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#!/usr/bin/env python
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# 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 threading
import time
from concurrent import futures
from multiprocessing import Event, Queue
import pytest
from tests.utils import require_package # our gRPC servicer class
@pytest.fixture(scope="function")
def learner_service_stub():
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 1
client, channel, server = create_learner_service_stub(
shutdown_event, parameters_queue, transitions_queue, interactions_queue, seconds_between_pushes
)
yield client # provide the stub to the test function
close_learner_service_stub(channel, server)
@require_package("grpc")
def create_learner_service_stub(
shutdown_event: Event,
parameters_queue: Queue,
transitions_queue: Queue,
interactions_queue: Queue,
seconds_between_pushes: int,
queue_get_timeout: float = 0.1,
):
import grpc
from lerobot.scripts.rl.learner_service import LearnerService
from lerobot.transport import services_pb2_grpc # generated from .proto
"""Fixture to start a LearnerService gRPC server and provide a connected stub."""
servicer = LearnerService(
shutdown_event=shutdown_event,
parameters_queue=parameters_queue,
seconds_between_pushes=seconds_between_pushes,
transition_queue=transitions_queue,
interaction_message_queue=interactions_queue,
queue_get_timeout=queue_get_timeout,
)
# Create a gRPC server and add our servicer to it.
server = grpc.server(futures.ThreadPoolExecutor(max_workers=4))
services_pb2_grpc.add_LearnerServiceServicer_to_server(servicer, server)
port = server.add_insecure_port("[::]:0") # bind to a free port chosen by OS
server.start() # start the server (non-blocking call):contentReference[oaicite:1]{index=1}
# Create a client channel and stub connected to the server's port.
channel = grpc.insecure_channel(f"localhost:{port}")
return services_pb2_grpc.LearnerServiceStub(channel), channel, server
@require_package("grpc")
def close_learner_service_stub(channel, server):
channel.close()
server.stop(None)
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_ready_method(learner_service_stub):
from lerobot.transport import services_pb2
"""Test the ready method of the UserService."""
request = services_pb2.Empty()
response = learner_service_stub.Ready(request)
assert response == services_pb2.Empty()
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_send_interactions():
from lerobot.transport import services_pb2
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 1
client, channel, server = create_learner_service_stub(
shutdown_event, parameters_queue, transitions_queue, interactions_queue, seconds_between_pushes
)
list_of_interaction_messages = [
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_BEGIN, data=b"1"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE, data=b"2"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_END, data=b"3"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_END, data=b"4"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_END, data=b"5"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_BEGIN, data=b"6"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE, data=b"7"),
services_pb2.InteractionMessage(transfer_state=services_pb2.TransferState.TRANSFER_END, data=b"8"),
]
def mock_intercations_stream():
yield from list_of_interaction_messages
return services_pb2.Empty()
response = client.SendInteractions(mock_intercations_stream())
assert response == services_pb2.Empty()
close_learner_service_stub(channel, server)
# Extract the data from the interactions queue
interactions = []
while not interactions_queue.empty():
interactions.append(interactions_queue.get())
assert interactions == [b"123", b"4", b"5", b"678"]
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_send_transitions():
from lerobot.transport import services_pb2
"""Test the SendTransitions method with various transition data."""
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 1
client, channel, server = create_learner_service_stub(
shutdown_event, parameters_queue, transitions_queue, interactions_queue, seconds_between_pushes
)
# Create test transition messages
list_of_transition_messages = [
services_pb2.Transition(
transfer_state=services_pb2.TransferState.TRANSFER_BEGIN, data=b"transition_1"
),
services_pb2.Transition(
transfer_state=services_pb2.TransferState.TRANSFER_MIDDLE, data=b"transition_2"
),
services_pb2.Transition(transfer_state=services_pb2.TransferState.TRANSFER_END, data=b"transition_3"),
services_pb2.Transition(transfer_state=services_pb2.TransferState.TRANSFER_BEGIN, data=b"batch_1"),
services_pb2.Transition(transfer_state=services_pb2.TransferState.TRANSFER_END, data=b"batch_2"),
]
def mock_transitions_stream():
yield from list_of_transition_messages
response = client.SendTransitions(mock_transitions_stream())
assert response == services_pb2.Empty()
close_learner_service_stub(channel, server)
# Extract the data from the transitions queue
transitions = []
while not transitions_queue.empty():
transitions.append(transitions_queue.get())
# Should have assembled the chunked data
assert transitions == [b"transition_1transition_2transition_3", b"batch_1batch_2"]
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_send_transitions_empty_stream():
from lerobot.transport import services_pb2
"""Test SendTransitions with empty stream."""
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 1
client, channel, server = create_learner_service_stub(
shutdown_event, parameters_queue, transitions_queue, interactions_queue, seconds_between_pushes
)
def empty_stream():
return iter([])
response = client.SendTransitions(empty_stream())
assert response == services_pb2.Empty()
close_learner_service_stub(channel, server)
# Queue should remain empty
assert transitions_queue.empty()
@require_package("grpc")
@pytest.mark.timeout(10) # force cross-platform watchdog
def test_stream_parameters():
import time
from lerobot.transport import services_pb2
"""Test the StreamParameters method."""
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 0.2 # Short delay for testing
client, channel, server = create_learner_service_stub(
shutdown_event, parameters_queue, transitions_queue, interactions_queue, seconds_between_pushes
)
# Add test parameters to the queue
test_params = [b"param_batch_1", b"param_batch_2"]
for param in test_params:
parameters_queue.put(param)
# Start streaming parameters
request = services_pb2.Empty()
stream = client.StreamParameters(request)
# Collect streamed parameters and timestamps
received_params = []
timestamps = []
for response in stream:
received_params.append(response.data)
timestamps.append(time.time())
# We should receive one last item
break
parameters_queue.put(b"param_batch_3")
for response in stream:
received_params.append(response.data)
timestamps.append(time.time())
# We should receive only one item
break
shutdown_event.set()
close_learner_service_stub(channel, server)
assert received_params == [b"param_batch_2", b"param_batch_3"]
# Check the time difference between the two sends
time_diff = timestamps[1] - timestamps[0]
# Check if the time difference is close to the expected push frequency
assert time_diff == pytest.approx(seconds_between_pushes, abs=0.1)
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_stream_parameters_with_shutdown():
from lerobot.transport import services_pb2
"""Test StreamParameters handles shutdown gracefully."""
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 0.1
queue_get_timeout = 0.001
client, channel, server = create_learner_service_stub(
shutdown_event,
parameters_queue,
transitions_queue,
interactions_queue,
seconds_between_pushes,
queue_get_timeout=queue_get_timeout,
)
test_params = [b"param_batch_1", b"stop", b"param_batch_3", b"param_batch_4"]
# create a thread that will put the parameters in the queue
def producer():
for param in test_params:
parameters_queue.put(param)
time.sleep(0.1)
producer_thread = threading.Thread(target=producer)
producer_thread.start()
# Start streaming
request = services_pb2.Empty()
stream = client.StreamParameters(request)
# Collect streamed parameters
received_params = []
for response in stream:
received_params.append(response.data)
if response.data == b"stop":
shutdown_event.set()
producer_thread.join()
close_learner_service_stub(channel, server)
assert received_params == [b"param_batch_1", b"stop"]
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_stream_parameters_waits_and_retries_on_empty_queue():
import threading
import time
from lerobot.transport import services_pb2
"""Test that StreamParameters waits and retries when the queue is empty."""
shutdown_event = Event()
parameters_queue = Queue()
transitions_queue = Queue()
interactions_queue = Queue()
seconds_between_pushes = 0.05
queue_get_timeout = 0.01
client, channel, server = create_learner_service_stub(
shutdown_event,
parameters_queue,
transitions_queue,
interactions_queue,
seconds_between_pushes,
queue_get_timeout=queue_get_timeout,
)
request = services_pb2.Empty()
stream = client.StreamParameters(request)
received_params = []
def producer():
# Let the consumer start and find an empty queue.
# It will wait `seconds_between_pushes` (0.05s), then `get` will timeout after `queue_get_timeout` (0.01s).
# Total time for the first empty loop is > 0.06s. We wait a bit longer to be safe.
time.sleep(0.06)
parameters_queue.put(b"param_after_wait")
time.sleep(0.05)
parameters_queue.put(b"param_after_wait_2")
producer_thread = threading.Thread(target=producer)
producer_thread.start()
# The consumer will block here until the producer sends an item.
for response in stream:
received_params.append(response.data)
if response.data == b"param_after_wait_2":
break # We only need one item for this test.
shutdown_event.set()
producer_thread.join()
close_learner_service_stub(channel, server)
assert received_params == [b"param_after_wait", b"param_after_wait_2"]
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