pepperplus/pepperplus-cb
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/dev' into feat/norms-and-goals-program

Browse Source
This commit is contained in:
Twirre Meulenbelt
2025-11-25 11:29:27 +01:00
parent 54502e441c 435f0c25a9
commit d513111ef3
10 changed files with 26 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
.githooks/check-commit-msg.sh
View File

@@ -30,7 +30,7 @@ HEADER=$(head -n 1 "$COMMIT_MSG_FILE")
# Check for Merge commits (covers 'git merge' and PR merges from GitHub/GitLab)
# Examples: "Merge branch 'main' into ...", "Merge pull request #123 from ..."
MERGE_PATTERN="^Merge (branch|pull request|tag) .*"
MERGE_PATTERN="^Merge (remote-tracking )?(branch|pull request|tag) .*"
if [[ "$HEADER" =~ $MERGE_PATTERN ]]; then
echo -e "${GREEN}Merge commit detected by message content. Skipping validation.${NC}"
exit 0

2
src/control_backend/agents/actuation/robot_speech_agent.py
View File

@@ -45,7 +45,7 @@ class RobotSpeechAgent(BaseAgent):
self.subsocket.connect(settings.zmq_settings.internal_sub_address)
self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
await self.add_behavior(self._zmq_command_loop())
self.add_behavior(self._zmq_command_loop())
self.logger.info("Finished setting up %s", self.name)

2
src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py
View File

@@ -37,7 +37,7 @@ class BDICoreAgent(BaseAgent):
await self._load_asl()
# Start the BDI cycle loop
await self.add_behavior(self._bdi_loop())
self.add_behavior(self._bdi_loop())
self._wake_bdi_loop.set()
self.logger.debug("Setup complete.")

2
src/control_backend/agents/communication/ri_communication_agent.py
View File

@@ -37,7 +37,7 @@ class RICommunicationAgent(BaseAgent):
if await self._negotiate_connection():
self.connected = True
await self.add_behavior(self._listen_loop())
self.add_behavior(self._listen_loop())
else:
self.logger.warning("Failed to negotiate connection during setup.")

2
src/control_backend/agents/perception/transcription_agent/transcription_agent.py
View File

@@ -37,7 +37,7 @@ class TranscriptionAgent(BaseAgent):
self.speech_recognizer.load_model() # Warmup
# Start background loop
await self.add_behavior(self._transcribing_loop())
self.add_behavior(self._transcribing_loop())
self.logger.info("Finished setting up %s", self.name)

2
src/control_backend/agents/perception/vad_agent.py
View File

@@ -93,7 +93,7 @@ class VADAgent(BaseAgent):
# Warmup/reset
await self.reset_stream()
await self.add_behavior(self._streaming_loop())
self.add_behavior(self._streaming_loop())
# Start agents dependent on the output audio fragments here
transcriber = TranscriptionAgent(audio_out_address)

8
src/control_backend/core/agent_system.py
View File

@@ -1,6 +1,7 @@
import asyncio
import logging
from abc import ABC, abstractmethod
from asyncio import Task
from collections.abc import Coroutine
import zmq
@@ -75,8 +76,8 @@ class BaseAgent(ABC):
await self.setup()
# Start processing inbox and ZMQ messages
await self.add_behavior(self._process_inbox())
await self.add_behavior(self._receive_internal_zmq_loop())
self.add_behavior(self._process_inbox())
self.add_behavior(self._receive_internal_zmq_loop())
async def stop(self):
"""Stops the agent."""
@@ -128,7 +129,7 @@ class BaseAgent(ABC):
"""Override this to handle incoming messages."""
raise NotImplementedError
async def add_behavior(self, coro: Coroutine):
def add_behavior(self, coro: Coroutine) -> Task:
"""
Helper to add a behavior to the agent. To add asynchronous behavior to an agent, define
an `async` function and add it to the task list by calling :func:`add_behavior`
@@ -138,3 +139,4 @@ class BaseAgent(ABC):
task = asyncio.create_task(coro)
self._tasks.add(task)
task.add_done_callback(self._tasks.discard)
return task

27
test/unit/agents/actuation/test_robot_speech_agent.py
View File

@@ -25,24 +25,14 @@ async def test_setup_bind(zmq_context, mocker):
settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
# Swallow background task coroutines to avoid un-awaited warnings
class Swallow:
def __init__(self):
self.calls = 0
async def __call__(self, coro):
self.calls += 1
coro.close()
swallow = Swallow()
agent.add_behavior = swallow
agent.add_behavior = MagicMock()
await agent.setup()
fake_socket.bind.assert_any_call("tcp://localhost:5555")
fake_socket.connect.assert_any_call("tcp://internal:1234")
fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
assert swallow.calls == 1
agent.add_behavior.assert_called_once()
@pytest.mark.asyncio
@@ -53,22 +43,13 @@ async def test_setup_connect(zmq_context, mocker):
settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
class Swallow:
def __init__(self):
self.calls = 0
async def __call__(self, coro):
self.calls += 1
coro.close()
swallow = Swallow()
agent.add_behavior = swallow
agent.add_behavior = MagicMock()
await agent.setup()
fake_socket.connect.assert_any_call("tcp://localhost:5555")
fake_socket.connect.assert_any_call("tcp://internal:1234")
assert swallow.calls == 1
agent.add_behavior.assert_called_once()
@pytest.mark.asyncio

26
test/unit/agents/communication/test_ri_communication_agent.py
View File

@@ -46,16 +46,7 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
robot_instance.start = AsyncMock()
agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
class Swallow:
def __init__(self):
self.calls = 0
async def __call__(self, coro):
self.calls += 1
coro.close()
swallow = Swallow()
agent.add_behavior = swallow
agent.add_behavior = MagicMock()
await agent.setup()
@@ -63,7 +54,7 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
robot_instance.start.assert_awaited_once()
MockRobot.assert_called_once_with(ANY, address="tcp://*:5556", bind=True)
assert swallow.calls == 1
agent.add_behavior.assert_called_once()
assert agent.connected is True
@@ -76,23 +67,14 @@ async def test_setup_binds_when_requested(zmq_context):
agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=True)
class Swallow:
def __init__(self):
self.calls = 0
async def __call__(self, coro):
self.calls += 1
coro.close()
swallow = Swallow()
agent.add_behavior = swallow
agent.add_behavior = MagicMock()
with patch(speech_agent_path(), autospec=True) as MockRobot:
MockRobot.return_value.start = AsyncMock()
await agent.setup()
fake_socket.bind.assert_any_call("tcp://localhost:5555")
assert swallow.calls == 1
agent.add_behavior.assert_called_once()
@pytest.mark.asyncio

12
test/unit/core/test_agent_system.py
View File

@@ -33,14 +33,16 @@ async def test_agent_lifecycle():
# Test background task
async def dummy_task():
await asyncio.sleep(0.01)
pass
await agent.add_behavior(dummy_task())
assert len(agent._tasks) > 0
task = agent.add_behavior(dummy_task())
assert task in agent._tasks
await task
# Wait for task to finish
await asyncio.sleep(0.02)
assert len(agent._tasks) == 2 # message handling tasks are running
assert task not in agent._tasks
assert len(agent._tasks) == 2 # message handling tasks are still running
await agent.stop()
assert agent._running is False