test/integration/agents/perception/vad_agent/test_vad_agent.py

@@ -1,9 +1,8 @@
 import random
-from unittest.mock import AsyncMock, MagicMock, patch
+from unittest.mock import AsyncMock, MagicMock
 
 import pytest
 import zmq
-from spade.agent import Agent
 
 from control_backend.agents.perception.vad_agent import VADAgent
 
@@ -15,11 +14,6 @@ def zmq_context(mocker):
     return mock_context
 
 
-@pytest.fixture
-def streaming(mocker):
-    return mocker.patch("control_backend.agents.perception.vad_agent.StreamingBehaviour")
-
-
 @pytest.fixture
 def per_transcription_agent(mocker):
     return mocker.patch(
@@ -27,21 +21,36 @@ def per_transcription_agent(mocker):
     )
 
 
+@pytest.fixture(autouse=True)
+def torch_load(mocker):
+    mock_torch = mocker.patch("control_backend.agents.perception.vad_agent.torch")
+    model = MagicMock()
+    mock_torch.hub.load.return_value = (model, None)
+    mock_torch.from_numpy.side_effect = lambda arr: arr
+    return mock_torch
+
+
 @pytest.mark.asyncio
-async def test_normal_setup(streaming, per_transcription_agent):
+async def test_normal_setup(per_transcription_agent):
     """
     Test that during normal setup, the VAD agent creates a Streaming behavior and creates audio
     sockets, and starts the TranscriptionAgent without loading real models.
     """
     per_vad_agent = VADAgent("tcp://localhost:12345", False)
-    per_vad_agent.add_behaviour = MagicMock()
+    per_vad_agent._streaming_loop = AsyncMock()
+
+    async def swallow_background_task(coro):
+        coro.close()
+
+    per_vad_agent.add_background_task = swallow_background_task
+    per_vad_agent.reset_stream = AsyncMock()
 
     await per_vad_agent.setup()
 
-    streaming.assert_called_once()
-    per_vad_agent.add_behaviour.assert_called_once_with(streaming.return_value)
     per_transcription_agent.assert_called_once()
     per_transcription_agent.return_value.start.assert_called_once()
+    per_vad_agent._streaming_loop.assert_called_once()
+    per_vad_agent.reset_stream.assert_called_once()
     assert per_vad_agent.audio_in_socket is not None
     assert per_vad_agent.audio_out_socket is not None
 
@@ -91,16 +100,22 @@ async def test_out_socket_creation_failure(zmq_context):
     """
     Test setup failure when the audio output socket cannot be created.
     """
-    with patch.object(Agent, "stop", new_callable=AsyncMock) as mock_super_stop:
+    zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = zmq.ZMQBindError
-        zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = (
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
-            zmq.ZMQBindError
+    per_vad_agent.stop = AsyncMock()
-        )
+    per_vad_agent.reset_stream = AsyncMock()
-        per_vad_agent = VADAgent("tcp://localhost:12345", False)
+    per_vad_agent._streaming_loop = AsyncMock()
+    per_vad_agent._connect_audio_out_socket = MagicMock(return_value=None)
 
-        await per_vad_agent.setup()
+    async def swallow_background_task(coro):
+        coro.close()
 
-        assert per_vad_agent.audio_out_socket is None
+    per_vad_agent.add_background_task = swallow_background_task
-        mock_super_stop.assert_called_once()
+
+    await per_vad_agent.setup()
+
+    assert per_vad_agent.audio_out_socket is None
+    per_vad_agent.stop.assert_called_once()
 
 
 @pytest.mark.asyncio
@@ -109,6 +124,13 @@ async def test_stop(zmq_context, per_transcription_agent):
     Test that when the VAD agent is stopped, the sockets are closed correctly.
     """
     per_vad_agent = VADAgent("tcp://localhost:12345", False)
+    per_vad_agent.reset_stream = AsyncMock()
+    per_vad_agent._streaming_loop = AsyncMock()
+
+    async def swallow_background_task(coro):
+        coro.close()
+
+    per_vad_agent.add_background_task = swallow_background_task
     zmq_context.return_value.socket.return_value.bind_to_random_port.return_value = random.randint(
         1000,
         10000,

test/integration/agents/perception/vad_agent/test_vad_with_audio.py

@@ -5,7 +5,24 @@ import pytest
 import soundfile as sf
 import zmq
 
-from control_backend.agents.perception.vad_agent import StreamingBehaviour
+from control_backend.agents.perception.vad_agent import VADAgent
+
+
+@pytest.fixture(autouse=True)
+def patch_settings():
+    from control_backend.agents.perception import vad_agent
+
+    vad_agent.settings.behaviour_settings.vad_prob_threshold = 0.5
+    vad_agent.settings.behaviour_settings.vad_non_speech_patience_chunks = 3
+    vad_agent.settings.behaviour_settings.vad_initial_since_speech = 0
+    vad_agent.settings.vad_settings.sample_rate_hz = 16_000
+
+
+@pytest.fixture(autouse=True)
+def mock_torch(mocker):
+    mock_torch = mocker.patch("control_backend.agents.perception.vad_agent.torch")
+    mock_torch.from_numpy.side_effect = lambda arr: arr
+    return mock_torch
 
 
 def get_audio_chunks() -> list[bytes]:
@@ -42,16 +59,39 @@ async def test_real_audio(mocker):
     audio_in_socket = AsyncMock()
     audio_in_socket.recv.side_effect = audio_chunks
 
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Poller")
-    mock_poller.return_value.poll.return_value = [(audio_in_socket, zmq.POLLIN)]
+    mock_poller.return_value.poll = AsyncMock(return_value=[(audio_in_socket, zmq.POLLIN)])
 
     audio_out_socket = AsyncMock()
 
-    vad_streamer = StreamingBehaviour(audio_in_socket, audio_out_socket)
+    vad_agent = VADAgent("tcp://localhost:12345", False)
-    vad_streamer._ready = True
+    vad_agent.audio_out_socket = audio_out_socket
-    vad_streamer.agent = MagicMock()
+
-    for _ in audio_chunks:
+    # Use a fake model that marks most chunks as speech and ends with a few silences
-        await vad_streamer.run()
+    silence_padding = 5
+    probabilities = [1.0] * len(audio_chunks) + [0.0] * silence_padding
+    chunk_bytes = audio_chunks + [b"\x00" * len(audio_chunks[0])] * silence_padding
+    model_item = MagicMock()
+    model_item.item.side_effect = probabilities
+    vad_agent.model = MagicMock(return_value=model_item)
+
+    class DummyPoller:
+        def __init__(self, data, agent):
+            self.data = data
+            self.agent = agent
+
+        async def poll(self, timeout_ms=None):
+            if self.data:
+                return self.data.pop(0)
+            self.agent._running = False
+            return None
+
+    vad_agent.audio_in_poller = DummyPoller(chunk_bytes, vad_agent)
+    vad_agent._ready = True
+    vad_agent._running = True
+    vad_agent.i_since_speech = 0
+
+    await vad_agent._streaming_loop()
 
     audio_out_socket.send.assert_called()
     for args in audio_out_socket.send.call_args_list:

test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py

@@ -2,11 +2,10 @@ import json
 from unittest.mock import AsyncMock, MagicMock, patch
 
 import pytest
-from spade.message import Message
-
 from control_backend.agents.bdi.text_belief_extractor_agent.behaviours.text_belief_extractor_behaviour import (  # noqa: E501, We can't shorten this import.
     TextBeliefExtractorBehaviour,
 )
+from spade.message import Message
 
 
 @pytest.fixture

test/unit/agents/perception/vad_agent/test_vad_socket_poller.py

@@ -16,8 +16,8 @@ async def test_socket_poller_with_data(socket, mocker):
     socket_data = b"test"
     socket.recv.return_value = socket_data
 
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Poller")
-    mock_poller.return_value.poll.return_value = [(socket, zmq.POLLIN)]
+    mock_poller.return_value.poll = AsyncMock(return_value=[(socket, zmq.POLLIN)])
 
     poller = SocketPoller(socket)
     # Calling `poll` twice to be able to check that the poller is reused
@@ -35,8 +35,8 @@ async def test_socket_poller_with_data(socket, mocker):
 
 @pytest.mark.asyncio
 async def test_socket_poller_no_data(socket, mocker):
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Poller")
-    mock_poller.return_value.poll.return_value = []
+    mock_poller.return_value.poll = AsyncMock(return_value=[])
 
     poller = SocketPoller(socket)
     data = await poller.poll()

test/unit/agents/perception/vad_agent/test_vad_streaming.py

@@ -3,12 +3,7 @@ from unittest.mock import AsyncMock, MagicMock
 import numpy as np
 import pytest
 
-from control_backend.agents.perception.vad_agent import StreamingBehaviour
+from control_backend.agents.perception.vad_agent import VADAgent
-
-
-@pytest.fixture
-def audio_in_socket():
-    return AsyncMock()
 
 
 @pytest.fixture
@@ -17,22 +12,8 @@ def audio_out_socket():
 
 
 @pytest.fixture
-def mock_agent(mocker):
+def vad_agent(audio_out_socket):
-    """Fixture to create a mock BDIAgent."""
+    return VADAgent("tcp://localhost:5555", False)
-    agent = MagicMock()
-    agent.jid = "vad_agent@test"
-    return agent
-
-
-@pytest.fixture
-def streaming(audio_in_socket, audio_out_socket, mock_agent):
-    import torch
-
-    torch.hub.load.return_value = (..., ...)  # Mock
-    streaming = StreamingBehaviour(audio_in_socket, audio_out_socket)
-    streaming._ready = True
-    streaming.agent = mock_agent
-    return streaming
 
 
 @pytest.fixture(autouse=True)
@@ -61,25 +42,40 @@ async def simulate_streaming_with_probabilities(streaming, probabilities: list[f
     """
     model_item = MagicMock()
     model_item.item.side_effect = probabilities
-    streaming.model = MagicMock()
+    streaming.model = MagicMock(return_value=model_item)
-    streaming.model.return_value = model_item
 
-    audio_in_poller = AsyncMock()
+    # Prepare deterministic audio chunks and a poller that stops the loop when exhausted
-    audio_in_poller.poll.return_value = np.empty(shape=512, dtype=np.float32)
+    chunk_bytes = np.empty(shape=512, dtype=np.float32).tobytes()
-    streaming.audio_in_poller = audio_in_poller
+    chunks = [chunk_bytes for _ in probabilities]
 
-    for _ in probabilities:
+    class DummyPoller:
-        await streaming.run()
+        def __init__(self, data, agent):
+            self.data = data
+            self.agent = agent
+
+        async def poll(self, timeout_ms=None):
+            if self.data:
+                return self.data.pop(0)
+            # Stop the loop cleanly once we've consumed all chunks
+            self.agent._running = False
+            return None
+
+    streaming.audio_in_poller = DummyPoller(chunks, streaming)
+    streaming._ready = True
+    streaming._running = True
+
+    await streaming._streaming_loop()
 
 
 @pytest.mark.asyncio
-async def test_voice_activity_detected(audio_in_socket, audio_out_socket, streaming):
+async def test_voice_activity_detected(audio_out_socket, vad_agent):
     """
     Test a scenario where there is voice activity detected between silences.
     """
     speech_chunk_count = 5
     probabilities = [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] * 5
-    await simulate_streaming_with_probabilities(streaming, probabilities)
+    vad_agent.audio_out_socket = audio_out_socket
+    await simulate_streaming_with_probabilities(vad_agent, probabilities)
 
     audio_out_socket.send.assert_called_once()
     data = audio_out_socket.send.call_args[0][0]
@@ -88,7 +84,7 @@ async def test_voice_activity_detected(audio_in_socket, audio_out_socket, stream
 
 
 @pytest.mark.asyncio
-async def test_voice_activity_short_pause(audio_in_socket, audio_out_socket, streaming):
+async def test_voice_activity_short_pause(audio_out_socket, vad_agent):
     """
     Test a scenario where there is a short pause between speech, checking whether it ignores the
     short pause.
@@ -97,7 +93,8 @@ async def test_voice_activity_short_pause(audio_in_socket, audio_out_socket, str
     probabilities = (
         [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] + [1.0] * speech_chunk_count + [0.0] * 5
     )
-    await simulate_streaming_with_probabilities(streaming, probabilities)
+    vad_agent.audio_out_socket = audio_out_socket
+    await simulate_streaming_with_probabilities(vad_agent, probabilities)
 
     audio_out_socket.send.assert_called_once()
     data = audio_out_socket.send.call_args[0][0]
@@ -107,15 +104,22 @@ async def test_voice_activity_short_pause(audio_in_socket, audio_out_socket, str
 
 
 @pytest.mark.asyncio
-async def test_no_data(audio_in_socket, audio_out_socket, streaming):
+async def test_no_data(audio_out_socket, vad_agent):
     """
     Test a scenario where there is no data received. This should not cause errors.
     """
-    audio_in_poller = AsyncMock()
-    audio_in_poller.poll.return_value = None
-    streaming.audio_in_poller = audio_in_poller
 
-    await streaming.run()
+    class DummyPoller:
+        async def poll(self, timeout_ms=None):
+            vad_agent._running = False
+            return None
+
+    vad_agent.audio_out_socket = audio_out_socket
+    vad_agent.audio_in_poller = DummyPoller()
+    vad_agent._ready = True
+    vad_agent._running = True
+
+    await vad_agent._streaming_loop()
 
     audio_out_socket.send.assert_not_called()
-    assert len(streaming.audio_buffer) == 0
+    assert len(vad_agent.audio_buffer) == 0