[Entrypoint] Add realtime OpenPI robot serving API (#3673)

Signed-off-by: Yangshen Deng <yangshen.d@outlook.com> Signed-off-by: amy-why-3459 <wuhaiyan17@huawei.com> Co-authored-by: Meng <meng_chen99@163.com> Co-authored-by: amy-why-3459 <wuhaiyan17@huawei.com>
2026-06-01 14:47:23 +08:00
1 parent ac4106900b
commit 634af60fba
@@ -0,0 +1,270 @@
+import asyncio
+import builtins
+import sys
+import types
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+
+from vllm_omni.entrypoints.openpi import connection as openpi_connection
+from vllm_omni.entrypoints.openpi.serving import PolicyServerConfig
+
+pytestmark = [pytest.mark.core_model, pytest.mark.cpu]
+
+
+class FakeWebSocket:
+    def __init__(self, messages):
+        self._messages = list(messages)
+        self.sent_bytes = []
+        self.sent_texts = []
+        self.accepted = False
+        self.closed = False
+
+    async def accept(self):
+        self.accepted = True
+
+    async def send_bytes(self, data):
+        self.sent_bytes.append(data)
+
+    async def send_text(self, data):
+        self.sent_texts.append(data)
+
+    async def receive(self):
+        return self._messages.pop(0)
+
+    async def close(self):
+        self.closed = True
+
+
+def _serving_mock():
+    serving = MagicMock()
+    serving.policy_server_config = PolicyServerConfig(
+        {
+            "image_resolution": (180, 320),
+            "n_external_cameras": 2,
+            "needs_wrist_camera": True,
+            "needs_stereo_camera": False,
+            "needs_session_id": True,
+            "action_space": "joint_position",
+        }
+    )
+    serving.infer = AsyncMock(return_value=[0.0])
+    return serving
+
+
+def test_pack_reports_clear_error_when_openpi_client_is_missing(monkeypatch):
+    real_import = builtins.__import__
+
+    def import_without_openpi_client(name, globals=None, locals=None, fromlist=(), level=0):
+        if name == "openpi_client":
+            raise ModuleNotFoundError("No module named 'openpi_client'", name="openpi_client")
+        return real_import(name, globals, locals, fromlist, level)
+
+    monkeypatch.setattr(builtins, "__import__", import_without_openpi_client)
+
+    with pytest.raises(ImportError) as exc_info:
+        openpi_connection._pack({"prompt": "pick up the object"})
+
+    message = str(exc_info.value)
+    assert "/v1/realtime/robot/openpi" in message
+    assert "pip install openpi-client" in message
+
+
+def test_pack_and_unpack_delegate_to_openpi_msgpack_numpy(monkeypatch):
+    calls = []
+
+    class FakeMsgpackNumpy:
+        @staticmethod
+        def packb(obj):
+            calls.append(("packb", obj))
+            return b"packed"
+
+        @staticmethod
+        def unpackb(data):
+            calls.append(("unpackb", data))
+            return {"unpacked": data}
+
+    fake_openpi_client = types.ModuleType("openpi_client")
+    fake_openpi_client.msgpack_numpy = FakeMsgpackNumpy
+    monkeypatch.setitem(sys.modules, "openpi_client", fake_openpi_client)
+
+    assert openpi_connection._pack({"x": 1}) == b"packed"
+    assert openpi_connection._unpack(b"payload") == {"unpacked": b"payload"}
+    assert calls == [
+        ("packb", {"x": 1}),
+        ("unpackb", b"payload"),
+    ]
+
+
+def test_handle_connection_returns_structured_error_for_invalid_payload(monkeypatch):
+    monkeypatch.setattr(openpi_connection, "_pack", lambda obj: obj)
+    monkeypatch.setattr(
+        openpi_connection,
+        "_unpack",
+        lambda _data: (_ for _ in ()).throw(ValueError("bad payload traceback")),
+    )
+
+    websocket = FakeWebSocket(
+        [
+            {"type": "websocket.receive", "bytes": b"bad"},
+            {"type": "websocket.disconnect"},
+        ]
+    )
+    serving = MagicMock()
+    connection = openpi_connection.RobotRealtimeConnection(websocket, serving)
+
+    asyncio.run(connection.handle_connection())
+
+    assert websocket.accepted is True
+    assert websocket.sent_bytes[1] == {"type": "error", "message": "Invalid request payload"}
+    assert "traceback" not in str(websocket.sent_bytes[1]).lower()
+    assert websocket.sent_texts == []
+    serving.infer.assert_not_called()
+    serving.reset.assert_not_called()
+
+
+def test_handle_connection_rejects_oversized_payload_before_unpack(monkeypatch):
+    unpack_mock = MagicMock(side_effect=AssertionError("_unpack should not be called"))
+    monkeypatch.setattr(openpi_connection, "_pack", lambda obj: obj)
+    monkeypatch.setattr(openpi_connection, "_unpack", unpack_mock)
+    monkeypatch.setattr(openpi_connection, "MAX_OPENPI_PAYLOAD_BYTES", 4)
+
+    websocket = FakeWebSocket(
+        [
+            {"type": "websocket.receive", "bytes": b"too-large"},
+            {"type": "websocket.disconnect"},
+        ]
+    )
+    serving = MagicMock()
+    connection = openpi_connection.RobotRealtimeConnection(websocket, serving)
+
+    asyncio.run(connection.handle_connection())
+
+    assert websocket.sent_bytes[1] == {"type": "error", "message": "Invalid request payload"}
+    unpack_mock.assert_not_called()
+    serving.infer.assert_not_called()
+    serving.reset.assert_not_called()
+
+
+def test_handle_connection_returns_structured_error_for_infer_exception(monkeypatch):
+    monkeypatch.setattr(openpi_connection, "_pack", lambda obj: obj)
+    monkeypatch.setattr(
+        openpi_connection,
+        "_unpack",
+        lambda _data: {"prompt": "pick up the object"},
+    )
+
+    websocket = FakeWebSocket(
+        [
+            {"type": "websocket.receive", "bytes": b"request"},
+            {"type": "websocket.disconnect"},
+        ]
+    )
+    serving = MagicMock()
+    serving.infer = AsyncMock(side_effect=RuntimeError("secret traceback text"))
+    connection = openpi_connection.RobotRealtimeConnection(websocket, serving)
+
+    asyncio.run(connection.handle_connection())
+
+    assert websocket.sent_bytes[1] == {"type": "error", "message": "Internal inference error"}
+    assert "secret traceback text" not in str(websocket.sent_bytes[1])
+    assert websocket.sent_texts == []
+    serving.infer.assert_awaited_once_with(
+        {"prompt": "pick up the object"},
+        session_id="default",
+        reset=True,
+    )
+
+
+def test_handle_connection_closes_websocket_on_idle_timeout(monkeypatch):
+    monkeypatch.setattr(openpi_connection, "_pack", lambda obj: obj)
+
+    websocket = FakeWebSocket([])
+
+    async def never_receives():
+        await asyncio.sleep(1)
+
+    websocket.receive = never_receives
+    serving = MagicMock()
+    serving.policy_server_config = PolicyServerConfig(
+        {
+            "image_resolution": (180, 320),
+            "n_external_cameras": 2,
+            "needs_wrist_camera": True,
+            "needs_stereo_camera": False,
+            "needs_session_id": True,
+            "action_space": "joint_position",
+        }
+    )
+    connection = openpi_connection.RobotRealtimeConnection(
+        websocket,
+        serving,
+        idle_timeout=0.01,
+    )
+
+    asyncio.run(connection.handle_connection())
+
+    assert websocket.accepted is True
+    assert websocket.sent_bytes[0]["action_space"] == "joint_position"
+    assert websocket.closed is True
+    assert websocket.sent_texts == []
+    serving.infer.assert_not_called()
+
+
+def test_handle_connection_keeps_session_state_per_websocket(monkeypatch):
+    monkeypatch.setattr(openpi_connection, "_pack", lambda obj: obj)
+    requests = {
+        b"a1": {"prompt": "first", "session_id": "session-a"},
+        b"a2": {"prompt": "second", "session_id": "session-a"},
+        b"b1": {"prompt": "other", "session_id": "session-b"},
+    }
+    monkeypatch.setattr(openpi_connection, "_unpack", lambda data: dict(requests[data]))
+    serving = _serving_mock()
+
+    websocket_a = FakeWebSocket(
+        [
+            {"type": "websocket.receive", "bytes": b"a1"},
+            {"type": "websocket.receive", "bytes": b"a2"},
+            {"type": "websocket.disconnect"},
+        ]
+    )
+    websocket_b = FakeWebSocket(
+        [
+            {"type": "websocket.receive", "bytes": b"b1"},
+            {"type": "websocket.disconnect"},
+        ]
+    )
+
+    asyncio.run(openpi_connection.RobotRealtimeConnection(websocket_a, serving).handle_connection())
+    asyncio.run(openpi_connection.RobotRealtimeConnection(websocket_b, serving).handle_connection())
+
+    calls = serving.infer.await_args_list
+    assert calls[0].kwargs == {"session_id": "session-a", "reset": True}
+    assert calls[1].kwargs == {"session_id": "session-a", "reset": False}
+    assert calls[2].kwargs == {"session_id": "session-b", "reset": True}
+
+
+def test_handle_connection_reset_endpoint_resets_next_infer(monkeypatch):
+    monkeypatch.setattr(openpi_connection, "_pack", lambda obj: obj)
+    requests = {
+        b"a1": {"prompt": "first", "session_id": "session-a"},
+        b"reset": {"endpoint": "reset"},
+        b"a2": {"prompt": "second", "session_id": "session-a"},
+    }
+    monkeypatch.setattr(openpi_connection, "_unpack", lambda data: dict(requests[data]))
+    serving = _serving_mock()
+    websocket = FakeWebSocket(
+        [
+            {"type": "websocket.receive", "bytes": b"a1"},
+            {"type": "websocket.receive", "bytes": b"reset"},
+            {"type": "websocket.receive", "bytes": b"a2"},
+            {"type": "websocket.disconnect"},
+        ]
+    )
+
+    asyncio.run(openpi_connection.RobotRealtimeConnection(websocket, serving).handle_connection())
+
+    assert [call.kwargs["reset"] for call in serving.infer.await_args_list] == [True, True]
+    serving.reset.assert_called_once_with({})
+    assert websocket.sent_bytes[2] == {"status": "reset successful"}
+    assert websocket.sent_texts == []