src/control_backend/agents/perception/visual_emotion_recognition_agent/visual_emotion_recognition_agent.py

@@ -3,7 +3,6 @@ import json
 import time
 from collections import Counter, defaultdict
 
-import cv2
 import numpy as np
 import zmq
 import zmq.asyncio as azmq
@@ -199,10 +198,10 @@ class VisualEmotionRecognitionAgent(BaseAgent):
         else:
             self.logger.debug(f"Ignoring message from unknown sender: {sender}")
 
-
     async def stop(self):
         """
         Clean up resources used by the agent.
         """
         self.video_in_socket.close()
-        await super().stop()
+        await super().stop()
+        

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -11,7 +11,6 @@ from control_backend.schemas.belief_message import Belief, BeliefMessage
 from control_backend.schemas.program import ConditionalNorm, Program
 from control_backend.schemas.ri_message import (
     GestureCommand,
-    PauseCommand,
     RIEndpoint,
     SpeechCommand,
 )

test/unit/agents/perception/visual_emotion_detection/test_visual_emotion_detection.py

@@ -0,0 +1,338 @@
+import asyncio
+import json
+import time
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import numpy as np
+import pytest
+import zmq
+from pydantic_core import ValidationError
+
+# Adjust the import path to match your project structure
+from control_backend.agents.perception.visual_emotion_recognition_agent.visual_emotion_recognition_agent import (  # noqa
+    VisualEmotionRecognitionAgent,
+)
+from control_backend.core.agent_system import InternalMessage
+
+# -----------------------------------------------------------------------------
+# Fixtures
+# -----------------------------------------------------------------------------
+
+@pytest.fixture
+def mock_settings():
+    with patch("control_backend.agents.perception.visual_emotion_recognition_agent.visual_emotion_recognition_agent.settings") as mock: # noqa
+        # Set default values required by the agent
+        mock.behaviour_settings.visual_emotion_recognition_window_duration_s = 5
+        mock.behaviour_settings.visual_emotion_recognition_min_frames_per_face = 3
+        mock.agent_settings.bdi_core_name = "bdi_core_agent"
+        mock.agent_settings.user_interrupt_name = "user_interrupt_agent"
+        yield mock
+
+@pytest.fixture
+def mock_deepface():
+    with patch("control_backend.agents.perception.visual_emotion_recognition_agent.visual_emotion_recognition_agent.DeepFaceEmotionRecognizer") as mock: # noqa
+        instance = mock.return_value
+        instance.sorted_dominant_emotions.return_value = []
+        yield instance
+
+@pytest.fixture
+def mock_zmq_context():
+    with patch("zmq.asyncio.Context.instance") as mock_ctx:
+        mock_socket = MagicMock()
+        # Mock socket methods to return None or AsyncMock for async methods
+        mock_socket.bind = MagicMock()
+        mock_socket.connect = MagicMock()
+        mock_socket.setsockopt = MagicMock()
+        mock_socket.setsockopt_string = MagicMock()
+        mock_socket.recv_multipart = AsyncMock()
+        mock_socket.close = MagicMock()
+        
+        mock_ctx.return_value.socket.return_value = mock_socket
+        yield mock_ctx
+
+@pytest.fixture
+def agent(mock_settings, mock_deepface, mock_zmq_context):
+    # Initialize agent with specific params to control testing
+    agent = VisualEmotionRecognitionAgent(
+        name="test_agent",
+        socket_address="tcp://localhost:5555",
+        bind=False,
+        timeout_ms=100,
+        window_duration=2,
+        min_frames_required=2
+    )
+    # Mock the internal send method from BaseAgent
+    agent.send = AsyncMock()
+    # Mock the add_behavior method from BaseAgent
+    agent.add_behavior = MagicMock()
+    # Mock the logger
+    agent.logger = MagicMock()
+    
+    return agent
+
+# -----------------------------------------------------------------------------
+# Tests
+# -----------------------------------------------------------------------------
+
+@pytest.mark.asyncio
+async def test_initialization(agent):
+    """Test that the agent initializes with correct attributes."""
+    assert agent.name == "test_agent"
+    assert agent.socket_address == "tcp://localhost:5555"
+    assert agent.socket_bind is False
+    assert agent.timeout_ms == 100
+    assert agent._paused.is_set()
+
+@pytest.mark.asyncio
+async def test_setup_connect(agent, mock_zmq_context, mock_deepface):
+    """Test setup routine when binding is False (connect)."""
+    agent.socket_bind = False
+    await agent.setup()
+
+    socket = agent.video_in_socket
+    socket.connect.assert_called_with("tcp://localhost:5555")
+    socket.bind.assert_not_called()
+    socket.setsockopt.assert_any_call(zmq.RCVHWM, 3)
+    socket.setsockopt.assert_any_call(zmq.RCVTIMEO, 100)
+    agent.add_behavior.assert_called_once()
+    assert agent.emotion_recognizer == mock_deepface
+
+@pytest.mark.asyncio
+async def test_setup_bind(agent, mock_zmq_context):
+    """Test setup routine when binding is True."""
+    agent.socket_bind = True
+    await agent.setup()
+
+    socket = agent.video_in_socket
+    socket.bind.assert_called_with("tcp://localhost:5555")
+    socket.connect.assert_not_called()
+
+@pytest.mark.asyncio
+async def test_emotion_update_loop_normal_flow(agent, mock_deepface):
+    """
+    Test the main loop logic:
+    1. Receive frames
+    2. Aggregate stats
+    3. Trigger window update
+    4. Call update_emotions
+    """
+    # Setup dependencies
+    await agent.setup()
+    agent._running = True
+    
+    # Create fake image data (10x10 pixels)
+    width, height = 10, 10
+    image_bytes = np.zeros((10, 10, 3), dtype=np.uint8).tobytes()
+    w_bytes = width.to_bytes(4, 'little')
+    h_bytes = height.to_bytes(4, 'little')
+    
+    # Mock ZMQ receive to return data 3 times, then stop the loop
+    # We use a side_effect on recv_multipart to simulate frames and then stop the loop
+    async def recv_side_effect():
+        if agent._running:
+            return w_bytes, h_bytes, image_bytes
+        raise asyncio.CancelledError()
+
+    agent.video_in_socket.recv_multipart.side_effect = recv_side_effect
+
+    # Mock DeepFace to return emotions
+    # Frame 1: Happy
+    # Frame 2: Happy
+    # Frame 3: Happy (Trigger window)
+    mock_deepface.sorted_dominant_emotions.side_effect = [
+        ["happy"], 
+        ["happy"], 
+        ["happy"]
+    ]
+    
+    # Mock update_emotions to verify it's called
+    agent.update_emotions = AsyncMock()
+
+    # Mock time.time to simulate window passage
+    # We need time to advance significantly after the frames are collected
+    start_time = time.time()
+    
+    with patch("time.time") as mock_time:
+        # Sequence of time calls:
+        # 1. Init next_window_time calculation
+        # 2. Loop 1 check
+        # 3. Loop 2 check
+        # 4. Loop 3 check (Make this one pass the window threshold)
+        mock_time.side_effect = [
+            start_time,          # init
+            start_time + 0.1,    # frame 1 check
+            start_time + 0.2,    # frame 2 check
+            start_time + 10.0,   # frame 3 check (triggers window reset)
+            start_time + 10.1,   # next init
+            start_time + 10.2    # break loop
+        ]
+        
+        # We need to manually break the infinite loop after the update
+        # We can do this by wrapping update_emotions to set _running = False
+        async def stop_loop(*args, **kwargs):
+            agent._running = False
+        
+        agent.update_emotions.side_effect = stop_loop
+
+        # Run the loop
+        await agent.emotion_update_loop()
+
+    # Verifications
+    assert agent.update_emotions.called
+    # Check that it detected 'happy' as dominant (2 required, 3 found)
+    call_args = agent.update_emotions.call_args
+    assert call_args is not None
+    # args: (prev_emotions, window_dominant_emotions)
+    assert call_args[0][1] == {"happy"} 
+
+@pytest.mark.asyncio
+async def test_emotion_update_loop_insufficient_frames(agent, mock_deepface):
+    """Test that emotions are NOT updated if min_frames_required is not met."""
+    await agent.setup()
+    agent._running = True
+    agent.min_frames_required = 5  # Set high requirement
+
+    width, height = 10, 10
+    image_bytes = np.zeros((10, 10, 3), dtype=np.uint8).tobytes()
+    w_bytes = width.to_bytes(4, 'little')
+    h_bytes = height.to_bytes(4, 'little')
+
+    agent.video_in_socket.recv_multipart.return_value = (w_bytes, h_bytes, image_bytes)
+    mock_deepface.sorted_dominant_emotions.return_value = ["sad"]
+    
+    agent.update_emotions = AsyncMock()
+
+    with patch("time.time") as mock_time:
+        # Time setup to trigger window processing immediately
+        mock_time.side_effect = [0, 100, 101] 
+        
+        # Stop loop after first pass
+        async def stop_loop(*args, **kwargs):
+            agent._running = False
+        agent.update_emotions.side_effect = stop_loop
+
+        await agent.emotion_update_loop()
+
+    # It should call update_emotions with EMPTY set because min frames (5) > detected (1)
+    call_args = agent.update_emotions.call_args
+    assert call_args[0][1] == set()
+
+@pytest.mark.asyncio
+async def test_emotion_update_loop_zmq_again_and_exception(agent):
+    """Test that the loop handles ZMQ timeouts (Again) and generic exceptions."""
+    await agent.setup()
+    agent._running = True
+
+    # Side effect: 
+    # 1. Raise ZMQ Again (Timeout) -> should log warning
+    # 2. Raise Generic Exception -> should log error
+    # 3. Raise CancelledError -> stop loop (simulating stop)
+    agent.video_in_socket.recv_multipart.side_effect = [
+        zmq.Again(),
+        RuntimeError("Random Failure"),
+        asyncio.CancelledError() # To break loop cleanly
+    ]
+
+    # We need to ensure the loop doesn't block on _paused
+    agent._paused.set()
+
+    # Run loop
+    try:
+        await agent.emotion_update_loop()
+    except asyncio.CancelledError:
+        pass
+
+@pytest.mark.asyncio
+async def test_update_emotions_logic(agent, mock_settings):
+    """Test the logic for calculating diffs and sending messages."""
+    agent.name = "viz_agent"
+    
+    # Case 1: No change
+    await agent.update_emotions({"happy"}, {"happy"})
+    agent.send.assert_not_called()
+
+    # Case 2: Remove 'happy', Add 'sad'
+    await agent.update_emotions({"happy"}, {"sad"})
+    
+    assert agent.send.called
+    call_args = agent.send.call_args
+    msg = call_args[0][0] # InternalMessage object
+    
+    assert msg.to == mock_settings.agent_settings.bdi_core_name
+    assert msg.sender == "viz_agent"
+    assert msg.thread == "beliefs"
+    
+    payload = json.loads(msg.body)
+    
+    # Check Created Beliefs
+    assert len(payload["create"]) == 1
+    assert payload["create"][0]["name"] == "emotion_detected"
+    assert payload["create"][0]["arguments"] == ["sad"]
+    
+    # Check Deleted Beliefs
+    assert len(payload["delete"]) == 1
+    assert payload["delete"][0]["name"] == "emotion_detected"
+    assert payload["delete"][0]["arguments"] == ["happy"]
+
+@pytest.mark.asyncio
+async def test_update_emotions_validation_error(agent):
+    """Test that ValidationErrors during Belief creation are caught."""
+    
+    # We patch Belief to raise ValidationError
+    with patch("control_backend.agents.perception.visual_emotion_recognition_agent.visual_emotion_recognition_agent.Belief") as MockBelief: # noqa
+        MockBelief.side_effect = ValidationError.from_exception_data("Simulated Error", [])
+        
+        # Try to update emotions
+        await agent.update_emotions(prev_emotions={"happy"}, emotions={"sad"})
+        
+        # Verify empty payload is sent (or payload with valid ones if mixed)
+        # In this case both failed, so payload lists should be empty
+        assert agent.send.called
+        msg = agent.send.call_args[0][0]
+        payload = json.loads(msg.body)
+        assert payload["create"] == []
+        assert payload["delete"] == []
+
+@pytest.mark.asyncio
+async def test_handle_message(agent, mock_settings):
+    """Test message handling for Pause/Resume."""
+    
+    # Setup
+    ui_name = mock_settings.agent_settings.user_interrupt_name
+    
+    # 1. PAUSE message
+    msg_pause = InternalMessage(to="me", sender=ui_name, body="PAUSE")
+    await agent.handle_message(msg_pause)
+    assert not agent._paused.is_set() # Should be cleared (paused)
+    agent.logger.info.assert_called_with("Pausing Visual Emotion Recognition processing.")
+
+    # 2. RESUME message
+    msg_resume = InternalMessage(to="me", sender=ui_name, body="RESUME")
+    await agent.handle_message(msg_resume)
+    assert agent._paused.is_set() # Should be set (running)
+
+    # 3. Unknown command
+    msg_unknown = InternalMessage(to="me", sender=ui_name, body="DANCE")
+    await agent.handle_message(msg_unknown)
+
+    # 4. Unknown sender
+    msg_random = InternalMessage(to="me", sender="random_guy", body="PAUSE")
+    await agent.handle_message(msg_random)
+
+@pytest.mark.asyncio
+async def test_stop(agent, mock_zmq_context):
+    """Test the stop method cleans up resources."""
+    # We need to mock super().stop(). Since we can't easily patch super(),
+    # and the provided BaseAgent code shows stop() just sets _running and cancels tasks,
+    # we can rely on the fact that VisualEmotionRecognitionAgent calls it.
+    
+    # However, since we provided a 'agent' fixture that mocks things, we should verify specific cleanups. # noqa
+    await agent.setup()
+    
+    with patch("control_backend.agents.BaseAgent.stop", new_callable=AsyncMock) as mock_super_stop:
+        await agent.stop()
+        
+        # Verify socket closed
+        agent.video_in_socket.close.assert_called_once()
+        # Verify parent stop called
+        mock_super_stop.assert_called_once()