feat: connected with RI properly

ref: N25B-397

src/control_backend/agents/perception/__init__.py

@@ -1,3 +1,4 @@
+from .face_rec_agent import FacePerceptionAgent as FacePerceptionAgent
 from .transcription_agent.transcription_agent import (
     TranscriptionAgent as TranscriptionAgent,
 )

src/control_backend/agents/perception/face_rec_agent.py

@@ -1,74 +1,55 @@
-import zmq
+import asyncio
-import zmq.asyncio as azmq
 
 from control_backend.agents import BaseAgent
 
 
 class FacePerceptionAgent(BaseAgent):
     """
-    Receives and processes face detection / recognition events
+    Receives face presence updates from the RICommunicationAgent
-    coming from Pepper (via a NAOqi -> ZMQ bridge).
+    via the internal PUB/SUB bus.
     """
 
     def __init__(self, name: str):
         super().__init__(name)
-        self._address = "tcp://127.0.0.1:5559"
+        self._last_face_state: bool | None = None
-        self._socket: azmq.Socket | None = None
 
     async def setup(self):
         self.logger.info("Starting FacePerceptionAgent")
+        self.add_behavior(self._poll_loop())
 
-        ctx = azmq.Context.instance()
+    async def _poll_loop(self):
-        self._socket = ctx.socket(zmq.SUB)
+        poll_interval = 1.0
-        self._socket.setsockopt_string(zmq.SUBSCRIBE, "")
 
-        self._socket.connect(self._address)
-
-        self.add_behavior(self._listen_loop())
-
-    async def _listen_loop(self):
         while self._running:
             try:
-                msg = await self._socket.recv_json()
+                # Ask RICommunicationAgent (via main socket)
-                await self._process_face_data(msg)
+                await self._req_socket.send_json({"endpoint": "face", "data": {}})
-            except Exception:
-                self.logger.exception("Error receiving face data")
 
-    async def _process_face_data(self, data: dict):
+                response = await asyncio.wait_for(
-        """
+                    self._req_socket.recv_json(), timeout=poll_interval
-        Processes NAOqi FaceDetected-derived data.
-        """
-
-        faces = data.get("faces", [])
-        new_recognitions = data.get("new_recognitions", [])
-
-        if not faces:
-            self.logger.debug("No faces detected")
-            return
-
-        self.logger.debug("Detected %d face(s)", len(faces))
-
-        for face in faces:
-            face_id = face.get("face_id")
-            alpha = face.get("alpha")
-            beta = face.get("beta")
-            # size_x = face.get("size_x")
-            # size_y = face.get("size_y")
-
-            recognized = face.get("recognized", False)
-            label = face.get("label")
-            score = face.get("score", 0.0)
-
-            if recognized:
-                self.logger.info("Recognized %s (score=%.2f, id=%s)", label, score, face_id)
-            else:
-                self.logger.debug(
-                    "Unrecognized face id=%s at (α=%.2f, β=%.2f)", face_id, alpha, beta
                 )
 
-        # Temporal-filtered recognition (important!)
+                face_present = bool(response.get("data", False))
-        for name in new_recognitions:
-            self.logger.info("New person recognized: %s", name)
 
-            # 🔮 Example belief posting hook
+                if self._last_face_state is None:
-            # await self.post_belief("person_present", name=name)
+                    self._last_face_state = face_present
+                    continue
+
+                if face_present != self._last_face_state:
+                    self._last_face_state = face_present
+                    self.logger.info("👀 Face detected" if face_present else "🙈 Face lost")
+                    # TODO: post belief to BDI here
+
+            except Exception as e:
+                self.logger.warning("Face polling failed")
+                self.logger.warn(e)
+
+            await asyncio.sleep(poll_interval)
+
+    async def _handle_face_change(self, present: bool):
+        if present:
+            self.logger.info("👀 Face detected")
+            # await self.post_belief("face_present", value=True)
+        else:
+            self.logger.info("🙈 No face detected")
+            # await self.post_belief("face_present", value=False)

src/control_backend/core/config.py

@@ -49,6 +49,7 @@ class AgentSettings(BaseModel):
     robot_speech_name: str = "robot_speech_agent"
     robot_gesture_name: str = "robot_gesture_agent"
     user_interrupt_name: str = "user_interrupt_agent"
+    face_agent_name: str = "face_detection_agent"
 
 
 class BehaviourSettings(BaseModel):

src/control_backend/main.py

@@ -38,6 +38,7 @@ from control_backend.agents.communication import RICommunicationAgent
 # Emotional Agents
 # LLM Agents
 from control_backend.agents.llm import LLMAgent
+from control_backend.agents.perception.face_rec_agent import FacePerceptionAgent
 
 # User Interrupt Agent
 from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
@@ -147,6 +148,12 @@ async def lifespan(app: FastAPI):
                 "name": settings.agent_settings.user_interrupt_name,
             },
         ),
+        "FaceDetectionAgent": (
+            FacePerceptionAgent,
+            {
+                "name": settings.agent_settings.face_agent_name,
+            },
+        ),
     }
 
     agents = []