pepperplus-cb/test/unit/agents/actuation/test_robot_gesture_agent.py

import json
from unittest.mock import AsyncMock, MagicMock

import pytest
import zmq

from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
from control_backend.core.agent_system import InternalMessage
from control_backend.schemas.ri_message import RIEndpoint


@pytest.fixture
def zmq_context(mocker):
    mock_context = mocker.patch(
        "control_backend.agents.actuation.robot_gesture_agent.azmq.Context.instance"
    )
    mock_context.return_value = MagicMock()
    return mock_context


@pytest.mark.asyncio
async def test_setup_bind(zmq_context, mocker):
    fake_socket = zmq_context.return_value.socket.return_value
    agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=True)

    settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
    settings.zmq_settings.internal_gesture_rep_adress = "tcp://internal:5557"

    agent.add_behavior = MagicMock()

    await agent.setup()

    fake_socket.bind.assert_any_call("tcp://localhost:5556")
    fake_socket.connect.assert_any_call("tcp://internal:1234")
    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"send_gestures")
    assert agent.add_behavior.call_count == 2


@pytest.mark.asyncio
async def test_setup_connect(zmq_context, mocker):
    fake_socket = zmq_context.return_value.socket.return_value
    agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=False)

    settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
    settings.zmq_settings.internal_gesture_rep_adress = "tcp://internal:5557"

    agent.add_behavior = MagicMock()

    await agent.setup()

    fake_socket.connect.assert_any_call("tcp://localhost:5556")
    fake_socket.connect.assert_any_call("tcp://internal:1234")
    fake_socket.bind.assert_called()
    assert agent.add_behavior.call_count == 2


@pytest.mark.asyncio
async def test_handle_message_valid_gesture_tag():
    pubsocket = AsyncMock()
    agent = RobotGestureAgent(
        "robot_gesture",
        address="",
        gesture_tags=["hello"],
    )
    agent.pubsocket = pubsocket

    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))

    await agent.handle_message(msg)

    pubsocket.send_json.assert_awaited_once()


@pytest.mark.asyncio
async def test_handle_message_invalid_gesture_tag():
    pubsocket = AsyncMock()
    agent = RobotGestureAgent(
        "robot_gesture",
        address="",
        gesture_tags=["hello"],
    )
    agent.pubsocket = pubsocket

    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "nope"}
    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))

    await agent.handle_message(msg)

    pubsocket.send_json.assert_not_awaited()


@pytest.mark.asyncio
async def test_handle_message_invalid_payload_logged():
    pubsocket = AsyncMock()
    agent = RobotGestureAgent("robot_gesture", address="")
    agent.pubsocket = pubsocket
    agent.logger = MagicMock()

    msg = InternalMessage(to="robot", sender="tester", body="not json")

    await agent.handle_message(msg)

    pubsocket.send_json.assert_not_awaited()
    agent.logger.exception.assert_called_once()


@pytest.mark.asyncio
async def test_zmq_command_loop_valid_gesture():
    fake_socket = AsyncMock()

    async def recv_once():
        agent._running = False
        return b"command", json.dumps(
            {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
        ).encode()

    fake_socket.recv_multipart = recv_once
    fake_socket.send_json = AsyncMock()

    agent = RobotGestureAgent(
        "robot_gesture",
        address="",
        gesture_tags=["hello"],
    )
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket
    agent._running = True

    await agent._zmq_command_loop()

    fake_socket.send_json.assert_awaited_once()


@pytest.mark.asyncio
async def test_zmq_command_loop_invalid_tag():
    fake_socket = AsyncMock()

    async def recv_once():
        agent._running = False
        return b"command", json.dumps(
            {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid"}
        ).encode()

    fake_socket.recv_multipart = recv_once
    fake_socket.send_json = AsyncMock()

    agent = RobotGestureAgent(
        "robot_gesture",
        address="",
        gesture_tags=["hello"],
    )
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket
    agent._running = True

    await agent._zmq_command_loop()

    fake_socket.send_json.assert_not_awaited()


@pytest.mark.asyncio
async def test_zmq_command_loop_ignores_send_gestures_topic():
    fake_socket = AsyncMock()

    async def recv_once():
        agent._running = False
        return b"send_gestures", b"{}"

    fake_socket.recv_multipart = recv_once
    fake_socket.send_json = AsyncMock()

    agent = RobotGestureAgent("robot_gesture", address="")
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket
    agent._running = True

    await agent._zmq_command_loop()

    fake_socket.send_json.assert_not_awaited()


@pytest.mark.asyncio
async def test_fetch_gestures_tags():
    fake_repsocket = AsyncMock()

    async def recv_once():
        agent._running = False
        return {"type": "tags"}

    fake_repsocket.recv_json = recv_once
    fake_repsocket.send_json = AsyncMock()

    agent = RobotGestureAgent(
        "robot_gesture",
        address="",
        gesture_tags=["hello", "yes", "no"],
    )
    agent.repsocket = fake_repsocket
    agent._running = True

    await agent._fetch_gestures_loop()

    fake_repsocket.send_json.assert_awaited_once_with({"tags": ["hello", "yes", "no"]})


@pytest.mark.asyncio
async def test_fetch_gestures_basic():
    fake_repsocket = AsyncMock()

    async def recv_once():
        agent._running = False
        return {"type": "basic"}

    fake_repsocket.recv_json = recv_once
    fake_repsocket.send_json = AsyncMock()

    agent = RobotGestureAgent(
        "robot_gesture",
        address="",
        gesture_basic=["wave", "point"],
    )
    agent.repsocket = fake_repsocket
    agent._running = True

    await agent._fetch_gestures_loop()

    fake_repsocket.send_json.assert_awaited_once_with({"basic_gestures": ["wave", "point"]})


@pytest.mark.asyncio
async def test_fetch_gestures_unknown_type():
    fake_repsocket = AsyncMock()

    async def recv_once():
        agent._running = False
        return {"type": "unknown"}

    fake_repsocket.recv_json = recv_once
    fake_repsocket.send_json = AsyncMock()

    agent = RobotGestureAgent("robot_gesture", address="")
    agent.repsocket = fake_repsocket
    agent._running = True

    await agent._fetch_gestures_loop()

    fake_repsocket.send_json.assert_awaited_once_with({})