feat: implemented force speech functionality in RI and refactored actuation_receiver tests

Before actuation_receiver tests started a receiver with real zmq context. This led to flaky tests because of port congestion issues.

ref: N25B-386

test/unit/test_actuation_receiver.py

@@ -5,6 +5,7 @@ import pytest
 import zmq
 import Queue
 from robot_interface.endpoints.actuation_receiver import ActuationReceiver
+from robot_interface.endpoints.gesture_settings import GestureTags
 
 
 @pytest.fixture
@@ -328,4 +329,155 @@ def test_clear_queue(mocker):
     receiver.clear_queue()
 
     # Assert the queue is empty
-    assert receiver._message_queue.qsize() == 0
+    assert receiver._message_queue.qsize() == 0
+
+def test_gesture_no_data(zmq_context, mocker):
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": ""}, True)
+    # Just ensuring no crash
+
+
+def test_gesture_invalid_data(zmq_context, mocker):
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": 123}, True)
+    # No crash expected
+
+
+def test_gesture_single_not_found(zmq_context, mocker):
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.single_gestures = ["wave", "bow"]  # allowed single gestures
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "unknown_gesture"}, True)
+    # No crash expected
+
+
+def test_gesture_tag_not_found(zmq_context, mocker):
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.tags = ["happy", "sad"]
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "not_a_tag"}, False)
+    # No crash expected
+
+
+def test_gesture_no_qi_session(zmq_context, mocker):
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_state.qi_session = None
+
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.single_gestures = ["hello"]
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "hello"}, True)
+    # No crash, path returns early
+
+
+def test_gesture_single_success(zmq_context, mocker):
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    # Setup gesture settings
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.single_gestures = ["wave"]
+
+    mock_animation_service = mock.Mock()
+    mock_state.qi_session = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_animation_service
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/single", "data": "wave"}, True)
+
+    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
+    getattr(mock_qi, "async").assert_called_once()
+    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
+    assert getattr(mock_qi, "async").call_args[0][1] == "wave"
+
+
+def test_gesture_tag_success(zmq_context, mocker):
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.tags = ["greeting"]
+
+    mock_animation_service = mock.Mock()
+    mock_state.qi_session = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_animation_service
+
+    receiver = ActuationReceiver(zmq_context)
+    receiver._handle_gesture({"endpoint": "actuate/gesture/tag", "data": "greeting"}, False)
+
+    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
+    getattr(mock_qi, "async").assert_called_once()
+    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.runTag
+    assert getattr(mock_qi, "async").call_args[0][1] == "greeting"
+
+
+def test_handle_message_all_routes(zmq_context, mocker):
+    """
+    Ensures all handle_message endpoint branches route correctly.
+    """
+    receiver = ActuationReceiver(zmq_context)
+
+    mock_speech = mocker.patch.object(receiver, "_handle_speech")
+    mock_gesture = mocker.patch.object(receiver, "_handle_gesture")
+
+    receiver.handle_message({"endpoint": "actuate/speech", "data": "hi"})
+    receiver.handle_message({"endpoint": "actuate/gesture/tag", "data": "greeting"})
+    receiver.handle_message({"endpoint": "actuate/gesture/single", "data": "wave"})
+
+    mock_speech.assert_called_once()
+    assert mock_gesture.call_count == 2
+
+
+def test_endpoint_description(zmq_context, mocker):
+    mock_tags = mocker.patch("robot_interface.endpoints.actuation_receiver.GestureTags")
+    mock_tags.tags = ["happy"]
+    mock_tags.single_gestures = ["wave"]
+
+    receiver = ActuationReceiver(zmq_context)
+    desc = receiver.endpoint_description()
+
+    assert "gestures" in desc
+    assert desc["gestures"] == ["happy"]
+
+    assert "single_gestures" in desc
+    assert desc["single_gestures"] == ["wave"]
+
+
+def test_gesture_single_real_gesturetags(zmq_context, mocker):
+    """
+    Uses the real GestureTags (no mocking) to ensure the receiver
+    references GestureTags.single_gestures correctly.
+    """
+    # Ensure qi session exists so we pass the early return
+    mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
+    mock_state.qi_session = mock.Mock()
+
+    # Mock qi.async to avoid real async calls
+    mock_qi = mock.Mock()
+    sys.modules["qi"] = mock_qi
+
+    # Mock animation service
+    mock_animation_service = mock.Mock()
+    mock_state.qi_session.service.return_value = mock_animation_service
+
+    receiver = ActuationReceiver(zmq_context)
+
+    # Pick a real gesture from GestureTags.single_gestures
+    assert len(GestureTags.single_gestures) > 0, "GestureTags.single_gestures must not be empty"
+    gesture = GestureTags.single_gestures[0]
+
+    receiver._handle_gesture(
+        {"endpoint": "actuate/gesture/single", "data": gesture},
+        is_single=True,
+    )
+
+    mock_state.qi_session.service.assert_called_once_with("ALAnimationPlayer")
+    getattr(mock_qi, "async").assert_called_once()
+    assert getattr(mock_qi, "async").call_args[0][0] == mock_animation_service.run
+    assert getattr(mock_qi, "async").call_args[0][1] == gesture
+