| """ |
| Tests for the Action Planning Module — ActionPlanner. |
| """ |
|
|
| import pytest |
|
|
| from src.planner.action_planner import ActionPlanner |
|
|
|
|
| class TestActionPlanner: |
| """Tests for ActionPlanner.plan() method.""" |
|
|
| @pytest.fixture |
| def planner(self) -> ActionPlanner: |
| return ActionPlanner() |
|
|
| @pytest.fixture |
| def sample_detections(self) -> list[dict]: |
| return [ |
| {"label": "bottle", "confidence": 0.92, "bbox": [100, 150, 200, 350]}, |
| {"label": "box", "confidence": 0.85, "bbox": [400, 300, 550, 500]}, |
| {"label": "cup", "confidence": 0.78, "bbox": [250, 200, 320, 300]}, |
| ] |
|
|
| def test_plan_returns_required_keys(self, planner, sample_detections): |
| """Plan output must have all required keys.""" |
| interpretation = { |
| "action": "move", |
| "source": "bottle", |
| "destination": "box", |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| assert "steps" in result |
| assert "source_bbox" in result |
| assert "dest_bbox" in result |
| assert "status" in result |
| assert "action" in result |
|
|
| def test_plan_success_status(self, planner, sample_detections): |
| """Plan should succeed when both source and destination match.""" |
| interpretation = { |
| "action": "move", |
| "source": "bottle", |
| "destination": "box", |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| assert result["status"] == "success" |
| assert result["source_bbox"] == [100, 150, 200, 350] |
| assert result["dest_bbox"] == [400, 300, 550, 500] |
|
|
| def test_plan_partial_status(self, planner, sample_detections): |
| """Plan should be partial when destination doesn't match.""" |
| interpretation = { |
| "action": "move", |
| "source": "bottle", |
| "destination": "nonexistent_object", |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| assert result["status"] == "partial" |
| assert result["source_bbox"] is not None |
| assert result["dest_bbox"] is None |
|
|
| def test_plan_failed_status(self, planner, sample_detections): |
| """Plan should fail when source doesn't match.""" |
| interpretation = { |
| "action": "move", |
| "source": "nonexistent_object", |
| "destination": "box", |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| assert result["status"] == "failed" |
|
|
| def test_plan_generates_steps(self, planner, sample_detections): |
| """Plan should generate meaningful steps.""" |
| interpretation = { |
| "action": "move", |
| "source": "bottle", |
| "destination": "box", |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| assert len(result["steps"]) >= 3 |
| assert any("bottle" in step.lower() for step in result["steps"]) |
| assert any("box" in step.lower() for step in result["steps"]) |
|
|
| def test_plan_no_destination(self, planner, sample_detections): |
| """Plan should work when destination is None (e.g. 'inspect').""" |
| interpretation = { |
| "action": "inspect", |
| "source": "cup", |
| "destination": None, |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| assert result["status"] == "success" |
| assert result["dest_bbox"] is None |
|
|
| def test_plan_empty_detections(self, planner): |
| """Plan should fail gracefully with no detections.""" |
| interpretation = { |
| "action": "move", |
| "source": "bottle", |
| "destination": "box", |
| } |
|
|
| result = planner.plan([], interpretation) |
|
|
| assert result["status"] == "failed" |
|
|
| def test_plan_with_synonym(self, planner, sample_detections): |
| """Plan should resolve synonyms via ObjectMapper (mug → cup).""" |
| interpretation = { |
| "action": "pick_up", |
| "source": "mug", |
| "destination": None, |
| } |
|
|
| result = planner.plan(sample_detections, interpretation) |
|
|
| |
| assert result["status"] == "success" |
| assert result["source_bbox"] == [250, 200, 320, 300] |
|
|
