chore: apply suggestion

Changed `add_background_task` to `add_behavior` and added extra docs.

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -45,7 +45,7 @@ class RobotSpeechAgent(BaseAgent):
         self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
 
-        await self.add_background_task(self._zmq_command_loop())
+        await self.add_behavior(self._zmq_command_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -31,7 +31,7 @@ class BDICoreAgent(BaseAgent):
         await self._load_asl()
 
         # Start the BDI cycle loop
-        await self.add_background_task(self._bdi_loop())
+        await self.add_behavior(self._bdi_loop())
         self.logger.debug("Setup complete.")
 
     async def _load_asl(self):

src/control_backend/agents/communication/ri_communication_agent.py

@@ -37,7 +37,7 @@ class RICommunicationAgent(BaseAgent):
 
         if await self._negotiate_connection():
             self.connected = True
-            await self.add_background_task(self._listen_loop())
+            await self.add_behavior(self._listen_loop())
         else:
             self.logger.warning("Failed to negotiate connection during setup.")
 

src/control_backend/agents/perception/transcription_agent/transcription_agent.py

@@ -37,7 +37,7 @@ class TranscriptionAgent(BaseAgent):
         self.speech_recognizer.load_model()  # Warmup
 
         # Start background loop
-        await self.add_background_task(self._transcribing_loop())
+        await self.add_behavior(self._transcribing_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 

src/control_backend/agents/perception/vad_agent.py

@@ -93,7 +93,7 @@ class VADAgent(BaseAgent):
         # Warmup/reset
         await self.reset_stream()
 
-        await self.add_background_task(self._streaming_loop())
+        await self.add_behavior(self._streaming_loop())
 
         # Start agents dependent on the output audio fragments here
         transcriber = TranscriptionAgent(audio_out_address)

src/control_backend/core/agent_system.py

@@ -1,6 +1,7 @@
 import asyncio
 import logging
 from abc import ABC, abstractmethod
+from collections.abc import Coroutine
 from dataclasses import dataclass
 
 # Central directory to resolve agent names to instances
@@ -69,7 +70,7 @@ class BaseAgent(ABC):
         await self.setup()
 
         # Start processing inbox
-        await self.add_background_task(self._process_inbox())
+        await self.add_behavior(self._process_inbox())
 
     async def stop(self):
         """Stops the agent."""
@@ -98,8 +99,13 @@ class BaseAgent(ABC):
         """Override this to handle incoming messages."""
         raise NotImplementedError
 
-    async def add_background_task(self, coro):
-        """Helper to add a behavior to the agent."""
+    async def add_behavior(self, coro: Coroutine):
+        """
+        Helper to add a behavior to the agent. To add asynchronous behavior to an agent, define
+        an `async` function and add it to the task list by calling :func:`add_background_task`
+        with it. This should happen in the :func:`setup` method of the agent. For an example, see:
+        :func:`~control_backend.agents.bdi.BDICoreAgent`.
+        """
         task = asyncio.create_task(coro)
         self._tasks.add(task)
         task.add_done_callback(self._tasks.discard)