch_gestures_loop_handles_exception():
fake_repsocket.recv = recv_once
fake_repsocket.send = AsyncMock()
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
agent.repsocket = fake_repsocket
agent.logger = MagicMock()
agent._running = True