testbed: physics fixes (rest-at-contact), pytest suite (33 tests green)

testbed/tests/test_bridge.py

@@ -0,0 +1,189 @@
+"""Tests for the testbed bridge: tool behavior over the in-process transport."""
+
+import base64
+import io
+
+import pytest
+from aicc.client import AICCClient
+from aicc.errors import ToolError
+from aicc.transport.in_process import InProcessTransport
+
+from testbed.bridge import (
+    DEPTH_HEIGHT,
+    DEPTH_WIDTH,
+    VISION_HEIGHT,
+    VISION_WIDTH,
+    build_bridge,
+)
+from testbed.room.world import Room
+
+
+@pytest.fixture
+async def bridge():
+    b = build_bridge()
+    yield b
+
+
+@pytest.fixture
+async def client(bridge):
+    t = InProcessTransport.start(bridge)
+    async with t:
+        client = AICCClient(t)
+        async with client:
+            yield client
+
+
+async def test_manifest_lists_all_tools(client):
+    m = await client.handshake()
+    ids = [t.id for t in m.tools]
+    for expected in (
+        "proprioception",
+        "vision",
+        "depth",
+        "hear",
+        "world_query",
+        "move",
+        "turn",
+        "look_at",
+        "interact",
+        "echo",
+        "boom",
+        "bump",
+    ):
+        assert expected in ids
+    assert "testbed_room_01" in m.world.name
+
+
+async def test_proprioception(client):
+    await client.handshake()
+    out = (await client.call_tool("proprioception", {})).output
+    assert out["position"] == {"x": 1.5, "y": 0.0, "z": 1.5}
+    assert out["rotation"]["yaw_deg"] == 45.0
+    assert out["health"] == 100.0
+    assert out["tick"] == 1
+
+
+async def test_vision_returns_png(client):
+    await client.handshake()
+    out = (await client.call_tool("vision", {})).output
+    assert out["width"] == VISION_WIDTH
+    assert out["height"] == VISION_HEIGHT
+    raw = base64.b64decode(out["png_b64"])
+    assert raw[:8] == b"\x89PNG\r\n\x1a\n"
+    img = io.BytesIO(raw)
+    from PIL import Image
+
+    assert Image.open(img).size == (VISION_WIDTH, VISION_HEIGHT)
+
+
+async def test_move_and_collision_event(client):
+    await client.handshake()
+    out = (await client.call_tool("move", {"forward": 2.0})).output
+    assert out["moved"] == pytest.approx(2.0)
+    assert out["collision"] is False
+    out2 = (await client.call_tool("move", {"forward": 5.0})).output
+    assert out2["collision"] is True
+    assert out2["collision_normal"] is not None
+    event = await client.next_event(timeout=1.0)
+    assert event.topic == "collision"
+    assert "other" in event.payload
+
+
+async def test_look_at_and_interact(client):
+    await client.handshake()
+    la = (await client.call_tool("look_at", {"target": "beacon"})).output
+    assert abs(la["rotation"]["yaw_deg"] - 45.0) < 0.1
+    res = (await client.call_tool("interact", {})).output
+    assert res["success"] is False
+    assert "too far" in res["message"]
+
+
+async def test_look_at_unknown_target(client):
+    await client.handshake()
+    with pytest.raises(ToolError) as ei:
+        await client.call_tool("look_at", {"target": "moon"})
+    assert ei.value.code == "execution_failed"
+
+
+async def test_hear_empty_then_hum(client, bridge):
+    await client.handshake()
+    out = (await client.call_tool("hear", {})).output
+    assert out["sounds"] == []
+    bridge.world.capsule.x = bridge.world.beacon.x - 3.0
+    bridge.world.capsule.z = bridge.world.beacon.z
+    out = (await client.call_tool("hear", {})).output
+    assert any(s["kind"] == "beacon_hum" for s in out["sounds"])
+
+
+async def test_depth_and_world_query(client):
+    await client.handshake()
+    d = (await client.call_tool("depth", {})).output
+    assert d["width"] == DEPTH_WIDTH and d["height"] == DEPTH_HEIGHT
+    assert len(d["depth"]) == DEPTH_HEIGHT and len(d["depth"][0]) == DEPTH_WIDTH
+    wq = (await client.call_tool("world_query", {})).output
+    assert wq["beacon"]["id"] == "beacon"
+    assert len(wq["obstacles"]) == 3
+
+
+async def test_unknown_tool(client):
+    await client.handshake()
+    with pytest.raises(ToolError) as ei:
+        await client.call_tool("definitely_not_a_tool", {})
+    assert ei.value.code == "tool_unknown"
+
+
+async def test_boom_execution_failed(client):
+    await client.handshake()
+    with pytest.raises(ToolError) as ei:
+        await client.call_tool("boom", {})
+    assert ei.value.code == "execution_failed"
+
+
+async def test_bump_emits_event(client):
+    await client.handshake()
+    out = (await client.call_tool("bump", {})).output
+    assert out == {"bumped": True}
+    event = await client.next_event(timeout=1.0)
+    assert event.topic == "collision"
+
+
+async def test_echo(client):
+    await client.handshake()
+    out = (await client.call_tool("echo", {"value": "hello"})).output
+    assert out == {"value": "hello"}
+
+
+async def test_interact_success_near_beacon(client, bridge):
+    await client.handshake()
+    bridge.world.capsule.x = bridge.world.beacon.x - 1.0
+    bridge.world.capsule.z = bridge.world.beacon.z
+    res = (await client.call_tool("interact", {})).output
+    assert res["success"] is True
+    assert bridge.world.beacon.active
+
+
+async def test_move_invalid_input(client):
+    await client.handshake()
+    with pytest.raises(ToolError) as ei:
+        await client.call_tool("move", {"forward": 99.0})
+    assert ei.value.code == "execution_failed"
+
+
+async def test_world_reset_between_sessions():
+    """Each fresh bridge owns a fresh Room."""
+    b1, b2 = build_bridge(), build_bridge()
+    assert b1.world is not b2.world
+
+
+async def test_single_source_of_truth():
+    """Manifest must carry no world state."""
+    bridge = build_bridge()
+    t = InProcessTransport.start(bridge)
+    async with t:
+        client = AICCClient(t)
+        async with client:
+            m = await client.handshake()
+            dumped = m.model_dump(by_alias=True)
+            world = dumped["world"]
+            assert set(world.keys()) == {"name", "kind"}
+            assert "beacon" not in dumped