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

test/integration/api/endpoints/test_command_endpoint.py

@@ -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

test/integration/api/endpoints/test_robot_endpoint.py

@@ -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()