feat: add tests and better model validation for gesture commands

ref: N25B-334

test/unit/agents/communication/test_ri_communication_agent.py

@@ -10,6 +10,10 @@ def speech_agent_path():
     return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"
 
 
+def gesture_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotGestureAgent"
+
+
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
@@ -22,7 +26,7 @@ def zmq_context(mocker):
 def negotiation_message(
     actuation_port: int = 5556,
     bind_main: bool = False,
-    bind_actuation: bool = True,
+    bind_actuation: bool = False,
     main_port: int = 5555,
 ):
     return {
@@ -41,9 +45,12 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
     fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
     fake_socket.send_multipart = AsyncMock()
 
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        robot_instance = MockRobot.return_value
-        robot_instance.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
 
         agent.add_behavior = MagicMock()
@@ -52,9 +59,17 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
 
     fake_socket.connect.assert_any_call("tcp://localhost:5555")
     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)
+    MockSpeech.return_value.start.assert_awaited_once()
+    MockGesture.return_value.start.assert_awaited_once()
+    MockSpeech.assert_called_once_with(ANY, address="tcp://localhost:5556", bind=False)
+    MockGesture.assert_called_once_with(
+        ANY,
+        address="tcp://localhost:5556",
+        bind=False,
+        gesture_data=[],
+    )
     agent.add_behavior.assert_called_once()
+
     assert agent.connected is True
 
 
@@ -69,10 +84,13 @@ async def test_setup_binds_when_requested(zmq_context):
 
     agent.add_behavior = MagicMock()
 
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        MockRobot.return_value.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         await agent.setup()
-
     fake_socket.bind.assert_any_call("tcp://localhost:5555")
     agent.add_behavior.assert_called_once()
 
@@ -88,7 +106,6 @@ async def test_negotiate_invalid_endpoint_retries(zmq_context):
     agent._req_socket = fake_socket
 
     success = await agent._negotiate_connection(max_retries=1)
-
     assert success is False
 
 
@@ -112,8 +129,12 @@ async def test_handle_negotiation_response_updates_req_socket(zmq_context):
     fake_socket = zmq_context.return_value.socket.return_value
     agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
     agent._req_socket = fake_socket
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        MockRobot.return_value.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         await agent._handle_negotiation_response(
             negotiation_message(
                 main_port=6000,
@@ -135,7 +156,6 @@ async def test_handle_disconnection_publishes_and_reconnects():
     agent._negotiate_connection = AsyncMock(return_value=True)
 
     await agent._handle_disconnection()
-
     pub_socket.send_multipart.assert_awaited()
     assert agent.connected is True
 
@@ -192,7 +212,7 @@ async def test_setup_warns_on_failed_negotiate(zmq_context, mocker):
     fake_socket.recv_json = AsyncMock()
     agent = RICommunicationAgent("ri_comm")
 
-    async def swallow(coro):
+    def swallow(coro):
         coro.close()
 
     agent.add_behavior = swallow

test/unit/schemas/test_ri_message.py

@@ -21,7 +21,21 @@ def invalid_command_1():
 
 
 def invalid_command_2():
-    return GestureCommand(endpoint=RIEndpoint.PING, data="Hey!")
+    return RIMessage(endpoint=RIEndpoint.PING, data="Hey!")
+
+
+def invalid_command_3():
+    return RIMessage(endpoint=RIEndpoint.GESTURE_SINGLE, data={1, 2, 3})
+
+
+def invalid_command_4():
+    test: RIMessage = GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="asdsad")
+
+    def change_endpoint(msg: RIMessage):
+        msg.endpoint = RIEndpoint.PING
+
+    change_endpoint(test)
+    return test
 
 
 def test_valid_speech_command_1():
@@ -56,3 +70,19 @@ def test_invalid_gesture_command_1():
 
     with pytest.raises(ValidationError):
         GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_2():
+    command = invalid_command_3()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_3():
+    command = invalid_command_4()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)