chore: adjust message/command structure and write unit tests

ref: N25B-205

src/control_backend/agents/ri_command_agent.py

@@ -6,7 +6,7 @@ import zmq
 
 from control_backend.core.config import settings
 from control_backend.core.zmq_context import context
-from control_backend.schemas.message import Message
+from control_backend.schemas.ri_message import SpeechCommand
 
 logger = logging.getLogger(__name__)
 
@@ -33,9 +33,8 @@ class RICommandAgent(Agent):
             # Try to get body
             try:
                 message_json = json.loads(body.decode("utf-8"))
-                message = Message.model_validate(message_json)
-                logger.info("Received message \"%s\"", message.message)
-
+                message = SpeechCommand.model_validate(message_json)
+            
                 # Send to the robot.
                 await self.agent.pubsocket.send_json(message)
             except Exception as e:

src/control_backend/agents/ri_communication_agent.py

@@ -44,8 +44,7 @@ class RICommunicationAgent(Agent):
                 logger.info("No ping retrieved in 3 seconds, killing myself.")
                 self.kill()
 
-            # message = Message.model_validate(message)
-            logger.info("Received message \"%s\"", message)
+            logger.debug("Received message \"%s\"", message)
             if "endpoint" not in message:
                 logger.error("No received endpoint in message, excepted ping endpoint.")
                 return

src/control_backend/api/v1/endpoints/command.py

@@ -0,0 +1,23 @@
+from fastapi import APIRouter, Request
+import logging
+
+from zmq import Socket
+
+from control_backend.schemas.message import Message
+
+logger = logging.getLogger(__name__)
+
+router = APIRouter()
+
+@router.post("/message", status_code=202)
+async def receive_message(message: Message, request: Request):
+    logger.info("Received message: %s", message.message)
+
+    topic = b"message"
+    body = message.model_dump_json().encode("utf-8")
+
+    pub_socket: Socket = request.app.state.internal_comm_socket
+
+    pub_socket.send_multipart([topic, body])
+
+    return {"status": "Message received"}

src/control_backend/schemas/ri_message.py

@@ -0,0 +1,20 @@
+from enum import Enum
+from typing import Any, Literal
+
+from pydantic import BaseModel, Field, ValidationError
+
+
+class RIEndpoint(str, Enum):
+    SPEECH = "actuate/speech"
+    PING = "ping"
+    NEGOTIATE_PORTS = "negotiate/ports"
+
+
+class RIMessage(BaseModel):
+    endpoint: RIEndpoint
+    data: Any   
+
+
+class SpeechCommand(RIMessage):
+    endpoint: RIEndpoint = RIEndpoint(RIEndpoint.SPEECH)
+    data: str