chore: finalized tests, added queue
ref: N25B-387
This commit is contained in:
Pim Hutting
@@ -36,8 +36,11 @@ class ActuationReceiver(ReceiverBase):
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self._tts_service = None
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self._animation_service = None
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self._message_queue = Queue.Queue()
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self._gesture_queue = Queue.Queue()
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self.message_thread = Thread(target=self._handle_messages)
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self.message_thread.start()
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self.gesture_thread = Thread(target=self._handle_gestures)
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self.gesture_thread.start()
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def _handle_speech(self, message):
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"""
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@@ -86,6 +89,20 @@ class ActuationReceiver(ReceiverBase):
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pass
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logging.info("Message queue cleared.")
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def clear_gesture_queue(self):
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"""
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Safely drains all pending gestures from the gesture queue.
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"""
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logging.info("Gesture queue size: {}".format(self._gesture_queue.qsize()))
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try:
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while True:
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# Remove items one by one without waiting
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self._gesture_queue.get_nowait()
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except Queue.Empty:
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pass
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logging.info("Gesture queue cleared.")
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logging.info("Gesture queue size: {}".format(self._gesture_queue.qsize()))
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def _handle_gesture(self, message, is_single):
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"""
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@@ -127,12 +144,15 @@ class ActuationReceiver(ReceiverBase):
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# Play the gesture. Pepper comes with predefined animations like "Wave", "Greet", "Clap"
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# You can also create custom animations using Choregraphe and upload them to the robot.
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if (message.get("is_priority")):
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# Clear queue and play
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self.clear_gesture_queue()
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logging.debug("Force playing gesture immediately: {}".format(gesture))
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if is_single:
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logging.debug("Playing single gesture: {}".format(gesture))
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getattr(qi, "async")(self._animation_service.run, gesture)
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logging.debug("Adding single gesture to queue: {}".format(gesture))
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else:
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logging.debug("Playing tag gesture: {}".format(gesture))
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getattr(qi, "async")(self._animation_service.runTag, gesture)
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logging.debug("Adding tag gesture to queue: {}".format(gesture))
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self._gesture_queue.put(gesture)
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def handle_message(self, message):
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@@ -163,6 +183,17 @@ class ActuationReceiver(ReceiverBase):
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logging.warn("Lost connection to Pepper. Please check if you're connected to the local WiFi and restart this application.")
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state.exit_event.set()
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def _handle_gestures(self):
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while not state.exit_event.is_set():
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try:
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gesture = self._gesture_queue.get(timeout=0.1)
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self._animation_service.run(gesture)
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except Queue.Empty:
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pass
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except RuntimeError:
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logging.warn("Lost connection to Pepper. Please check if you're connected to the local WiFi and restart this application.")
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state.exit_event.set()
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def endpoint_description(self):
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"""
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Extend the default endpoint description with gesture tags.
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@@ -1,5 +1,6 @@
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import sys
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import time
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import mock
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import pytest
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import zmq
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@@ -375,10 +376,12 @@ def test_gesture_no_qi_session(zmq_context, mocker):
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def test_gesture_single_success(zmq_context, mocker):
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mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
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# Allow loops to run
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mock_state.exit_event.is_set.return_value = False
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mock_qi = mock.Mock()
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sys.modules["qi"] = mock_qi
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# Setup gesture settings
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mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
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mock_tags.single_gestures = ["wave"]
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@@ -389,14 +392,21 @@ def test_gesture_single_success(zmq_context, mocker):
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receiver = ActuationReceiver(zmq_context)
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receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
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mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
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getattr(mock_qi, "async").assert_called_once()
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assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
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assert getattr(mock_qi, "async").call_args[0][1] == "wave"
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time.sleep(0.2)
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mock_state.qi_session.service.assert_called_with("ALAnimationPlayer")
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mock_animation_service.run.assert_called_with("wave")
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# CLEANUP: Signal exit AND join threads
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mock_state.exit_event.is_set.return_value = True
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receiver.message_thread.join(timeout=1.0)
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receiver.gesture_thread.join(timeout=1.0)
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def test_gesture_tag_success(zmq_context, mocker):
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mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
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mock_state.exit_event.is_set.return_value = False
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mock_qi = mock.Mock()
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sys.modules["qi"] = mock_qi
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@@ -410,10 +420,15 @@ def test_gesture_tag_success(zmq_context, mocker):
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receiver = ActuationReceiver(zmq_context)
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receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
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mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
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getattr(mock_qi, "async").assert_called_once()
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assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.runTag
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assert getattr(mock_qi, "async").call_args[0][1] == "greeting"
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time.sleep(0.2)
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mock_state.qi_session.service.assert_called_with("ALAnimationPlayer")
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mock_animation_service.run.assert_called_with("greeting")
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# CLEANUP: Signal exit AND join threads
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mock_state.exit_event.is_set.return_value = True
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receiver.message_thread.join(timeout=1.0)
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receiver.gesture_thread.join(timeout=1.0)
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def test_handle_message_all_routes(zmq_context, mocker):
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@@ -449,25 +464,18 @@ def test_endpoint_description(zmq_context, mocker):
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def test_gesture_single_real_gesturetags(zmq_context, mocker):
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"""
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Uses the real GestureTags (no mocking) to ensure the receiver
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references GestureTags.single_gestures correctly.
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"""
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# Ensure qi session exists so we pass the early return
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mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
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mock_state.qi_session = mock.Mock()
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mock_state.exit_event.is_set.return_value = False
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# Mock qi.async to avoid real async calls
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mock_qi = mock.Mock()
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sys.modules["qi"] = mock_qi
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# Mock animation service
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mock_animation_service = mock.Mock()
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mock_state.qi_session.service.return_value = mock_animation_service
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receiver = ActuationReceiver(zmq_context)
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# Pick a real gesture from GestureTags.single_gestures
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assert len(GestureTags.single_gestures) > 0, "GestureTags.single_gestures must not be empty"
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gesture = GestureTags.single_gestures[0]
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@@ -476,8 +484,110 @@ def test_gesture_single_real_gesturetags(zmq_context, mocker):
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is_single=True,
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)
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mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
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getattr(mock_qi, "async").assert_called_once()
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assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
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assert getattr(mock_qi, "async").call_args[0][1] == gesture
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time.sleep(0.2)
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mock_state.qi_session.service.assert_called_with("ALAnimationPlayer")
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mock_animation_service.run.assert_called_with(gesture)
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# CLEANUP: Signal exit AND join threads
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mock_state.exit_event.is_set.return_value = True
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receiver.message_thread.join(timeout=1.0)
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receiver.gesture_thread.join(timeout=1.0)
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def test_clear_gesture_queue(mocker):
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# Prevent background threads from eating the items
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mocker.patch("threading.Thread")
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mock_zmq_ctx = mock.Mock()
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receiver = ActuationReceiver(mock_zmq_ctx)
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# Populate the queue
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receiver._gesture_queue.put("gesture1")
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receiver._gesture_queue.put("gesture2")
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assert receiver._gesture_queue.qsize() == 2
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# Clear the queue
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receiver.clear_gesture_queue()
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# Assert the queue is empty
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assert receiver._gesture_queue.qsize() == 0
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def test_gesture_priority_clears_queue(mocker):
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mocker.patch("threading.Thread")
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mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
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# Mock QI and Tags so valid checks pass
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mock_qi = mock.Mock()
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sys.modules["qi"] = mock_qi
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mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
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mock_tags.single_gestures = ["urgent_wave"]
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# Setup Animation Service
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mock_anim = mock.Mock()
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mock_state.qi_session.service.return_value = mock_anim
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mock_zmq_ctx = mock.Mock()
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receiver = ActuationReceiver(mock_zmq_ctx)
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# Pre-fill queue with "slow" gestures
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receiver._gesture_queue.put("slow_gesture_1")
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receiver._gesture_queue.put("slow_gesture_2")
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assert receiver._gesture_queue.qsize() == 2
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# Send priority gesture
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priority_msg = {
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"endpoint": "actuate/gesture/single",
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"data": "urgent_wave",
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"is_priority": True,
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}
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receiver._handle_gesture(priority_msg, is_single=True)
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# Assert old items are gone and only new one remains
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assert receiver._gesture_queue.qsize() == 1
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assert receiver._gesture_queue.get() == "urgent_wave"
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def test_handle_gestures_loop_empty(mocker):
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mocker.patch("threading.Thread")
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mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
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mock_zmq_ctx = mock.Mock()
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receiver = ActuationReceiver(mock_zmq_ctx)
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# Run loop exactly once
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mock_state.exit_event.is_set.side_effect = [False, True]
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# We don't put anything in the queue, so .get(timeout=0.1) will raise Queue.Empty.
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# The code should catch it and pass.
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receiver._handle_gestures()
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# If we reached here without raising an exception, the test passes.
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# We can assert that the queue is still valid/empty.
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assert receiver._gesture_queue.empty()
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def test_handle_gestures_runtime_error(mocker):
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mocker.patch("threading.Thread")
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mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
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mock_zmq_ctx = mock.Mock()
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receiver = ActuationReceiver(mock_zmq_ctx)
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# Run loop exactly once
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mock_state.exit_event.is_set.side_effect = [False, True]
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# Setup the service to fail
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mock_anim = mock.Mock()
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mock_anim.run.side_effect = RuntimeError("Wifi Lost")
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receiver._animation_service = mock_anim
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# Add item to trigger the service call
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receiver._gesture_queue.put("wave")
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receiver._handle_gestures()
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# Assert that the exit_event was triggered
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assert mock_state.exit_event.set.called
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