src/control_backend/api/v1/endpoints/robot.py

@@ -41,7 +41,6 @@ async def ping_stream(request: Request):
         # Set up internal socket to receive ping updates
         logger.debug("Ping stream router event stream entered.")
 
-        # TODO: Check with Kasper
         sub_socket = Context.instance().socket(zmq.SUB)
         sub_socket.connect(settings.zmq_settings.internal_sub_address)
         sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")

test/integration/api/endpoints/test_robot_endpoint.py

@@ -1,4 +1,5 @@
-from unittest.mock import AsyncMock
+import json
+from unittest.mock import AsyncMock, MagicMock
 
 import pytest
 from fastapi import FastAPI
@@ -59,3 +60,97 @@ def test_receive_command_invalid_payload(client):
     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()