feat: single gestures are forwarded properly to ui

ref: N25B-399

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -27,16 +27,22 @@ class RobotGestureAgent(BaseAgent):
     pubsocket: azmq.Socket
     address = ""
     bind = False
-    gesture_data = []
+    gesture_tags = []
+    gesture_basic = []
+    gesture_single = []
 
     def __init__(
         self,
         name: str,
         address=settings.zmq_settings.ri_command_address,
         bind=False,
-        gesture_data=None,
+        gesture_tags=None,
+        gesture_basic=None,
+        gesture_single=None,
     ):
-        self.gesture_data = gesture_data or []
+        self.gesture_tags = gesture_tags or []
+        self.gesture_basic = gesture_basic or []
+        self.gesture_single = gesture_single or []
         super().__init__(name)
         self.address = address
         self.bind = bind
@@ -92,13 +98,14 @@ class RobotGestureAgent(BaseAgent):
         """
         try:
             gesture_command = GestureCommand.model_validate_json(msg.body)
-            if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
-                if gesture_command.data not in self.gesture_data:
-                    self.logger.warning(
-                        "Received gesture tag '%s' which is not in available tags. Early returning",
-                        gesture_command.data,
-                    )
-                    return
+            # if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
+            #     if gesture_command.data not in self.gesture_data:
+            #         self.logger.warning(
+            #             "Received gesture tag '%s' which is not in available tags.
+            # Early returning",
+            #             gesture_command.data,
+            #         )
+            #         return
 
             await self.pubsocket.send_json(gesture_command.model_dump())
         except Exception:
@@ -134,29 +141,39 @@ class RobotGestureAgent(BaseAgent):
 
     async def _fetch_gestures_loop(self):
         """
-        Loop to handle fetching gestures received via ZMQ (e.g., from the UI).
-
-        Listens on the 'send_gestures' topic, and returns a list on the get_gestures topic.
+        REP socket handler for gesture queries.
+        Supports:
+        - tags
+        - basic_gestures
+        - single_gestures
         """
         while self._running:
             try:
-                # Get a request
-                body = await self.repsocket.recv()
+                req = await self.repsocket.recv_json()
 
-                # Figure out amount, if specified
-                try:
-                    body = json.loads(body)
-                except json.JSONDecodeError:
-                    body = None
+                req_type = req.get("type")
+                amount = req.get("count")
 
-                amount = None
-                if isinstance(body, int):
-                    amount = body
+                if req_type == "tags":
+                    data = self.gesture_tags
+                    key = "tags"
 
-                # Fetch tags from gesture data and respond
-                tags = self.gesture_data[:amount] if amount else self.gesture_data
-                response = json.dumps({"tags": tags}).encode()
-                await self.repsocket.send(response)
+                elif req_type == "basic":
+                    data = self.gesture_basic
+                    key = "basic_gestures"
+
+                elif req_type == "single":
+                    data = self.gesture_single
+                    key = "single_gestures"
+
+                else:
+                    await self.repsocket.send_json({})
+                    continue
+
+                if amount:
+                    data = data[:amount]
+
+                await self.repsocket.send_json({key: data})
 
             except Exception:
-                self.logger.exception("Error fetching gesture tags.")
+                self.logger.exception("Error fetching gestures.")