Robotics MCP Server

"""Unit tests for robot_behavior tool.""" import pytest from unittest.mock import AsyncMock, MagicMock, patch from robotics_mcp.tools.robot_behavior import RobotBehaviorTool from robotics_mcp.utils.state_manager import RobotStateManager @pytest.fixture def mock_mcp(): """Create mock MCP server.""" mcp = MagicMock() mcp.tool = MagicMock(return_value=lambda f: f) return mcp @pytest.fixture def state_manager(): """Create robot state manager.""" return RobotStateManager() @pytest.fixture def mock_mounted_servers(): """Create mock mounted servers.""" return { "unity": MagicMock(), } @pytest.fixture def robot_behavior_tool(mock_mcp, state_manager, mock_mounted_servers): """Create robot behavior tool instance.""" tool = RobotBehaviorTool(mock_mcp, state_manager, mock_mounted_servers) tool.register() return tool @pytest.fixture def registered_robot(state_manager): """Register a test robot.""" return state_manager.register_robot("test_robot_01", "scout", platform="unity") @pytest.mark.asyncio async def test_robot_behavior_robot_not_found(robot_behavior_tool): """Test behavior operation on non-existent robot.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] result = await tool_func( robot_id="nonexistent", category="animation", action="get_animation_state", ) assert result["success"] is False assert "not found" in result["error"].lower() @pytest.mark.asyncio async def test_robot_behavior_animation_animate_wheels(robot_behavior_tool, registered_robot): """Test animation: animate_wheels.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"success": True} result = await tool_func( robot_id="test_robot_01", category="animation", action="animate_wheels", wheel_speeds={"front_left": 1.0, "front_right": 1.0, "back_left": 1.0, "back_right": 1.0}, ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_animation_play(robot_behavior_tool, registered_robot): """Test animation: play_animation.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"success": True} result = await tool_func( robot_id="test_robot_01", category="animation", action="play_animation", animation_name="walk", animation_speed=1.0, loop=False, ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_camera_get_feed(robot_behavior_tool, registered_robot): """Test camera: get_camera_feed.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"feed_url": "http://localhost:8080/feed"} result = await tool_func( robot_id="test_robot_01", category="camera", action="get_camera_feed", ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_camera_capture(robot_behavior_tool, registered_robot): """Test camera: capture_image.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"image_path": "/tmp/capture.jpg"} result = await tool_func( robot_id="test_robot_01", category="camera", action="capture_image", output_path="/tmp/capture.jpg", ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_navigation_plan_path(robot_behavior_tool, registered_robot): """Test navigation: plan_path.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"path": [{"x": 0, "y": 0, "z": 0}, {"x": 1, "y": 0, "z": 1}]} result = await tool_func( robot_id="test_robot_01", category="navigation", action="plan_path", start_position={"x": 0.0, "y": 0.0, "z": 0.0}, goal_position={"x": 1.0, "y": 0.0, "z": 1.0}, ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_navigation_follow_path(robot_behavior_tool, registered_robot): """Test navigation: follow_path.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"success": True} result = await tool_func( robot_id="test_robot_01", category="navigation", action="follow_path", path_id="path_123", ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_manipulation_set_joint(robot_behavior_tool, registered_robot): """Test manipulation: set_joint_positions.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] with patch("robotics_mcp.tools.robot_behavior.call_mounted_server_tool") as mock_call: mock_call.return_value = {"success": True} result = await tool_func( robot_id="test_robot_01", category="manipulation", action="set_joint_positions", joint_positions={"shoulder": 45.0, "elbow": 90.0}, ) assert result["success"] is True @pytest.mark.asyncio async def test_robot_behavior_invalid_category(robot_behavior_tool, registered_robot): """Test invalid category.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] result = await tool_func( robot_id="test_robot_01", category="invalid_category", action="some_action", ) assert result["success"] is False assert "invalid" in result["error"].lower() or "unknown" in result["error"].lower() @pytest.mark.asyncio async def test_robot_behavior_invalid_action(robot_behavior_tool, registered_robot): """Test invalid action.""" tool_func = robot_behavior_tool.mcp.tool.call_args[0][0] result = await tool_func( robot_id="test_robot_01", category="animation", action="invalid_action", ) assert result["success"] is False assert "invalid" in result["error"].lower() or "unknown" in result["error"].lower()