docs: update integration test README to reflect current test coverage

tests/integration/README.md

@@ -1,20 +1,39 @@
 # Integration Tests
 
-This directory contains integration tests for the entire system, from input (images, ETH transactions, and etc.) to output (robot commands).
+This directory contains integration tests for the entire system, from input (images, audio, sensor data) to output (robot commands).
 
 ## Test Case Approach
 
 Instead of a monolithic test runner, we use a configuration-based approach where each test case is defined in its own JSON5 configuration file. This allows:
 
-1. Testing different VLM implementations independently
-2. Using different API keys for different tests
-3. Easier debugging by separating tests
+1. Testing different input types independently (VLM, ASR, battery, odometry, GPS)
+2. Testing multi-input combinations (VLM + ASR, VLM + battery, etc.)
+3. Testing mode transitions (input-triggered, time-based, cooldown)
+4. Using different API keys for different tests
+5. Easier debugging by separating tests
 
 ## Directory Structure
 
 - `data/`: Test data files
-  - `test_cases/`: Individual test case configurations
+  - `test_cases/`: Individual test case configurations (JSON5)
   - `images/`: Test images for VLM testing
+  - `lidar/`: LIDAR scan data (JSON)
+  - `asr/`: ASR text data (JSON) for speech recognition tests
+  - `state/`: Sensor state data (JSON) for battery, odometry
+  - `gps/`: GPS location data (JSON)
+- `mock_inputs/`: Mock implementations of real input plugins
+  - `data_providers/`: Singleton providers for mock data (image, lidar, text, state)
+
+## Supported Input Types
+
+| Input Type | Mock Class | Data Provider | Data Format |
+|-----------|-----------|---------------|-------------|
+| VLM (OpenAI, Gemini, COCO, Vila) | MockVLM_* | MockImageProvider | JPEG/PNG images |
+| RPLidar | MockUnitreeGo2RPLidar | MockLidarProvider | JSON scan arrays |
+| Google ASR | MockGoogleASR | MockTextProvider | JSON with "text" field |
+| Battery | MockUnitreeGo2Battery | MockStateProvider | JSON with percent/voltage/amperes |
+| Odometry | MockUnitreeGo2Odom | MockStateProvider | JSON with x/y/yaw/moving |
+| GPS | MockGps | MockStateProvider | JSON with gps_lat/gps_lon/gps_alt/gps_qua |
 
 ## Running Tests
 
@@ -33,13 +52,29 @@ uv run pytest -m "integration" -s --log-cli-level=INFO tests/integration/test_ca
 ### Running a Specific Test Case
 
 ```bash
-TEST_CASE="coco_indoor_detection" uv run pytest -m "integration" tests/integration/test_case_runner.py::test_specific_case -v
+TEST_CASE="asr_greeting_test" uv run pytest -m "integration" tests/integration/test_case_runner.py::test_specific_case -v
+```
+
+### Running Mode Transition Tests
+
+```bash
+# All mode transition tests
+uv run pytest -m "integration" tests/integration/test_case_runner.py -v -k "mode"
+
+# Input-triggered transition only
+uv run pytest -m "integration" tests/integration/test_case_runner.py -v -k "test_mode_transition"
+
+# Time-based transition only
+uv run pytest -m "integration" tests/integration/test_case_runner.py -v -k "test_time_based"
+
+# Cooldown test only
+uv run pytest -m "integration" tests/integration/test_case_runner.py -v -k "test_cooldown"
 ```
 
 ## Creating New Test Cases
 
 1. Create a new JSON5 file in `data/test_cases/` following the format in existing files
-2. Add any necessary test images to `data/images/`
+2. Add any necessary test data to the appropriate `data/` subdirectory
 3. Run your test case to verify it works correctly
 
 ### Test Case Format
@@ -52,7 +87,7 @@ TEST_CASE="coco_indoor_detection" uv run pytest -m "integration" tests/integrati
   "hertz": 1,
   "system_prompt_base": "...",
   "system_governance": "...",
-  "system_prompt_examples": "...'",
+  "system_prompt_examples": "...",
   "agent_inputs": [...],
   "cortex_llm": {...},
   "agent_actions": [
@@ -74,16 +109,119 @@ TEST_CASE="coco_indoor_detection" uv run pytest -m "integration" tests/integrati
   ],
   "api_key": "openmind_free",
 
-  // Input data
+  // Input data - supports multiple types
   "input": {
-    "images": ["../vlm_test/image1.png", "../vlm_test/image2.png"],
+    "images": ["../images/indoor_1.jpg"],       // VLM inputs
+    "lidar": ["../lidar/sample_scan.json"],      // LIDAR inputs
+    "asr": ["../asr/greeting.json"],             // ASR text inputs
+    "battery": ["../state/battery_low.json"],    // Battery state
+    "odometry": ["../state/odometry_moving.json"], // Odometry state
+    "gps": ["../gps/outdoor_location.json"],     // GPS location
   },
 
   // Expected output
   "expected": {
-    "movement": "turn_left | turn_right | move_forward",
-    "keywords": ["person", "furniture", "indoor"],
-    "minimum_score": 0.7 // Minimum score required to pass
+    "movement": ["stand still", "sit"],       // Expected movement commands
+    "keywords": ["person", "furniture"],       // Keywords in LLM prompt
+    "emotion": ["happy", "curious"],           // Expected emotions
+    "minimum_score": 0.5                       // Minimum score to pass (0.0-1.0)
   }
 }
 ```
+
+### Mode Transition Test Case Format
+
+Mode transition tests use a multi-mode configuration with `modes` and `transition_rules` keys.
+These are automatically detected and routed to the mode transition test runner.
+
+```json5
+{
+  name: "mode_transition_test",
+  description: "Test input-triggered mode transition",
+  version: "v1.0.2",
+  api_key: "openmind_free",
+  default_mode: "calm",
+  modes: {
+    calm: {
+      display_name: "Calm",
+      description: "Normal calm mode",
+      system_prompt_base: "You are a calm and relaxed robot.",
+      hertz: 1,
+      // timeout_seconds: 0.1,        // For time-based transitions
+      agent_inputs: [{type: "GoogleASRInput"}],
+      cortex_llm: {type: "OpenAILLM", config: {agent_name: "Buddy"}},
+      agent_actions: [
+        {name: "move", llm_label: "move", connector: "ros2"},
+        {name: "speak", llm_label: "speak", connector: "ros2"},
+        {name: "face", llm_label: "emotion", connector: "ros2"},
+      ],
+    },
+    alert: {
+      display_name: "Alert",
+      description: "Alert mode for emergencies",
+      system_prompt_base: "You are now in alert mode.",
+      hertz: 1,
+      agent_inputs: [{type: "GoogleASRInput"}],
+      cortex_llm: {type: "OpenAILLM", config: {agent_name: "Buddy"}},
+      agent_actions: [
+        {name: "move", llm_label: "move", connector: "ros2"},
+        {name: "speak", llm_label: "speak", connector: "ros2"},
+        {name: "face", llm_label: "emotion", connector: "ros2"},
+      ],
+    },
+  },
+  transition_rules: [{
+    from_mode: "calm",
+    to_mode: "alert",
+    transition_type: "input_triggered",    // or "time_based"
+    trigger_keywords: ["danger", "emergency", "help"],
+    priority: 1,
+    cooldown_seconds: 0,                   // Set > 0 to test cooldown
+  }],
+  input: {asr: ["../asr/emergency.json"]},
+  expected: {
+    initial_mode: "calm",
+    final_mode: "alert",
+    // first_transition_mode: "alert",     // For cooldown tests
+    // second_transition_mode: "calm",     // For cooldown tests
+  },
+}
+```
+
+**Supported transition types:**
+- `input_triggered`: Transitions when ASR input contains trigger keywords
+- `time_based`: Transitions after `timeout_seconds` expires on the source mode
+
+### Data File Formats
+
+**ASR data** (`data/asr/*.json`):
+```json
+{
+  "metadata": {"description": "...", "language": "en"},
+  "text": "Hello, how are you?"
+}
+```
+
+**Battery data** (`data/state/battery_*.json`):
+```json
+{
+  "metadata": {"description": "...", "sensor_type": "battery"},
+  "data": {"percent": 12, "voltage": 22.1, "amperes": 0.5}
+}
+```
+
+**Odometry data** (`data/state/odometry_*.json`):
+```json
+{
+  "metadata": {"description": "...", "sensor_type": "odometry"},
+  "data": {"x": 1.5, "y": 0.3, "yaw": 45.0, "moving": true, "body_attitude": "STANDING"}
+}
+```
+
+**GPS data** (`data/gps/*.json`):
+```json
+{
+  "metadata": {"description": "...", "sensor_type": "gps"},
+  "data": {"gps_lat": 37.7749, "gps_lon": -122.4194, "gps_alt": 10.0, "gps_qua": 1}
+}
+```