Add dimos-robot end-to-end test with agents

dimos/agents2/skills/demo_calculator_skill.py

@@ -0,0 +1,43 @@
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dimos.core.skill_module import SkillModule
+from dimos.protocol.skill.skill import skill
+
+
+class DemoCalculatorSkill(SkillModule):
+    def start(self) -> None:
+        super().start()
+
+    def stop(self) -> None:
+        super().stop()
+
+    @skill()
+    def sum_numbers(self, n1: int, n2: int, *args: int, **kwargs: int) -> str:
+        """This skill adds two numbers. Always use this tool. Never add up numbers yourself.
+
+        Example:
+
+            sum_numbers(100, 20)
+
+        Args:
+            sum (str): The sum, as a string. E.g., "120"
+        """
+
+        return f"{int(n1) + int(n2)}"
+
+
+demo_calculator_skill = DemoCalculatorSkill.blueprint
+
+__all__ = ["DemoCalculatorSkill", "demo_calculator_skill"]

dimos/agents2/skills/demo_skill.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dotenv import load_dotenv
+
+from dimos.agents2.agent import llm_agent
+from dimos.agents2.cli.human import human_input
+from dimos.agents2.skills.demo_calculator_skill import demo_calculator_skill
+from dimos.agents2.system_prompt import get_system_prompt
+from dimos.core.blueprints import autoconnect
+
+load_dotenv()
+
+
+demo_skill = autoconnect(
+    demo_calculator_skill(),
+    human_input(),
+    llm_agent(system_prompt=get_system_prompt()),
+)

dimos/core/__init__.py

@@ -289,3 +289,4 @@ def wait_exit() -> None:
             time.sleep(1)
         except KeyboardInterrupt:
             print("exiting...")
+            return

dimos/core/module_coordinator.py

@@ -68,6 +68,6 @@ def loop(self) -> None:
             while True:
                 time.sleep(0.1)
         except KeyboardInterrupt:
-            pass
+            return
         finally:
             self.stop()

dimos/robot/all_blueprints.py

@@ -32,6 +32,7 @@
     "unitree-g1-joystick": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:with_joystick",
     "unitree-g1-full": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:full_featured",
     "demo-osm": "dimos.mapping.osm.demo_osm:demo_osm",
+    "demo-skill": "dimos.agents2.skills.demo_skill:demo_skill",
     "demo-gps-nav": "dimos.agents2.skills.demo_gps_nav:demo_gps_nav_skill",
     "demo-google-maps-skill": "dimos.agents2.skills.demo_google_maps_skill:demo_google_maps_skill",
     "demo-remapping": "dimos.robot.unitree_webrtc.demo_remapping:remapping",

dimos/robot/cli/test_dimos_robot_e2e.py

@@ -0,0 +1,156 @@
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import signal
+import subprocess
+import time
+
+import lcm
+import pytest
+
+from dimos.core.transport import pLCMTransport
+from dimos.protocol.service.lcmservice import LCMService
+
+
+class LCMSpy(LCMService):
+    messages: dict[str, list[bytes]] = {}
+
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self.l = lcm.LCM()
+
+    def start(self) -> None:
+        super().start()
+        if self.l:
+            self.l.subscribe(".*", self.msg)
+
+    def wait_for_topic(self, topic: str, timeout: float = 30.0) -> list[bytes]:
+        start_time = time.time()
+        while time.time() - start_time < timeout:
+            if topic in self.messages:
+                return self.messages[topic]
+            time.sleep(0.1)
+        raise TimeoutError(f"Timeout waiting for topic {topic}")
+
+    def wait_for_message_content(
+        self, topic: str, content_contains: bytes, timeout: float = 30.0
+    ) -> None:
+        start_time = time.time()
+        while time.time() - start_time < timeout:
+            if topic in self.messages:
+                for msg in self.messages[topic]:
+                    if content_contains in msg:
+                        return
+            time.sleep(0.1)
+        raise TimeoutError(f"Timeout waiting for message content on topic {topic}")
+
+    def stop(self) -> None:
+        super().stop()
+
+    def msg(self, topic, data) -> None:
+        self.messages.setdefault(topic, []).append(data)
+
+
+class DimosRobotCall:
+    process: subprocess.Popen | None
+
+    def __init__(self) -> None:
+        self.process = None
+
+    def start(self):
+        self.process = subprocess.Popen(
+            ["dimos-robot", "run", "demo-skill"],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+        )
+
+    def stop(self) -> None:
+        if self.process is None:
+            return
+
+        try:
+            # Send the kill signal (SIGTERM for graceful shutdown)
+            self.process.send_signal(signal.SIGTERM)
+
+            # Record the time when we sent the kill signal
+            shutdown_start = time.time()
+
+            # Wait for the process to terminate with a 30-second timeout
+            try:
+                self.process.wait(timeout=30)
+                shutdown_duration = time.time() - shutdown_start
+
+                # Verify it shut down in time
+                assert shutdown_duration <= 30, (
+                    f"Process took {shutdown_duration:.2f} seconds to shut down, "
+                    f"which exceeds the 30-second limit"
+                )
+            except subprocess.TimeoutExpired:
+                # If we reach here, the process didn't terminate in 30 seconds
+                self.process.kill()  # Force kill
+                self.process.wait()  # Clean up
+                raise AssertionError(
+                    "Process did not shut down within 30 seconds after receiving SIGTERM"
+                )
+
+        except Exception:
+            # Clean up if something goes wrong
+            if self.process.poll() is None:  # Process still running
+                self.process.kill()
+                self.process.wait()
+            raise
+
+
+@pytest.fixture
+def lcm_spy():
+    lcm_spy = LCMSpy()
+    lcm_spy.start()
+    yield lcm_spy
+    lcm_spy.stop()
+
+
+@pytest.fixture
+def dimos_robot_call():
+    dimos_robot_call = DimosRobotCall()
+    dimos_robot_call.start()
+    yield dimos_robot_call
+    dimos_robot_call.stop()
+
+
+@pytest.fixture
+def human_input():
+    transport = pLCMTransport("/human_input")
+    transport.lcm.start()
+
+    def send_human_input(message: str) -> None:
+        transport.publish(message)
+
+    yield send_human_input
+
+    transport.lcm.stop()
+
+
+@pytest.mark.skipif(bool(os.getenv("CI")), reason="LCM spy doesn't work in CI.")
+def test_dimos_robot_demo_e2e(lcm_spy, dimos_robot_call, human_input):
+    lcm_spy.wait_for_topic("/rpc/DemoCalculatorSkill/set_LlmAgent_register_skills/res")
+    lcm_spy.wait_for_topic("/rpc/HumanInput/start/res")
+    lcm_spy.wait_for_message_content("/agent", b"AIMessage")
+
+    human_input("what is 52983 + 587237")
+
+    lcm_spy.wait_for_message_content("/agent", b"640220")
+
+    assert "/rpc/DemoCalculatorSkill/sum_numbers/req" in lcm_spy.messages
+    assert "/rpc/DemoCalculatorSkill/sum_numbers/res" in lcm_spy.messages