fix: test-suite stability and drone camera pinhole by Danny024 · Pull Request #2545 · dimensionalOS/dimos

Danny024 · 2026-06-20T12:21:56Z

Three independent fixes surfaced while running the test suite and the demo simulation. Each is its own commit.

1. `fix(core)` — flaky `test_basic_deployment`

The test asserted >= 8 messages after a fixed time.sleep(1). Under heavy parallel load (pytest -n auto) the publisher and LCM transport threads get starved and deliver fewer within that window, failing with assert 5 >= 8. It now polls up to a 15s deadline — still verifying end-to-end delivery through the deployment, without assuming a wall-clock throughput.

2. `fix(tests)` — resilient `agent_setup` teardown

When an agent test fails mid-run (e.g. the LLM is slow under load and finished_event.wait(60) times out), a single raising cleanup step skipped the remaining ones, leaking LCM transport threads. The autouse monitor_threads fixture then flagged the leak, turning one failure into a failure and a teardown error. A shared teardown_agent_setup() helper now runs every cleanup step (coordinator, transports, unsubs) best-effort and logs failures instead of propagating. Wired into both agent_setup fixtures.

3. `fix(drone)` — camera pinhole for the 3D view

The drone camera feed is logged at world/video, inside the 3D view's world origin, but no Pinhole was ever logged — so Rerun warned "2D visualizers require a pinhole ancestor to be shown in a 3D view" and the feed only rendered in the dedicated 2D pane. A static Pinhole is now logged at world/video, built from the camera intrinsics (pulled into a shared _CAMERA_INTRINSICS constant so they can't drift from the camera module).

Testing

test_basic_deployment passes under deliberate full-CPU starvation (previously failed assert 5 >= 8).
3 navigation + 28 mcp tool-stream tests pass with clean teardown via the new helper.
drone-basic replay boots cleanly; the static pinhole logs at bridge start without error.
ruff check and ruff format --check clean on all changed files.

The test asserted >=8 messages after a fixed 1s sleep, but under heavy parallel load (pytest -n auto) the publisher/LCM threads get starved and deliver fewer, failing with 'assert 5 >= 8'. Poll up to a 15s deadline instead; this still verifies end-to-end delivery without assuming a wall-clock throughput.

greptile-apps · 2026-06-20T12:25:56Z

Greptile Summary

Three targeted fixes for test stability and a Rerun visualization gap in the drone blueprint. No functional behavior changes to production code paths.

Test polling: test_basic_deployment now polls for up to 15 s instead of relying on a fixed 1 s sleep, eliminating CI failures under pytest -n auto CPU starvation.
Resilient teardown: A shared teardown_agent_setup() helper wraps each cleanup step in a try/except, so a timeout in one step can't skip the remaining transport/unsub cleanup and cause secondary thread-leak failures.
Drone pinhole: A static rr.Pinhole is now logged at world/video using a shared _CAMERA_INTRINSICS constant, fixing the Rerun "2D visualizers require a pinhole ancestor" warning and enabling the camera frustum to appear in the 3D view.

Confidence Score: 5/5

Safe to merge — all three fixes are tightly scoped to test infrastructure and a static visualization component, with no changes to production data paths.

Each change is small and well-contained: the poll loop is a straightforward replacement of a fixed sleep with no logic change to the assertions themselves; the teardown helper adds error isolation without altering what gets cleaned up; and the drone pinhole is a pure additive logging call using an already-correct intrinsics constant.

No files require special attention. The two conftest.py files are nearly identical — a pre-existing pattern — but the change applied to both is consistent.

Important Files Changed

Filename	Overview
dimos/utils/testing/agent_teardown.py	New helper module; isolates each cleanup step, logs failures via structlog, and labels transports by class name and unsubscribes by index — clean implementation.
dimos/agents/conftest.py	Replaced inline teardown block with a call to the shared teardown_agent_setup helper; semantically identical happy-path behavior, more resilient on failure.
dimos/agents/mcp/conftest.py	Mirror of agents/conftest.py change; same teardown replacement, no other modifications.
dimos/core/test_core.py	Polling loop with a 15 s deadline replaces the fixed 1 s sleep; correct early-exit, assertions unchanged, no cleanup regression.
dimos/robot/drone/blueprints/basic/drone_basic.py	Adds _static_camera_pinhole logged at world/video and consolidates intrinsics into _CAMERA_INTRINSICS to prevent drift; pinhole matrix and resolution look correct.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    subgraph fix1["fix 1 · test_basic_deployment"]
        A[robot.start / nav.start] --> B{poll every 100 ms}
        B -- counts >= 8 --> C[assertions pass ✓]
        B -- deadline > 15 s --> D[assertions fail with actual counts]
    end

    subgraph fix2["fix 2 · agent_setup teardown"]
        E[yield fn] --> F[teardown_agent_setup]
        F --> G[_safe coordinator.stop]
        G --> H[_safe transport.stop × N]
        H --> I[_safe unsub × N]
        G -- raises --> G2[log error, continue]
        H -- raises --> H2[log error, continue]
        I -- raises --> I2[log error, continue]
    end

    subgraph fix3["fix 3 · drone pinhole"]
        J[_CAMERA_INTRINSICS\nfx fy cx cy] --> K[_static_camera_pinhole\nrr.Pinhole at world/video]
        J --> L[DroneCameraModule.blueprint\ncamera_intrinsics]
        K --> M[3D view shows camera frustum ✓]
        L --> N[Camera module uses same intrinsics ✓]
    end

%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
flowchart TD
    subgraph fix1["fix 1 · test_basic_deployment"]
        A[robot.start / nav.start] --> B{poll every 100 ms}
        B -- counts >= 8 --> C[assertions pass ✓]
        B -- deadline > 15 s --> D[assertions fail with actual counts]
    end

    subgraph fix2["fix 2 · agent_setup teardown"]
        E[yield fn] --> F[teardown_agent_setup]
        F --> G[_safe coordinator.stop]
        G --> H[_safe transport.stop × N]
        H --> I[_safe unsub × N]
        G -- raises --> G2[log error, continue]
        H -- raises --> H2[log error, continue]
        I -- raises --> I2[log error, continue]
    end

    subgraph fix3["fix 3 · drone pinhole"]
        J[_CAMERA_INTRINSICS\nfx fy cx cy] --> K[_static_camera_pinhole\nrr.Pinhole at world/video]
        J --> L[DroneCameraModule.blueprint\ncamera_intrinsics]
        K --> M[3D view shows camera frustum ✓]
        L --> N[Camera module uses same intrinsics ✓]
    end

_{Reviews (2): Last reviewed commit: "fix(drone): log a camera pinhole so the ..." | Re-trigger Greptile}

greptile-apps · 2026-06-20T12:26:00Z

+    for unsub in unsubs:
+        _safe(unsub, "unsubscribe")


Generic unsubscribe label hides which subscription failed

Every unsubscribe failure is logged with the same step="unsubscribe" label, so when a cleanup failure is reported you cannot tell whether it was the agent_transport or the finished_transport (or any others) that raised. Since the unsubs list is an ordered collection built from append calls in the fixture, a zero-cost improvement is to include the index or the callable's repr in the step name.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

Good catch — applied in the latest push (folded into the teardown commit). Each unsubscribe is now labelled by index: _safe(unsub, f"unsubscribe[{i}]"), so a failing teardown step identifies which subscription raised.

When an agent test fails mid-run (e.g. the LLM is slow under load and finished_event.wait(60) times out), a raising cleanup step skipped the rest, leaking LCM transport threads and turning the failure into a failure + teardown error. Add a shared teardown_agent_setup() that runs every step (coordinator, transports, unsubs) best-effort and logs rather than propagating. Each unsubscribe is labelled by index so a failing one is identifiable.

The camera image is logged at world/video, inside the 3D view's world origin, but no Pinhole was ever logged, so Rerun warned '2D visualizers require a pinhole ancestor to be shown in a 3D view' and the feed only rendered in the 2D pane. Register a static Pinhole at world/video built from the (now shared) camera intrinsics.

Danny024 · 2026-06-20T12:46:21Z

Hi @leshy @mustafab0 @paul-nechifor @spomichter — the ci and autofix.ci workflows on this PR are sitting in action_required (fork PR awaiting maintainer approval), so the test suite hasn't run yet. Could one of you approve the workflow run when you get a chance? The three commits are narrowly scoped (a flaky-test fix, an agent_setup teardown hardening, and an additive drone-camera Pinhole), and Greptile's one P2 note is already addressed. Thanks!

Danny024 requested review from leshy, mustafab0, paul-nechifor and spomichter as code owners June 20, 2026 12:21

greptile-apps Bot reviewed Jun 20, 2026

View reviewed changes

Danny024 added 2 commits June 20, 2026 13:37

Danny024 force-pushed the fix/test-stability-and-drone-pinhole branch from 028e879 to df228ca Compare June 20, 2026 12:37

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fix: test-suite stability and drone camera pinhole#2545

fix: test-suite stability and drone camera pinhole#2545
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Danny024:fix/test-stability-and-drone-pinhole

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Danny024 commented Jun 20, 2026

1. fix(core) — flaky test_basic_deployment

2. fix(tests) — resilient agent_setup teardown

3. fix(drone) — camera pinhole for the 3D view

Testing

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Greptile Summary

Confidence Score: 5/5

Important Files Changed

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1. `fix(core)` — flaky `test_basic_deployment`

2. `fix(tests)` — resilient `agent_setup` teardown

3. `fix(drone)` — camera pinhole for the 3D view

greptile-apps Bot commented Jun 20, 2026 •

edited

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