Merge branch 'dev' of https://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-cb into feat/10-basic-gestures

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -11,7 +11,6 @@ from control_backend.schemas.ri_message import RIEndpoint
 
 @pytest.fixture
 def zmq_context(mocker):
-    """Mock the ZMQ context."""
     mock_context = mocker.patch(
         "control_backend.agents.actuation.robot_gesture_agent.azmq.Context.instance"
     )
@@ -59,19 +58,16 @@ async def test_setup_connect(zmq_context, mocker):
 
 
 @pytest.mark.asyncio
-async def test_handle_message_forwards_valid_command():
+async def test_handle_message_valid_gesture_tag():
     pubsocket = AsyncMock()
-
     agent = RobotGestureAgent(
         "robot_gesture",
+        address="",
         gesture_tags=["hello"],
     )
     agent.pubsocket = pubsocket
 
-    payload = {
-        "endpoint": RIEndpoint.GESTURE_TAG,
-        "data": "hello",
-    }
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
 
     await agent.handle_message(msg)
@@ -80,13 +76,31 @@ async def test_handle_message_forwards_valid_command():
 
 
 @pytest.mark.asyncio
-async def test_handle_message_invalid_payload():
+async def test_handle_message_invalid_gesture_tag():
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
+    agent.pubsocket = pubsocket
+
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "nope"}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_invalid_payload_logged():
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.pubsocket = pubsocket
     agent.logger = MagicMock()
 
-    msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
+    msg = InternalMessage(to="robot", sender="tester", body="not json")
 
     await agent.handle_message(msg)
 
@@ -95,22 +109,25 @@ async def test_handle_message_invalid_payload():
 
 
 @pytest.mark.asyncio
-async def test_zmq_command_loop_valid_payload():
-    """UI command with valid payload is published."""
-    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
+async def test_zmq_command_loop_valid_gesture():
     fake_socket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
+        return b"command", json.dumps(
+            {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
+        ).encode()
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
-    agent.gesture_data = ["hello", "yes", "no"]  # ← REQUIRED for legacy check
     agent._running = True
 
     await agent._zmq_command_loop()
@@ -119,17 +136,23 @@ async def test_zmq_command_loop_valid_payload():
 
 
 @pytest.mark.asyncio
-async def test_zmq_command_loop_ignores_send_gestures():
+async def test_zmq_command_loop_invalid_tag():
     fake_socket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return (b"send_gestures", b"{}")
+        return b"command", json.dumps(
+            {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid"}
+        ).encode()
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -140,7 +163,28 @@ async def test_zmq_command_loop_ignores_send_gestures():
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_tags_all():
+async def test_zmq_command_loop_ignores_send_gestures_topic():
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"send_gestures", b"{}"
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", address="")
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_tags():
     fake_repsocket = AsyncMock()
 
     async def recv_once():
@@ -152,6 +196,7 @@ async def test_fetch_gestures_tags_all():
 
     agent = RobotGestureAgent(
         "robot_gesture",
+        address="",
         gesture_tags=["hello", "yes", "no"],
     )
     agent.repsocket = fake_repsocket
@@ -163,31 +208,7 @@ async def test_fetch_gestures_tags_all():
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_tags_with_count():
-    fake_repsocket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        return {"type": "tags", "count": 2}
-
-    fake_repsocket.recv_json = recv_once
-    fake_repsocket.send_json = AsyncMock()
-
-    agent = RobotGestureAgent(
-        "robot_gesture",
-        gesture_tags=["hello", "yes", "no"],
-    )
-    agent.repsocket = fake_repsocket
-    agent._running = True
-
-    await agent._fetch_gestures_loop()
-
-    fake_repsocket.send_json.assert_awaited_once_with({"tags": ["hello", "yes"]})
-
-
-@pytest.mark.asyncio
-async def test_fetch_gestures_basic_new():
-    """NEW: fetch basic gestures"""
+async def test_fetch_gestures_basic():
     fake_repsocket = AsyncMock()
 
     async def recv_once():
@@ -199,6 +220,7 @@ async def test_fetch_gestures_basic_new():
 
     agent = RobotGestureAgent(
         "robot_gesture",
+        address="",
         gesture_basic=["wave", "point"],
     )
     agent.repsocket = fake_repsocket
@@ -220,48 +242,10 @@ async def test_fetch_gestures_unknown_type():
     fake_repsocket.recv_json = recv_once
     fake_repsocket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.repsocket = fake_repsocket
     agent._running = True
 
     await agent._fetch_gestures_loop()
 
     fake_repsocket.send_json.assert_awaited_once_with({})
-
-
-@pytest.mark.asyncio
-async def test_fetch_gestures_exception_logged():
-    fake_repsocket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        raise Exception("boom")
-
-    fake_repsocket.recv_json = recv_once
-    fake_repsocket.send_json = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture")
-    agent.repsocket = fake_repsocket
-    agent.logger = MagicMock()
-    agent._running = True
-
-    await agent._fetch_gestures_loop()
-
-    agent.logger.exception.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_stop_closes_sockets():
-    pubsocket = MagicMock()
-    subsocket = MagicMock()
-    repsocket = MagicMock()
-
-    agent = RobotGestureAgent("robot_gesture")
-    agent.pubsocket = pubsocket
-    agent.subsocket = subsocket
-    agent.repsocket = repsocket
-
-    await agent.stop()
-
-    pubsocket.close.assert_called_once()
-    subsocket.close.assert_called_once()