Refactor voice control core and robot behavior
This commit is contained in:
cristhian aguilera
1
dora_voice_control/tests/__init__.py
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1
dora_voice_control/tests/__init__.py
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"""Tests for dora_voice_control."""
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624
dora_voice_control/tests/test_scene_state.py
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624
dora_voice_control/tests/test_scene_state.py
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"""Tests for scene state with spatial relationships."""
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import sys
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from pathlib import Path
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import pytest
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# Add parent directory to path for direct import from core.scene
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sys.path.insert(0, str(Path(__file__).parent.parent / "dora_voice_control" / "core"))
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sys.path.insert(0, str(Path(__file__).parent.parent))
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from scene import SceneState, SceneObject
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class TestSceneObjectBasics:
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"""Test SceneObject dataclass."""
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def test_create_scene_object(self):
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"""Test basic SceneObject creation."""
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obj = SceneObject(
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id="cube_red_1",
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object_type="cube",
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color="red",
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position_mm=[100.0, 200.0, 50.0],
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height_mm=30.0,
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)
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assert obj.id == "cube_red_1"
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assert obj.object_type == "cube"
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assert obj.color == "red"
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assert obj.position_mm == [100.0, 200.0, 50.0]
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assert obj.height_mm == 30.0
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assert obj.source == "detected" # default
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def test_center_property(self):
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"""Test center property is alias for position_mm."""
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obj = SceneObject(
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id="obj1",
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object_type="cube",
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color="blue",
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position_mm=[10.0, 20.0, 30.0],
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)
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assert obj.center == obj.position_mm
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def test_to_dict(self):
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"""Test to_dict serialization."""
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obj = SceneObject(
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id="test_1",
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object_type="cylinder",
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color="yellow",
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size="big",
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position_mm=[1.0, 2.0, 3.0],
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height_mm=40.0,
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source="config",
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)
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d = obj.to_dict()
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assert d["id"] == "test_1"
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assert d["object_type"] == "cylinder"
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assert d["color"] == "yellow"
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assert d["size"] == "big"
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assert d["position_mm"] == [1.0, 2.0, 3.0]
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assert d["height_mm"] == 40.0
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assert d["source"] == "config"
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class TestSceneStateBasics:
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"""Test basic SceneState operations."""
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def test_add_and_get(self):
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"""Test adding and retrieving objects."""
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scene = SceneState()
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obj = SceneObject(
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id="cube_red_1",
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object_type="cube",
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color="red",
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position_mm=[100.0, 200.0, 50.0],
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)
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assert scene.add(obj) is True
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retrieved = scene.get("cube_red_1")
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assert retrieved is not None
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assert retrieved.id == "cube_red_1"
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def test_add_duplicate_fails(self):
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"""Test adding duplicate ID fails."""
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scene = SceneState()
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obj1 = SceneObject(id="obj1", object_type="cube", color="red")
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obj2 = SceneObject(id="obj1", object_type="cylinder", color="blue")
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assert scene.add(obj1) is True
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assert scene.add(obj2) is False
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def test_delete(self):
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"""Test deleting objects."""
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scene = SceneState()
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obj = SceneObject(id="to_delete", object_type="cube", color="red")
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scene.add(obj)
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assert scene.get("to_delete") is not None
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assert scene.delete("to_delete") is True
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assert scene.get("to_delete") is None
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def test_delete_nonexistent(self):
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"""Test deleting non-existent object returns False."""
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scene = SceneState()
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assert scene.delete("nonexistent") is False
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def test_update(self):
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"""Test updating object properties."""
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scene = SceneState()
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obj = SceneObject(
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id="to_update",
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object_type="cube",
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color="red",
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position_mm=[0.0, 0.0, 0.0],
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)
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scene.add(obj)
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assert scene.update("to_update", color="blue", position_mm=[1.0, 2.0, 3.0])
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updated = scene.get("to_update")
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assert updated.color == "blue"
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assert updated.position_mm == [1.0, 2.0, 3.0]
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def test_get_all(self):
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"""Test getting all objects."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red"))
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scene.add(SceneObject(id="b", object_type="cube", color="blue"))
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all_objs = scene.get_all()
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assert len(all_objs) == 2
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ids = {o.id for o in all_objs}
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assert ids == {"a", "b"}
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def test_count(self):
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"""Test object count."""
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scene = SceneState()
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assert scene.count() == 0
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scene.add(SceneObject(id="a", object_type="cube", color="red"))
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assert scene.count() == 1
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scene.add(SceneObject(id="b", object_type="cube", color="blue"))
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assert scene.count() == 2
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def test_clear(self):
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"""Test clearing all objects."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red"))
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scene.add(SceneObject(id="b", object_type="cube", color="blue"))
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scene.clear()
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assert scene.count() == 0
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class TestSceneStateQuery:
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"""Test SceneState query operations."""
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def test_query_by_type(self):
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"""Test querying by object type."""
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scene = SceneState()
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scene.add(SceneObject(id="cube1", object_type="cube", color="red"))
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scene.add(SceneObject(id="cyl1", object_type="cylinder", color="red"))
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scene.add(SceneObject(id="cube2", object_type="cube", color="blue"))
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cubes = scene.query(object_type="cube")
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assert len(cubes) == 2
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assert all(o.object_type == "cube" for o in cubes)
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def test_query_by_color(self):
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"""Test querying by color."""
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scene = SceneState()
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scene.add(SceneObject(id="r1", object_type="cube", color="red"))
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scene.add(SceneObject(id="r2", object_type="cylinder", color="red"))
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scene.add(SceneObject(id="b1", object_type="cube", color="blue"))
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reds = scene.query(color="red")
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assert len(reds) == 2
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assert all(o.color == "red" for o in reds)
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def test_query_by_size(self):
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"""Test querying by size."""
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scene = SceneState()
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scene.add(SceneObject(id="big1", object_type="cube", color="red", size="big"))
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scene.add(SceneObject(id="small1", object_type="cube", color="blue", size="small"))
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big = scene.query(size="big")
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assert len(big) == 1
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assert big[0].id == "big1"
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def test_query_by_source(self):
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"""Test querying by source."""
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scene = SceneState()
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scene.add(SceneObject(id="d1", object_type="cube", color="red", source="detected"))
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scene.add(SceneObject(id="c1", object_type="box", color="blue", source="config"))
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detected = scene.query(source="detected")
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assert len(detected) == 1
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assert detected[0].id == "d1"
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def test_query_multiple_criteria(self):
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"""Test querying with multiple criteria."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red", size="big"))
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scene.add(SceneObject(id="b", object_type="cube", color="red", size="small"))
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scene.add(SceneObject(id="c", object_type="cube", color="blue", size="big"))
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results = scene.query(object_type="cube", color="red", size="big")
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assert len(results) == 1
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assert results[0].id == "a"
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def test_query_no_matches(self):
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"""Test query with no matches returns empty list."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red"))
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results = scene.query(color="purple")
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assert results == []
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class TestSceneStateRelationships:
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"""Test spatial relationship methods."""
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def test_set_on_top_of(self):
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"""Test manually setting stacking relationship."""
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scene = SceneState()
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scene.add(SceneObject(id="bottom", object_type="cube", color="red"))
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scene.add(SceneObject(id="top", object_type="cube", color="blue"))
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assert scene.set_on_top_of("top", "bottom") is True
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top = scene.get("top")
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assert top.on_top_of == "bottom"
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def test_set_on_top_of_invalid(self):
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"""Test setting relationship with invalid IDs."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red"))
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# Non-existent top object
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assert scene.set_on_top_of("nonexistent", "a") is False
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# Non-existent bottom object
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assert scene.set_on_top_of("a", "nonexistent") is False
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def test_get_object_below(self):
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"""Test getting object below."""
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scene = SceneState()
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scene.add(SceneObject(id="bottom", object_type="cube", color="red"))
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scene.add(SceneObject(id="top", object_type="cube", color="blue", on_top_of="bottom"))
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below = scene.get_object_below("top")
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assert below is not None
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assert below.id == "bottom"
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def test_get_objects_above(self):
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"""Test getting objects stacked on top."""
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scene = SceneState()
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scene.add(SceneObject(id="base", object_type="cube", color="red"))
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scene.add(SceneObject(id="middle", object_type="cube", color="blue", on_top_of="base"))
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scene.add(SceneObject(id="side", object_type="cube", color="yellow", on_top_of="base"))
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above = scene.get_objects_above("base")
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assert len(above) == 2
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ids = {o.id for o in above}
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assert ids == {"middle", "side"}
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def test_effective_height_no_stack(self):
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"""Test effective height for single object."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red", height_mm=30.0))
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assert scene.effective_height("a") == 30.0
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def test_effective_height_stacked(self):
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"""Test effective height for stacked objects."""
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scene = SceneState()
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scene.add(SceneObject(id="bottom", object_type="cube", color="red", height_mm=30.0))
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scene.add(SceneObject(id="top", object_type="cube", color="blue", height_mm=25.0, on_top_of="bottom"))
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assert scene.effective_height("bottom") == 30.0
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assert scene.effective_height("top") == 55.0 # 30 + 25
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def test_get_stack(self):
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"""Test getting full stack."""
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scene = SceneState()
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scene.add(SceneObject(id="bottom", object_type="cube", color="red"))
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scene.add(SceneObject(id="middle", object_type="cube", color="blue", on_top_of="bottom"))
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scene.add(SceneObject(id="top", object_type="cube", color="yellow", on_top_of="middle"))
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stack = scene.get_stack("middle")
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assert len(stack) == 3
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assert stack[0].id == "bottom"
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assert stack[1].id == "middle"
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assert stack[2].id == "top"
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def test_delete_clears_relationships(self):
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"""Test that deleting object clears relationships pointing to it."""
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scene = SceneState()
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scene.add(SceneObject(id="a", object_type="cube", color="red"))
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scene.add(SceneObject(id="b", object_type="cube", color="blue", on_top_of="a"))
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assert scene.get("b").on_top_of == "a"
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scene.delete("a")
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obj_b = scene.get("b")
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assert obj_b.on_top_of is None # Relationship cleared
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class TestSceneStateStackingInference:
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"""Test automatic stacking inference from positions."""
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def test_infer_stacking_simple(self):
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"""Test basic stacking inference."""
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scene = SceneState()
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# Bottom cube at z=30
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scene.add(SceneObject(
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id="bottom",
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object_type="cube",
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color="red",
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position_mm=[0.0, 0.0, 30.0],
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height_mm=30.0,
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bbox_mm=[-15.0, -15.0, 15.0, 15.0],
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))
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# Top cube at z=60 (30 + 30 = 60, sitting on bottom)
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scene.add(SceneObject(
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id="top",
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object_type="cube",
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color="blue",
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position_mm=[0.0, 0.0, 60.0],
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height_mm=30.0,
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bbox_mm=[-15.0, -15.0, 15.0, 15.0],
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))
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scene.infer_relationships()
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top = scene.get("top")
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assert top.on_top_of == "bottom"
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def test_infer_stacking_no_overlap(self):
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"""Test that objects without horizontal overlap are not stacked."""
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scene = SceneState()
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# Object at x=0
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scene.add(SceneObject(
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id="a",
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object_type="cube",
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color="red",
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position_mm=[0.0, 0.0, 30.0],
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height_mm=30.0,
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bbox_mm=[-15.0, -15.0, 15.0, 15.0],
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))
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# Object at x=100 (no overlap), same z would indicate stack
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scene.add(SceneObject(
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id="b",
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object_type="cube",
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color="blue",
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position_mm=[100.0, 0.0, 60.0],
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height_mm=30.0,
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bbox_mm=[85.0, -15.0, 115.0, 15.0],
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))
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scene.infer_relationships()
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b = scene.get("b")
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assert b.on_top_of is None # No stacking - no overlap
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def test_infer_stacking_via_replace_detected(self):
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"""Test stacking is inferred after replace_detected."""
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scene = SceneState()
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scene.replace_detected([
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{
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"object_type": "cube",
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"color": "red",
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"position_mm": [0.0, 0.0, 30.0],
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"height_mm": 30.0,
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"bbox_mm": [-15.0, -15.0, 15.0, 15.0],
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},
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{
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"object_type": "cube",
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"color": "blue",
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"position_mm": [0.0, 0.0, 60.0], # z = 30 + 30
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"height_mm": 30.0,
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"bbox_mm": [-15.0, -15.0, 15.0, 15.0],
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},
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])
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# Should have auto-inferred the stacking
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blues = scene.query(color="blue")
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assert len(blues) == 1
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assert blues[0].on_top_of is not None
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class TestSceneStateDetectorIntegration:
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"""Test detector integration methods."""
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def test_replace_detected_basic(self):
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"""Test replacing detected objects."""
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scene = SceneState()
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scene.replace_detected([
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{"object_type": "cube", "color": "red", "position_mm": [1.0, 2.0, 3.0]},
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{"object_type": "cylinder", "color": "blue"},
|
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])
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assert scene.count() == 2
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all_objs = scene.get_all()
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assert all(o.source == "detected" for o in all_objs)
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def test_replace_detected_keeps_config(self):
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"""Test that replace_detected keeps config objects."""
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scene = SceneState()
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# Add a config object
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scene.add(SceneObject(
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id="config_box_1",
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object_type="box",
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color="yellow",
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source="config",
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))
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# Replace detected
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scene.replace_detected([
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{"object_type": "cube", "color": "red"},
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])
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# Config object should still be there
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assert scene.get("config_box_1") is not None
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config_objs = scene.query(source="config")
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assert len(config_objs) == 1
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# Detected object should be added
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detected = scene.query(source="detected")
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assert len(detected) == 1
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def test_replace_detected_replaces_old_detected(self):
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"""Test that replace_detected replaces previous detected objects."""
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scene = SceneState()
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# First detection
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scene.replace_detected([
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||||
{"object_type": "cube", "color": "red"},
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||||
{"object_type": "cube", "color": "blue"},
|
||||
])
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||||
assert len(scene.query(source="detected")) == 2
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||||
# Second detection
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||||
scene.replace_detected([
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||||
{"object_type": "cylinder", "color": "green"},
|
||||
])
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||||
detected = scene.query(source="detected")
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||||
assert len(detected) == 1
|
||||
assert detected[0].object_type == "cylinder"
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||||
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||||
def test_replace_detected_generates_ids(self):
|
||||
"""Test that replace_detected generates unique IDs."""
|
||||
scene = SceneState()
|
||||
|
||||
scene.replace_detected([
|
||||
{"object_type": "cube", "color": "red"},
|
||||
{"object_type": "cube", "color": "red"},
|
||||
])
|
||||
|
||||
all_objs = scene.get_all()
|
||||
ids = [o.id for o in all_objs]
|
||||
assert len(ids) == len(set(ids)) # All IDs should be unique
|
||||
|
||||
def test_clear_detected(self):
|
||||
"""Test clearing only detected objects."""
|
||||
scene = SceneState()
|
||||
|
||||
scene.add(SceneObject(id="config1", object_type="box", color="green", source="config"))
|
||||
scene.replace_detected([
|
||||
{"object_type": "cube", "color": "red"},
|
||||
])
|
||||
|
||||
assert scene.count() == 2
|
||||
scene.clear_detected()
|
||||
assert scene.count() == 1
|
||||
assert scene.get("config1") is not None
|
||||
|
||||
def test_to_list(self):
|
||||
"""Test serializing all objects to list."""
|
||||
scene = SceneState()
|
||||
scene.add(SceneObject(id="a", object_type="cube", color="red"))
|
||||
scene.add(SceneObject(id="b", object_type="cube", color="blue"))
|
||||
|
||||
lst = scene.to_list()
|
||||
assert len(lst) == 2
|
||||
assert all(isinstance(d, dict) for d in lst)
|
||||
ids = {d["id"] for d in lst}
|
||||
assert ids == {"a", "b"}
|
||||
|
||||
|
||||
class TestSceneStateThreadSafety:
|
||||
"""Test thread safety of SceneState."""
|
||||
|
||||
def test_concurrent_add_and_query(self):
|
||||
"""Test concurrent add and query operations."""
|
||||
import threading
|
||||
|
||||
scene = SceneState()
|
||||
errors = []
|
||||
|
||||
def adder():
|
||||
try:
|
||||
for i in range(100):
|
||||
scene.add(SceneObject(
|
||||
id=f"obj_{threading.current_thread().name}_{i}",
|
||||
object_type="cube",
|
||||
color="red",
|
||||
))
|
||||
except Exception as e:
|
||||
errors.append(e)
|
||||
|
||||
def querier():
|
||||
try:
|
||||
for _ in range(100):
|
||||
scene.query(object_type="cube")
|
||||
except Exception as e:
|
||||
errors.append(e)
|
||||
|
||||
threads = [
|
||||
threading.Thread(target=adder, name="adder1"),
|
||||
threading.Thread(target=adder, name="adder2"),
|
||||
threading.Thread(target=querier, name="querier"),
|
||||
]
|
||||
|
||||
for t in threads:
|
||||
t.start()
|
||||
for t in threads:
|
||||
t.join()
|
||||
|
||||
assert not errors, f"Thread errors: {errors}"
|
||||
|
||||
|
||||
class TestFindByCriteria:
|
||||
"""Test find_by_criteria method (voice command matching)."""
|
||||
|
||||
def test_find_by_type_and_color(self):
|
||||
"""Test finding object by type and color."""
|
||||
scene = SceneState()
|
||||
scene.add(SceneObject(id="a", object_type="cube", color="red"))
|
||||
scene.add(SceneObject(id="b", object_type="cube", color="blue"))
|
||||
|
||||
result = scene.find_by_criteria("cube", "red", "no especificado")
|
||||
assert result is not None
|
||||
assert result.id == "a"
|
||||
|
||||
def test_find_with_class_map(self):
|
||||
"""Test finding with class_map translation."""
|
||||
scene = SceneState()
|
||||
scene.add(SceneObject(id="a", object_type="cube", color="red"))
|
||||
|
||||
# Spanish to English mapping
|
||||
class_map = {"cubo": "cube", "rojo": "red"}
|
||||
result = scene.find_by_criteria("cubo", "rojo", "no especificado", class_map)
|
||||
assert result is not None
|
||||
assert result.id == "a"
|
||||
|
||||
def test_find_unspecified_returns_none(self):
|
||||
"""Test that 'no especificado' object type returns None."""
|
||||
scene = SceneState()
|
||||
scene.add(SceneObject(id="a", object_type="cube", color="red"))
|
||||
|
||||
result = scene.find_by_criteria("no especificado", "red", "no especificado")
|
||||
assert result is None
|
||||
|
||||
def test_find_no_match(self):
|
||||
"""Test finding with no matching object."""
|
||||
scene = SceneState()
|
||||
scene.add(SceneObject(id="a", object_type="cube", color="red"))
|
||||
|
||||
result = scene.find_by_criteria("cylinder", "blue", "no especificado")
|
||||
assert result is None
|
||||
|
||||
def test_find_with_size(self):
|
||||
"""Test finding with size criteria."""
|
||||
scene = SceneState()
|
||||
scene.add(SceneObject(id="a", object_type="cube", color="red", size="big"))
|
||||
scene.add(SceneObject(id="b", object_type="cube", color="red", size="small"))
|
||||
|
||||
result = scene.find_by_criteria("cube", "red", "small")
|
||||
assert result is not None
|
||||
assert result.id == "b"
|
||||
|
||||
|
||||
class TestLoadFromConfig:
|
||||
"""Test load_from_config method."""
|
||||
|
||||
def test_load_nonexistent_file(self):
|
||||
"""Test loading from nonexistent file returns 0."""
|
||||
scene = SceneState()
|
||||
count = scene.load_from_config("/nonexistent/path.toml")
|
||||
assert count == 0
|
||||
assert scene.count() == 0
|
||||
|
||||
def test_load_from_config_with_objects(self, tmp_path):
|
||||
"""Test loading objects from config file."""
|
||||
config_file = tmp_path / "config.toml"
|
||||
config_file.write_text("""
|
||||
[object_parameters]
|
||||
normal_height = 100.0
|
||||
|
||||
[[static_objects]]
|
||||
type = "box"
|
||||
color = "blue"
|
||||
position = [150.0, -200.0]
|
||||
size = "big"
|
||||
|
||||
[[static_objects]]
|
||||
type = "box"
|
||||
color = "red"
|
||||
position = [250.0, -200.0]
|
||||
""")
|
||||
|
||||
scene = SceneState()
|
||||
count = scene.load_from_config(str(config_file))
|
||||
|
||||
assert count == 2
|
||||
assert scene.count() == 2
|
||||
|
||||
blues = scene.query(color="blue")
|
||||
assert len(blues) == 1
|
||||
assert blues[0].object_type == "box"
|
||||
assert blues[0].position_mm[2] == 100.0 # normal_height
|
||||
assert blues[0].source == "config"
|
||||
|
||||
def test_load_empty_config(self, tmp_path):
|
||||
"""Test loading from empty config file."""
|
||||
config_file = tmp_path / "empty.toml"
|
||||
config_file.write_text("")
|
||||
|
||||
scene = SceneState()
|
||||
count = scene.load_from_config(str(config_file))
|
||||
assert count == 0
|
||||
Reference in New Issue
Block a user