Merge branch 'dev' into feat/extra-agentspeak-functionality

# Conflicts:
#	src/control_backend/agents/bdi/bdi_program_manager.py
#	src/control_backend/agents/llm/llm_agent.py
#	test/unit/agents/bdi/test_bdi_program_manager.py

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -73,7 +73,7 @@ async def test_setup_connect(zmq_context, mocker):
 async def test_handle_message_sends_valid_gesture_command():
     """Internal message with valid gesture tag is forwarded to robot pub socket."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.pubsocket = pubsocket
 
     payload = {
@@ -91,7 +91,7 @@ async def test_handle_message_sends_valid_gesture_command():
 async def test_handle_message_sends_non_gesture_command():
     """Internal message with non-gesture endpoint is not forwarded by this agent."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.pubsocket = pubsocket
 
     payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
@@ -107,7 +107,7 @@ async def test_handle_message_sends_non_gesture_command():
 async def test_handle_message_rejects_invalid_gesture_tag():
     """Internal message with invalid gesture tag is not forwarded."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.pubsocket = pubsocket
 
     # Use a tag that's not in gesture_data
@@ -123,7 +123,7 @@ async def test_handle_message_rejects_invalid_gesture_tag():
 async def test_handle_message_invalid_payload():
     """Invalid payload is caught and does not send."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.pubsocket = pubsocket
 
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
@@ -142,12 +142,12 @@ async def test_zmq_command_loop_valid_gesture_payload():
     async def recv_once():
         # stop after first iteration
         agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
+        return b"command", json.dumps(command).encode("utf-8")
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -165,12 +165,12 @@ async def test_zmq_command_loop_valid_non_gesture_payload():
 
     async def recv_once():
         agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
+        return b"command", json.dumps(command).encode("utf-8")
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -188,12 +188,12 @@ async def test_zmq_command_loop_invalid_gesture_tag():
 
     async def recv_once():
         agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
+        return b"command", json.dumps(command).encode("utf-8")
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -210,12 +210,12 @@ async def test_zmq_command_loop_invalid_json():
 
     async def recv_once():
         agent._running = False
-        return (b"command", b"{not_json}")
+        return b"command", b"{not_json}"
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -232,12 +232,12 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
 
     async def recv_once():
         agent._running = False
-        return (b"send_gestures", b"{}")
+        return b"send_gestures", b"{}"
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -259,7 +259,9 @@ async def test_fetch_gestures_loop_without_amount():
     fake_repsocket.recv = recv_once
     fake_repsocket.send = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
+    agent = RobotGestureAgent(
+        "robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
+    )
     agent.repsocket = fake_repsocket
     agent._running = True
 
@@ -287,7 +289,9 @@ async def test_fetch_gestures_loop_with_amount():
     fake_repsocket.recv = recv_once
     fake_repsocket.send = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
+    agent = RobotGestureAgent(
+        "robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
+    )
     agent.repsocket = fake_repsocket
     agent._running = True
 
@@ -315,7 +319,7 @@ async def test_fetch_gestures_loop_with_integer_request():
     fake_repsocket.recv = recv_once
     fake_repsocket.send = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.repsocket = fake_repsocket
     agent._running = True
 
@@ -340,7 +344,7 @@ async def test_fetch_gestures_loop_with_invalid_json():
     fake_repsocket.recv = recv_once
     fake_repsocket.send = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.repsocket = fake_repsocket
     agent._running = True
 
@@ -365,7 +369,7 @@ async def test_fetch_gestures_loop_with_non_integer_json():
     fake_repsocket.recv = recv_once
     fake_repsocket.send = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.repsocket = fake_repsocket
     agent._running = True
 
@@ -381,7 +385,7 @@ async def test_fetch_gestures_loop_with_non_integer_json():
 def test_gesture_data_attribute():
     """Test that gesture_data returns the expected list."""
     gesture_data = ["hello", "yes", "no", "wave"]
-    agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data)
+    agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data, address="")
 
     assert agent.gesture_data == gesture_data
     assert isinstance(agent.gesture_data, list)
@@ -398,7 +402,7 @@ async def test_stop_closes_sockets():
     pubsocket = MagicMock()
     subsocket = MagicMock()
     repsocket = MagicMock()
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.pubsocket = pubsocket
     agent.subsocket = subsocket
     agent.repsocket = repsocket
@@ -415,7 +419,7 @@ async def test_stop_closes_sockets():
 async def test_initialization_with_custom_gesture_data():
     """Agent can be initialized with custom gesture data."""
     custom_gestures = ["custom1", "custom2", "custom3"]
-    agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures)
+    agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures, address="")
 
     assert agent.gesture_data == custom_gestures
 
@@ -432,7 +436,7 @@ async def test_fetch_gestures_loop_handles_exception():
     fake_repsocket.recv = recv_once
     fake_repsocket.send = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.repsocket = fake_repsocket
     agent.logger = MagicMock()
     agent._running = True

test/unit/agents/bdi/test_bdi_program_manager.py

@@ -80,6 +80,7 @@ async def test_receive_programs_valid_and_invalid():
     manager._internal_pub_socket = AsyncMock()
     manager.sub_socket = sub
     manager._create_agentspeak_and_send_to_bdi = AsyncMock()
+    manager._send_clear_llm_history = AsyncMock()
 
     try:
         # Will give StopAsyncIteration when the predefined `sub.recv_multipart` side-effects run out
@@ -92,3 +93,24 @@ async def test_receive_programs_valid_and_invalid():
     forwarded: Program = manager._create_agentspeak_and_send_to_bdi.await_args[0][0]
     assert forwarded.phases[0].norms[0].name == "N1"
     assert forwarded.phases[0].goals[0].name == "G1"
+
+    # Verify history clear was triggered
+    assert manager._send_clear_llm_history.await_count == 1
+
+
+@pytest.mark.asyncio
+async def test_send_clear_llm_history(mock_settings):
+    # Ensure the mock returns a string for the agent name (just like in your LLM tests)
+    mock_settings.agent_settings.llm_agent_name = "llm_agent"
+
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    await manager._send_clear_llm_history()
+
+    assert manager.send.await_count == 1
+    msg: InternalMessage = manager.send.await_args[0][0]
+
+    # Verify the content and recipient
+    assert msg.body == "clear_history"
+    assert msg.to == "llm_agent"

test/unit/agents/llm/test_llm_agent.py

@@ -265,3 +265,23 @@ async def test_stream_query_llm_skips_non_data_lines(mock_httpx_client, mock_set
 
     # Only the valid 'data:' line should yield content
     assert tokens == ["Hi"]
+
+
+@pytest.mark.asyncio
+async def test_clear_history_command(mock_settings):
+    """Test that the 'clear_history' message clears the agent's memory."""
+    # setup LLM to have some history
+    mock_settings.agent_settings.bdi_program_manager_name = "bdi_program_manager_agent"
+    agent = LLMAgent("llm_agent")
+    agent.history = [
+        {"role": "user", "content": "Old conversation context"},
+        {"role": "assistant", "content": "Old response"},
+    ]
+    assert len(agent.history) == 2
+    msg = InternalMessage(
+        to="llm_agent",
+        sender=mock_settings.agent_settings.bdi_program_manager_name,
+        body="clear_history",
+    )
+    await agent.handle_message(msg)
+    assert len(agent.history) == 0

test/unit/agents/perception/vad_agent/test_vad_streaming.py

@@ -7,6 +7,15 @@ import zmq
 from control_backend.agents.perception.vad_agent import VADAgent
 
 
+# We don't want to use real ZMQ in unit tests, for example because it can give errors when sockets
+# aren't closed properly.
+@pytest.fixture(autouse=True)
+def mock_zmq():
+    with patch("zmq.asyncio.Context") as mock:
+        mock.instance.return_value = MagicMock()
+        yield mock
+
+
 @pytest.fixture
 def audio_out_socket():
     return AsyncMock()
@@ -140,12 +149,10 @@ async def test_vad_model_load_failure_stops_agent(vad_agent):
         # Patch stop to an AsyncMock so we can check it was awaited
         vad_agent.stop = AsyncMock()
 
-        result = await vad_agent.setup()
+        await vad_agent.setup()
 
         # Assert stop was called
         vad_agent.stop.assert_awaited_once()
-        # Assert setup returned None
-        assert result is None
 
 
 @pytest.mark.asyncio
@@ -155,7 +162,7 @@ async def test_audio_out_bind_failure_sets_none_and_logs(vad_agent, caplog):
     audio_out_socket is set to None, None is returned, and an error is logged.
     """
     mock_socket = MagicMock()
-    mock_socket.bind_to_random_port.side_effect = zmq.ZMQBindError()
+    mock_socket.bind.side_effect = zmq.ZMQBindError()
     with patch("control_backend.agents.perception.vad_agent.azmq.Context.instance") as mock_ctx:
         mock_ctx.return_value.socket.return_value = mock_socket