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test: fix MockSensor do_command state tracking and add missing coverage #1188

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0811603
test: fix MockSensor do_command state tracking and add missing coverage
luckys00 Apr 3, 2026
cd08eae
fix: apply do_command state tracking fix to all mock components
luckys00 Apr 4, 2026
4a73f12
fix: revert MockAudioOut return format to match specific test assertions
luckys00 Apr 4, 2026
b662cf4
test(sensor): migrate tests to new ChannelFor gRPC testing framework
luckys00 Apr 7, 2026
35ec330
Merge branch 'main' into fix-mock-sensor-state
luckys00 Apr 8, 2026
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36 changes: 36 additions & 0 deletions tests/mocks/components.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -167,6 +169,8 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
return self.properties

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -207,6 +211,8 @@ async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.properties

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return command

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -296,6 +302,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -407,6 +415,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -473,6 +483,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Dict[str, Any]:
Expand Down Expand Up @@ -528,6 +540,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -599,6 +613,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -675,6 +691,8 @@ async def get_kinematics(
return self.kinematics

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -750,6 +768,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -889,6 +909,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -986,6 +1008,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -1039,6 +1063,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -1080,6 +1106,8 @@ async def get_readings(
return self.readings

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -1107,6 +1135,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -1147,6 +1177,8 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
return self.geometries

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down Expand Up @@ -1184,6 +1216,8 @@ async def set_position(
self.position = position

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand All @@ -1203,6 +1237,8 @@ async def push(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Opti
self.pushed = True

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
self.timeout = timeout
self.extra = kwargs.get("extra")
return {"command": command}

async def get_status(self, *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
Expand Down
43 changes: 16 additions & 27 deletions tests/test_sensor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,39 +28,16 @@
def sensor() -> MockSensor:
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@njooma njooma May 20, 2026

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We should no longer be using components in the mocks file. Instead, we should make a magic mock (see here)

return MockSensor(name="sensor", result=READINGS)


class TestSensor:
async def test_get_readings(self, sensor):
assert sensor.extra is None
readings = await sensor.get_readings(extra=EXTRA_PARAMS, timeout=1.23)
assert readings == READINGS
assert sensor.extra == EXTRA_PARAMS
assert sensor.timeout == expected_grpc_timeout(1.23)

async def test_do(self, sensor):
command = {"command": "args"}
resp = await sensor.do_command(command)
assert resp == {"command": command}

async def test_get_status(self, sensor):
status = await sensor.get_status()
assert status == {}

async def test_get_geometries(self, sensor):
geometries = await sensor.get_geometries()
assert geometries == GEOMETRIES


@pytest.fixture(scope="function")
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@njooma njooma May 20, 2026

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Remove the manager fixture

def manager(sensor) -> ResourceManager:
return ResourceManager([sensor])


@pytest.fixture(scope="function")
def service(manager) -> SensorRPCService:
return SensorRPCService(manager)



class TestService:
async def test_get_readings(self, sensor, service):
async with ChannelFor([service]) as channel:
Expand All @@ -76,11 +53,18 @@ async def test_do(self, sensor: MockSensor, service: SensorRPCService):
async with ChannelFor([service]) as channel:
client = SensorServiceStub(channel)
command = {"command": "args"}

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@njooma njooma May 20, 2026

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Set the return type of the mock's method to return an expected value (see here)

request = DoCommandRequest(name=sensor.name, command=dict_to_struct(command))
response: DoCommandResponse = await client.DoCommand(request)
assert sensor.extra is None

response: DoCommandResponse = await client.DoCommand(request, timeout=2.34)
result = struct_to_dict(response.result)

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Assert the returned response contains the expected value set above (see here)

assert result == {"command": command}

assert sensor.timeout ==expected_grpc_timeout(2.34)
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Instead of checking fields on the mock, assert that the mocked's method is called with the expected inputs (see here)



async def test_get_status(self, sensor: MockSensor, service: SensorRPCService):
async with ChannelFor([service]) as channel:
client = SensorServiceStub(channel)
Expand All @@ -106,12 +90,17 @@ async def test_get_readings(self, sensor, service):
assert sensor.extra == EXTRA_PARAMS
assert sensor.timeout == expected_grpc_timeout(3.45)

async def test_do(self, sensor, manager, service):
async def test_do(self, sensor, service):
async with ChannelFor([service]) as channel:
client = SensorClient(sensor.name, channel)
command = {"command": "args"}
resp = await client.do_command(command)


resp = await client.do_command(command, timeout=3.45)
assert resp == {"command": command}
assert sensor.timeout ==expected_grpc_timeout(3.45)



async def test_get_status(self, sensor, service):
async with ChannelFor([service]) as channel:
Expand Down