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Merge branch 'dev' of https://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-cb into feat/recieve-programs-ui

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This commit is contained in:
JobvAlewijk
2025-11-19 13:16:41 +01:00
parent 39c07dd3cf df1e891a22
commit 964997f801
9 changed files with 454 additions and 197 deletions
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11
test/integration/agents/test_ri_commands_agent.py
View File

@@ -25,13 +25,9 @@ async def test_setup_bind(zmq_context, mocker):
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)
@@ -46,7 +42,6 @@ async def test_setup_connect(zmq_context, mocker):
await agent.setup()
# Ensure PUB socket connected
fake_socket.connect.assert_any_call("tcp://localhost:5555")
@@ -78,7 +73,7 @@ async def test_send_commands_behaviour_valid_message():
@pytest.mark.asyncio
async def test_send_commands_behaviour_invalid_message(caplog):
async def test_send_commands_behaviour_invalid_message():
"""Test behaviour with invalid JSON message triggers error logging"""
fake_socket = AsyncMock()
fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}"))
@@ -91,9 +86,7 @@ async def test_send_commands_behaviour_invalid_message(caplog):
behaviour = agent.SendCommandsBehaviour()
behaviour.agent = agent
with caplog.at_level("ERROR"):
await behaviour.run()
await behaviour.run()
fake_socket.recv_multipart.assert_awaited()
fake_socket.send_json.assert_not_awaited()
assert "Error processing message" in caplog.text

172
test/integration/agents/test_ri_communication_agent.py
View File

@@ -100,6 +100,7 @@ async def test_setup_creates_socket_and_negotiate_1(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_correct_negototiate_1()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
with patch(
@@ -110,13 +111,16 @@ async def test_setup_creates_socket_and_negotiate_1(zmq_context):
# --- Act ---
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
"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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
@@ -138,6 +142,7 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_correct_negototiate_2()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
with patch(
@@ -148,13 +153,16 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context):
# --- Act ---
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
"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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
@@ -168,7 +176,7 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context):
@pytest.mark.asyncio
async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
async def test_setup_creates_socket_and_negotiate_3(zmq_context):
"""
Test the functionality of setup with incorrect negotiation message
"""
@@ -176,6 +184,7 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_wrong_negototiate_1()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
@@ -186,13 +195,15 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
) 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)
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")
@@ -200,7 +211,6 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, 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)
@@ -215,6 +225,7 @@ async def test_setup_creates_socket_and_negotiate_4(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_correct_negototiate_3()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
with patch(
@@ -222,16 +233,18 @@ async def test_setup_creates_socket_and_negotiate_4(zmq_context):
) 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
"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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
@@ -253,6 +266,7 @@ async def test_setup_creates_socket_and_negotiate_5(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_correct_negototiate_4()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
with patch(
@@ -260,16 +274,18 @@ async def test_setup_creates_socket_and_negotiate_5(zmq_context):
) 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
"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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
@@ -291,6 +307,7 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_correct_negototiate_5()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
with patch(
@@ -298,16 +315,18 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context):
) 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
"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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
fake_socket.recv_json.assert_awaited()
fake_agent_instance.start.assert_awaited()
MockCommandAgent.assert_called_once_with(
@@ -321,7 +340,7 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context):
@pytest.mark.asyncio
async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
async def test_setup_creates_socket_and_negotiate_7(zmq_context):
"""
Test the functionality of setup with incorrect id
"""
@@ -329,6 +348,7 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = fake_json_invalid_id_negototiate()
fake_socket.send_multipart = AsyncMock()
# Mock RICommandAgent agent startup
@@ -341,11 +361,14 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
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)
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")
@@ -353,11 +376,10 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
# 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(zmq_context, caplog):
async def test_setup_creates_socket_and_negotiate_timeout(zmq_context):
"""
Test the functionality of setup with incorrect negotiation message
"""
@@ -365,6 +387,7 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context, caplog):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
fake_socket.send_multipart = AsyncMock()
with patch(
"control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
@@ -373,47 +396,47 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context, caplog):
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)
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):
async def test_listen_behaviour_ping_correct():
fake_socket = AsyncMock()
fake_socket.send_json = AsyncMock()
fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
fake_socket.send_multipart = AsyncMock()
# TODO: Integration test between actual server and password needed for spade agents
agent = RICommunicationAgent("test@server", "password")
agent.req_socket = fake_socket
agent._req_socket = fake_socket
agent.connected = True
behaviour = agent.ListenBehaviour()
agent.add_behaviour(behaviour)
# Run once (CyclicBehaviour normally loops)
with caplog.at_level("DEBUG"):
await behaviour.run()
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):
async def test_listen_behaviour_ping_wrong_endpoint():
"""
Test if our listen behaviour can work with wrong messages (wrong endpoint)
"""
@@ -430,48 +453,51 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog):
],
}
)
fake_pub_socket = AsyncMock()
agent = RICommunicationAgent("test@server", "password")
agent.req_socket = fake_socket
agent = RICommunicationAgent("test@server", "password", fake_pub_socket)
agent._req_socket = fake_socket
agent.connected = True
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
await behaviour.run()
fake_socket.send_json.assert_awaited()
fake_socket.recv_json.assert_awaited()
@pytest.mark.asyncio
async def test_listen_behaviour_timeout(zmq_context, caplog):
async def test_listen_behaviour_timeout(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
# recv_json will never resolve, simulate timeout
fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
fake_socket.send_multipart = AsyncMock()
agent = RICommunicationAgent("test@server", "password")
agent.req_socket = fake_socket
agent._req_socket = fake_socket
agent.connected = True
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
await behaviour.run()
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
assert not agent.connected
@pytest.mark.asyncio
async def test_listen_behaviour_ping_no_endpoint(caplog):
async def test_listen_behaviour_ping_no_endpoint():
"""
Test if our listen behaviour can work with wrong messages (wrong endpoint)
"""
fake_socket = AsyncMock()
fake_socket.send_json = AsyncMock()
fake_socket.send_multipart = AsyncMock()
# This is a message without endpoint >:(
fake_socket.recv_json = AsyncMock(
@@ -481,43 +507,45 @@ async def test_listen_behaviour_ping_no_endpoint(caplog):
)
agent = RICommunicationAgent("test@server", "password")
agent.req_socket = fake_socket
agent._req_socket = fake_socket
agent.connected = True
behaviour = agent.ListenBehaviour()
agent.add_behaviour(behaviour)
# Run once (CyclicBehaviour normally loops)
with caplog.at_level("ERROR"):
await behaviour.run()
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(zmq_context, caplog):
async def test_setup_unexpected_exception(zmq_context):
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
# Simulate unexpected exception during recv_json()
fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
fake_socket.send_multipart = AsyncMock()
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
"test@server",
"password",
address="tcp://localhost:5555",
bind=False,
)
with caplog.at_level("ERROR"):
await agent.setup(max_retries=1)
await agent.setup(max_retries=1)
# Ensure that the error was logged
assert "Unexpected error during negotiation: boom!" in caplog.text
assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
assert not agent.connected
@pytest.mark.asyncio
async def test_setup_unpacking_exception(zmq_context, caplog):
async def test_setup_unpacking_exception(zmq_context):
# --- Arrange ---
fake_socket = zmq_context.return_value.socket.return_value
fake_socket.send_json = AsyncMock()
fake_socket.send_multipart = AsyncMock()
# Make recv_json return malformed negotiation data to trigger unpacking exception
malformed_data = {
@@ -534,15 +562,15 @@ async def test_setup_unpacking_exception(zmq_context, caplog):
fake_agent_instance.start = AsyncMock()
agent = RICommunicationAgent(
"test@server", "password", address="tcp://localhost:5555", bind=False
"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
await agent.setup(max_retries=1)
# Ensure no command agent was started
fake_agent_instance.start.assert_not_awaited()

61
test/integration/api/endpoints/test_command_endpoint.py
View File

@@ -1,61 +0,0 @@
from unittest.mock import AsyncMock
import pytest
from fastapi import FastAPI
from fastapi.testclient import TestClient
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)
return app
@pytest.fixture
def client(app):
"""Create a test client for the app."""
return TestClient(app)
def test_receive_command_success(client):
"""
Test for successful reception of a command. Ensures the status code is 202 and the response body
is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
expected data.
"""
# Arrange
mock_pub_socket = AsyncMock()
client.app.state.endpoints_pub_socket = mock_pub_socket
command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
speech_command = SpeechCommand(**command_data)
# Act
response = client.post("/command", json=command_data)
# Assert
assert response.status_code == 202
assert response.json() == {"status": "Command received"}
# Verify that the ZMQ socket was used correctly
mock_pub_socket.send_multipart.assert_awaited_once_with(
[b"command", speech_command.model_dump_json().encode()]
)
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

156
test/integration/api/endpoints/test_robot_endpoint.py Normal file
View File

@@ -0,0 +1,156 @@
import json
from unittest.mock import AsyncMock, MagicMock
import pytest
from fastapi import FastAPI
from fastapi.testclient import TestClient
from control_backend.api.v1.endpoints import robot
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(robot.router)
return app
@pytest.fixture
def client(app):
"""Create a test client for the app."""
return TestClient(app)
def test_receive_command_success(client):
"""
Test for successful reception of a command. Ensures the status code is 202 and the response body
is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
expected data.
"""
# Arrange
mock_pub_socket = AsyncMock()
client.app.state.endpoints_pub_socket = mock_pub_socket
command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
speech_command = SpeechCommand(**command_data)
# Act
response = client.post("/command", json=command_data)
# Assert
assert response.status_code == 202
assert response.json() == {"status": "Command received"}
# Verify that the ZMQ socket was used correctly
mock_pub_socket.send_multipart.assert_awaited_once_with(
[b"command", speech_command.model_dump_json().encode()]
)
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
def test_ping_check_returns_none(client):
"""Ensure /ping_check returns 200 and None (currently unimplemented)."""
response = client.get("/ping_check")
assert response.status_code == 200
assert response.json() is None
@pytest.mark.asyncio
async def test_ping_stream_yields_ping_event(monkeypatch):
"""Test that ping_stream yields a proper SSE message when a ping is received."""
mock_sub_socket = AsyncMock()
mock_sub_socket.connect = MagicMock()
mock_sub_socket.setsockopt = MagicMock()
mock_sub_socket.recv_multipart = AsyncMock(return_value=[b"ping", b"true"])
mock_context = MagicMock()
mock_context.socket.return_value = mock_sub_socket
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
mock_request = AsyncMock()
mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
response = await robot.ping_stream(mock_request)
generator = aiter(response.body_iterator)
event = await anext(generator)
event_text = event.decode() if isinstance(event, bytes) else str(event)
assert event_text.strip() == "data: true"
with pytest.raises(StopAsyncIteration):
await anext(generator)
mock_sub_socket.connect.assert_called_once()
mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
mock_sub_socket.recv_multipart.assert_awaited()
@pytest.mark.asyncio
async def test_ping_stream_handles_timeout(monkeypatch):
"""Test that ping_stream continues looping on TimeoutError."""
mock_sub_socket = AsyncMock()
mock_sub_socket.connect = MagicMock()
mock_sub_socket.setsockopt = MagicMock()
mock_sub_socket.recv_multipart.side_effect = TimeoutError()
mock_context = MagicMock()
mock_context.socket.return_value = mock_sub_socket
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
mock_request = AsyncMock()
mock_request.is_disconnected = AsyncMock(return_value=True)
response = await robot.ping_stream(mock_request)
generator = aiter(response.body_iterator)
with pytest.raises(StopAsyncIteration):
await anext(generator)
mock_sub_socket.connect.assert_called_once()
mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
mock_sub_socket.recv_multipart.assert_awaited()
@pytest.mark.asyncio
async def test_ping_stream_yields_json_values(monkeypatch):
"""Ensure ping_stream correctly parses and yields JSON body values."""
mock_sub_socket = AsyncMock()
mock_sub_socket.connect = MagicMock()
mock_sub_socket.setsockopt = MagicMock()
mock_sub_socket.recv_multipart = AsyncMock(
return_value=[b"ping", json.dumps({"connected": True}).encode()]
)
mock_context = MagicMock()
mock_context.socket.return_value = mock_sub_socket
monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
mock_request = AsyncMock()
mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
response = await robot.ping_stream(mock_request)
generator = aiter(response.body_iterator)
event = await anext(generator)
event_text = event.decode() if isinstance(event, bytes) else str(event)
assert "connected" in event_text
assert "true" in event_text
mock_sub_socket.connect.assert_called_once()
mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
mock_sub_socket.recv_multipart.assert_awaited()