test: bunch of tests

Written with AI, still need to check them

ref: N25B-449

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -28,7 +28,11 @@ async def test_setup_bind(zmq_context, mocker):
     settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     await agent.setup()
 
@@ -55,7 +59,11 @@ async def test_setup_connect(zmq_context, mocker):
     settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     await agent.setup()
 
@@ -119,6 +127,65 @@ async def test_handle_message_rejects_invalid_gesture_tag():
     pubsocket.send_json.assert_not_awaited()
 
 
+@pytest.mark.asyncio
+async def test_handle_message_sends_valid_single_gesture_command():
+    """Internal message with valid single gesture is forwarded."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", single_gesture_data=["wave", "point"], address="")
+    agent.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_SINGLE,
+        "data": "wave",
+    }
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_rejects_invalid_single_gesture():
+    """Internal message with invalid single gesture is not forwarded."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", single_gesture_data=["wave", "point"], address="")
+    agent.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_SINGLE,
+        "data": "dance",
+    }
+    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_zmq_command_loop_valid_single_gesture_payload():
+    """UI command with valid single gesture is read from SUB and published."""
+    command = {"endpoint": RIEndpoint.GESTURE_SINGLE, "data": "wave"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"command", json.dumps(command).encode("utf-8")
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", single_gesture_data=["wave", "point"], address="")
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_awaited_once()
+
+
 @pytest.mark.asyncio
 async def test_handle_message_invalid_payload():
     """Invalid payload is caught and does not send."""