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Gestures in the CB. #36

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9828273 merged 16 commits from feat/cb2ri-gestures into dev 2025-12-16 09:24:26 +00:00
Conversation 40 Commits 16 Files Changed 13 +209 -20
5 changed files with 209 additions and 20 deletions
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130
src/control_backend/agents/actuation/robot_gesture_agent.py
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@@ -86,8 +86,8 @@ class RobotGestureAgent(BaseAgent):
:param msg: The internal message containing the command.
"""
try:
speech_command = GestureCommand.model_validate_json(msg.body)
await self.pubsocket.send_json(speech_command.model_dump())
gesture_command = GestureCommand.model_validate_json(msg.body)
await self.pubsocket.send_json(gesture_command.model_dump())
except Exception:
self.logger.exception("Error processing internal message.")
@@ -107,3 +107,129 @@ class RobotGestureAgent(BaseAgent):
await self.pubsocket.send_json(message.model_dump())
except Exception:
self.logger.exception("Error processing ZMQ message.")
def availableTags(self):
"""
Returns the available gesture tags.
:return: List of available gesture tags.
"""
return [
"above",
"affirmative",
"afford",
"agitated",
"all",
"allright",
"alright",
"any",
"assuage",
"assuage",
"attemper",
"back",
"bashful",
"beg",
"beseech",
"blank",
"body language",
"bored",
"bow",
"but",
"call",
"calm",
"choose",
"choice",
"cloud",
"cogitate",
"cool",
"crazy",
"disappointed",
"down",
"earth",
"empty",
"embarrassed",
"enthusiastic",
"entire",
"estimate",
"except",
"exalted",
"excited",
"explain",
"far",
"field",
"floor",
"forlorn",
"friendly",
"front",
"frustrated",
"gentle",
"gift",
"give",
"ground",
"happy",
"hello",
"her",
"here",
"hey",
"hi",
"him",
"hopeless",
"hysterical",
"I",
"implore",
"indicate",
"joyful",
"me",
"meditate",
"modest",
"negative",
"nervous",
"no",
"not know",
"nothing",
"offer",
"ok",
"once upon a time",
"oppose",
"or",
"pacify",
"pick",
"placate",
"please",
"present",
"proffer",
"quiet",
"reason",
"refute",
"reject",
"rousing",
"sad",
"select",
"shamefaced",
"show",
"show sky",
"sky",
"soothe",
"sun",
"supplicate",
"tablet",
"tall",
"them",
"there",
"think",
"timid",
"top",
"unless",
"up",
"upstairs",
"void",
"warm",
"winner",
"yeah",
"yes",
"yoo-hoo",
"you",
"your",
"zero",
"zestful",
]

1
src/control_backend/agents/communication/ri_communication_agent.py
View File

@@ -193,6 +193,7 @@ class RICommunicationAgent(BaseAgent):
gesture_data=gesture_data,
)
await robot_speech_agent.start()
await asyncio.sleep(0.1) # Small delay
await robot_gesture_agent.start()
case _:
self.logger.warning("Unhandled negotiation id: %s", id)

18
src/control_backend/schemas/ri_message.py
View File

@@ -1,7 +1,7 @@
from enum import Enum
from typing import Any
from typing import Any, Literal
from pydantic import BaseModel
from pydantic import BaseModel, model_validator
class RIEndpoint(str, Enum):
@@ -48,5 +48,17 @@ class GestureCommand(RIMessage):
:ivar data: The id of the gesture to be executed.
"""
endpoint: RIEndpoint = RIEndpoint(RIEndpoint.GESTURE_TAG) or RIEndpoint(RIEndpoint.GESTURE_TAG)
endpoint: Literal[ # pyright: ignore[reportIncompatibleVariableOverride] - We validate this stricter rule ourselves
RIEndpoint.GESTURE_SINGLE, RIEndpoint.GESTURE_TAG
]
data: str
@model_validator(mode="after")
def check_endpoint(self):
allowed = {
RIEndpoint.GESTURE_SINGLE,
RIEndpoint.GESTURE_TAG,
}
if self.endpoint not in allowed:
raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
return self

48
test/unit/agents/communication/test_ri_communication_agent.py
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@@ -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

32
test/unit/schemas/test_ri_message.py
View File

@@ -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)