Merge new implementation of robot ri api with unit tests into dev. #6

2025-10-22T09:18:28Z

9828273 commented

2025-10-22 09:18:28 +00:00

(Migrated from git.science.uu.nl)

This merge adds the new agent structure into dev, focussing on the robot ri api. It includes unit tests and communication agents that check the respective sockets and can handle negotiation for the ports and binds.

In order to test this merge you should do the following:

Switch branch
UV sync
Create a certificate for localhost and pass it to prosody
Run the pytest (with coverage analysis)
Run the python script to assure startup

To use the certificate follow these steps (In the correct map:):

sudo prosodyctl cert generate localhost Generates a certificate, asking you for the parameters...
You need to make sure that commonName has (localHost) next to it, or enter it yourself. The rest of the parameters can
be the default value, by pressing Enter.
do cp /var/lib/prosody/localhost.crt /etc/prosody/certs/localhost.crt and cp /var/lib/prosody/localhost.key /etc/prosody/certs/localhost.key to copy the certificate and key to the correct map.
do sudo chown prosody /etc/prosody/certs/localhost.{key,crt} to change 'ownership' to prosody and enable the certificate.

(If any of these steps need additional permissions, make sure to use sudo before the command)

In order to test this environment you can use the pytest library (make sure you are in the virtual environment):
─ PYTHONPATH=src pytest test/
If you want additional feedback on coverage you can use this command:
─ PYTHONPATH=src pytest --cov=control_backend.agents.ri_communication_agent --cov=control_backend.agents.ri_command_agent --cov-report=term-missing test/

In order to approve of this merge you can follow this checklist:

This code follows the style guide.
The unit tests cover 100% of communication/commands agent code and all pass.
Starting the code using uv run fastapi dev src/control_backend/main.py should result in the following log:

INFO:uvicorn.error:Waiting for application startup.
INFO:control_backend.main:PepperPlus starting up.
INFO:control_backend.main:Internal publishing socket bound to <zmq.asyncio.Socket(zmq.PUB) at 0x7d53ea34ecf0>
INFO:slixmpp.features.feature_bind.bind:JID set to: ri_communication_agent@localhost/SZOtrUloUo4F
INFO:spade.Agent:Agent ri_communication_agent@localhost connected and authenticated.
INFO:control_backend.agents.ri_communication_agent:Setting up ri_communication_agent@localhost

and after initializing with the RI, the message stream should look like this:

INFO:spade.Agent:Agent ri_communication_agent@localhost connected and authenticated.
INFO:control_backend.agents.ri_communication_agent:Setting up ri_communication_agent@localhost
INFO:slixmpp.features.feature_bind.bind:JID set to: ri_command_agent@localhost/qP7S5haFKc4g
INFO:spade.Agent:Agent ri_command_agent@localhost connected and authenticated.
INFO:control_backend.agents.ri_command_agent:Setting up ri_command_agent@localhost
INFO:control_backend.agents.ri_command_agent:Finished setting up ri_command_agent@localhost
WARNING:control_backend.agents.ri_communication_agent:Unhandled negotiation id: video
INFO:control_backend.agents.ri_communication_agent:Finished setting up ri_communication_agent@localhost
      INFO   Application startup complete.
INFO:uvicorn.error:Application startup complete.
INFO:control_backend.agents.ri_communication_agent:Received message "{'endpoint': 'ping', 'data': {'id': 'e.g. some reference id'}}"
INFO:control_backend.agents.ri_communication_agent:Received message "{'endpoint': 'ping', 'data': {'id': 'e.g. some reference id'}}"
etc..

This means that the agents are correctly setup, and that the ping system is working correctly.

ref:N25B-170
ref:N25B-205

This merge adds the new agent structure into dev, focussing on the robot ri api. It includes unit tests and communication agents that check the respective sockets and can handle negotiation for the ports and binds. In order to test this merge you should do the following: - Switch branch - UV sync - Create a certificate for localhost and pass it to prosody - Run the pytest (with coverage analysis) - Run the python script to assure startup To use the certificate follow these steps (In the correct map:): - `sudo prosodyctl cert generate localhost` Generates a certificate, asking you for the parameters... - You need to make sure that `commonName` has `(localHost)` next to it, or enter it yourself. The rest of the parameters can be the default value, by pressing `Enter`. - do `cp /var/lib/prosody/localhost.crt /etc/prosody/certs/localhost.crt` and `cp /var/lib/prosody/localhost.key /etc/prosody/certs/localhost.key` to copy the certificate and key to the correct map. - do `sudo chown prosody /etc/prosody/certs/localhost.{key,crt}` to change 'ownership' to prosody and enable the certificate. (If any of these steps need additional permissions, make sure to use `sudo` before the command) In order to test this environment you can use the pytest library (make sure you are in the virtual environment): ─ `PYTHONPATH=src pytest test/` If you want additional feedback on coverage you can use this command: ─ `PYTHONPATH=src pytest --cov=control_backend.agents.ri_communication_agent --cov=control_backend.agents.ri_command_agent --cov-report=term-missing test/` In order to approve of this merge you can follow this checklist: - [ ] This code follows the style guide. - [ ] The unit tests cover 100% of communication/commands agent code and all pass. - [ ] Starting the code using `uv run fastapi dev src/control_backend/main.py` should result in the following log: ``` INFO:uvicorn.error:Waiting for application startup. INFO:control_backend.main:PepperPlus starting up. INFO:control_backend.main:Internal publishing socket bound to <zmq.asyncio.Socket(zmq.PUB) at 0x7d53ea34ecf0> INFO:slixmpp.features.feature_bind.bind:JID set to: ri_communication_agent@localhost/SZOtrUloUo4F INFO:spade.Agent:Agent ri_communication_agent@localhost connected and authenticated. INFO:control_backend.agents.ri_communication_agent:Setting up ri_communication_agent@localhost ``` and after initializing with the RI, the message stream should look like this: ``` INFO:spade.Agent:Agent ri_communication_agent@localhost connected and authenticated. INFO:control_backend.agents.ri_communication_agent:Setting up ri_communication_agent@localhost INFO:slixmpp.features.feature_bind.bind:JID set to: ri_command_agent@localhost/qP7S5haFKc4g INFO:spade.Agent:Agent ri_command_agent@localhost connected and authenticated. INFO:control_backend.agents.ri_command_agent:Setting up ri_command_agent@localhost INFO:control_backend.agents.ri_command_agent:Finished setting up ri_command_agent@localhost WARNING:control_backend.agents.ri_communication_agent:Unhandled negotiation id: video INFO:control_backend.agents.ri_communication_agent:Finished setting up ri_communication_agent@localhost INFO Application startup complete. INFO:uvicorn.error:Application startup complete. INFO:control_backend.agents.ri_communication_agent:Received message "{'endpoint': 'ping', 'data': {'id': 'e.g. some reference id'}}" INFO:control_backend.agents.ri_communication_agent:Received message "{'endpoint': 'ping', 'data': {'id': 'e.g. some reference id'}}" etc.. ``` This means that the agents are correctly setup, and that the ping system is working correctly. ref:N25B-170 ref:N25B-205

9828273 commented

2025-10-22 09:18:28 +00:00

(Migrated from git.science.uu.nl)

assigned to @9828273

k.marinus commented

2025-10-22 10:25:19 +00:00

(Migrated from git.science.uu.nl)

.vscode/ should be added to the .gitignore I think.

The test/ directory structure should mirror that of src/. This means that your tests should be under test/control_backend/agents/...

.vscode/ should be added to the .gitignore I think. The test/ directory structure should mirror that of src/. This means that your tests should be under test/control_backend/agents/...

9828273 commented

2025-10-22 10:41:51 +00:00

(Migrated from git.science.uu.nl)

added 1 commit

d71cb605 - fix: gitignore + testing map structure