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| from types import SimpleNamespace | |
| from unittest.mock import MagicMock | |
| import numpy as np | |
| from reachy_mini.reachy_mini import SLEEP_HEAD_POSE | |
| from peachy import app_lifecycle | |
| from peachy.tools.core_tools import ToolDependencies | |
| def test_request_stop_current_app_posts_to_daemon(monkeypatch) -> None: | |
| """The app stop request should call the connected Reachy daemon endpoint.""" | |
| class FakeResponse: | |
| def __enter__(self) -> "FakeResponse": | |
| return self | |
| def __exit__(self, *_args: object) -> None: | |
| pass | |
| def read(self) -> bytes: | |
| return b"{}" | |
| def fake_urlopen(request, timeout): | |
| assert request.full_url == "http://192.168.1.42:8000/api/apps/stop-current-app" | |
| assert request.get_method() == "POST" | |
| assert timeout == 2.0 | |
| return FakeResponse() | |
| monkeypatch.setattr(app_lifecycle.urllib.request, "urlopen", fake_urlopen) | |
| robot = SimpleNamespace(client=SimpleNamespace(host="192.168.1.42", port=8000)) | |
| assert app_lifecycle.request_stop_current_app(robot, MagicMock()) | |
| def test_wake_up_if_sleeping_runs_wake_up_from_sleep_head_pose() -> None: | |
| """Startup should play the wake-up movement when the robot head is sleeping.""" | |
| robot = MagicMock() | |
| robot.get_current_head_pose.return_value = SLEEP_HEAD_POSE.copy() | |
| assert app_lifecycle.wake_up_if_sleeping(robot, MagicMock()) | |
| robot.get_current_joint_positions.assert_not_called() | |
| robot.wake_up.assert_called_once_with() | |
| def test_wake_up_if_sleeping_skips_non_sleep_head_pose() -> None: | |
| """Startup should leave an already-awake robot alone.""" | |
| robot = MagicMock() | |
| robot.get_current_head_pose.return_value = np.eye(4) | |
| assert not app_lifecycle.wake_up_if_sleeping(robot, MagicMock()) | |
| robot.get_current_joint_positions.assert_not_called() | |
| robot.wake_up.assert_not_called() | |
| def test_run_go_to_sleep_tool_uses_runtime_callback() -> None: | |
| """Synchronous lifecycle paths should enter through the go_to_sleep tool.""" | |
| expected = {"status": "sleeping"} | |
| go_to_sleep = MagicMock(return_value=expected) | |
| deps = ToolDependencies( | |
| reachy_mini=MagicMock(), | |
| movement_manager=MagicMock(), | |
| go_to_sleep=go_to_sleep, | |
| ) | |
| result = app_lifecycle.run_go_to_sleep_tool(deps, MagicMock()) | |
| assert result == expected | |
| go_to_sleep.assert_called_once_with() | |