feat: agent structure and implementation new

architecture with unit tests

ref: N25B-205

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "python.testing.pytestArgs": [
+        "test"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true
+}

main.py

@@ -1,219 +0,0 @@
-import asyncio
-from contextlib import asynccontextmanager  
-from fastapi import FastAPI, Request
-from fastapi.middleware.cors import CORSMiddleware
-
-import zmq
-import zmq.asyncio
-from fastapi.responses import StreamingResponse
-from pydantic import BaseModel
-import datetime
-import json;
-
-
-zmq_state = {} # Contains our sockets and context
-
-# Use of Pydantic class for automatic request validation in FastAPI
-class Message(BaseModel):
-    message: str
-
-@asynccontextmanager
-async def lifespan(app: FastAPI):
-    context = zmq.Context()
-
-    # Set up sub and pub
-    zmq_state["context"] = zmq.asyncio.Context()
-
-    subport = 5555
-    pubport = 5556
-    asyncio.create_task(zmq_subscriber(subport, app))
-    asyncio.create_task(zmq_publisher(pubport, app))
-    print("Set up both sub and pub")
-
-    app.state.sse_queue = asyncio.Queue() # Messages to send to UI 
-    app.state.ri_queue = asyncio.Queue() # Messages to send to RI
-
-    # Handle pings
-    app.state.received_ping = False
-    app.state.connected = False 
-    app.state.connected_id = ""
-
-    yield
-    
-
-async def zmq_subscriber(port, app):
-    """
-    Set up the zmq subscriber to listen to the port given
-    """
-    print(f"Setting up ZMQ subscriber on port {port}")
-    sub = zmq_state["context"].socket(zmq.SUB)
-    sub.connect(f"tcp://localhost:{port}")
-    sub.setsockopt_string(zmq.SUBSCRIBE, u"")
-    zmq_state["subsocket"] = sub
-    
-    print(f"Subscriber connected to localhost:{port}, waiting for messages...")
-    
-    while True:
-        print(f"Listening for message from zmq sub on port {port}.")
-        msg = await sub.recv_string()  
-        print(f"Received from SUB: {msg}")
-        
-        # We got a message, let's see what we want to do with it.
-        await process_message_received(msg, app)
-
-async def zmq_publisher(port, app):
-    """
-    Set up the zmq publisher to send to the port given
-    """
-    queue = app.state.ri_queue
-    pub = zmq_state["context"].socket(zmq.PUB)
-    pub.bind(f"tcp://*:{port}")
-    zmq_state["pubsocket"] = pub
-    while True:
-        if not queue.empty():
-            # send different message to RI
-            return
-        if app.state.connected == True:
-            # (In case we have nothing else to send:)
-            # Let's ping our RI to see if they're still listening!
-            app.state.received_ping = False
-            zmq_state["pubsocket"].send_string("ping")
-            await asyncio.sleep(5)
-            # Let's see if we haven't returned a ping in the last 5 seconds...
-            if not app.state.received_ping == True:
-                # Let's send our UI a message the robot disappeared.
-                dataToSend = {
-                        "event": "robot_disconnected",
-                        "id": app.state.connected_id
-                    }
-                # Reset connection details
-                app.state.connected = False 
-                app.state.connectedID = ""
-                await put_message_in_ui_queue(dataToSend, app)
-        await asyncio.sleep(1)
-
-
-async def put_message_in_ui_queue(data, app):
-    queue = app.state.sse_queue
-    await queue.put(data)
-
-async def put_message_in_ri_queue(data, app):
-    queue = app.state.ri_queue
-    await queue.put(data)
-
-async def process_message_received(msg, app):
-    """
-    Process a raw received message to handle it correctly.
-    """
-    queue = app.state.sse_queue
-    # string handling
-    if type(msg) is str:
-        try:
-            print("converting received data into json.")
-            data = json.loads(msg)
-
-            print("converted data: ", data)
-
-            # Connection event
-            if (data['event'] == 'robot_connected'):
-                print("robot connection event received.")
-                if not data["id"]: 
-                    return
-                
-                # Let our app know we're connected >:)
-                app.state.connected_id = data["id"]
-                app.state.connected = True
-                app.state.received_ping = True
-
-                # Send data to UI
-                name = data.get("name", "no name")
-                port = data.get("port", "no port")
-                dataToSend = {
-                    "event": "robot_connected",
-                    "id": data["id"],
-                    "name": name,
-                    "port": port
-                }
-                await queue.put(dataToSend)
-                
-            # Disconnection event
-            if (data['event'] == 'robot_disconnected'):
-                if not data["id"]: 
-                    return
-                name = data.get("name", "no name")
-                port = data.get("port", "no port")
-
-                dataToSend = {
-                    "event": "robot_disconnected",
-                    "id": data["id"],
-                    "name": name,
-                    "port": port
-                }
-
-                await queue.put(dataToSend)
-                
-            # Ping event 
-            if (data['event'] == 'ping'):
-                print("ping received")
-                if not data["id"]: 
-                    print("no id given in ping event.")
-                    return
-                
-                # TODO: You can add some logic here if the ID doens't match (so we switched robot at the same frame lol)
-                app.state.received_ping = True
-                return
-
-        except: 
-            print("message received from RI, however, not a str or json, or another error has occured.")
-            return
-        # do shit
-
-
-app = FastAPI(lifespan=lifespan)
-
-# This middleware allows other origins to communicate with us
-app.add_middleware(
-    CORSMiddleware, # https://developer.mozilla.org/en-US/docs/Web/HTTP/Guides/CORS
-    allow_origins=["http://localhost:5173"], # address of our UI application
-    allow_methods=["*"], # GET, POST, etc.
-)
-
-# Endpoint to receive messages from the UI
-@app.post("/message")
-async def receive_message(message: Message):
-    """
-    Receives a message from the UI and prints it to the console.
-    """
-    print(f"Received message: {message}")
-    return { "status": "Message received" }
-
-# Endpoint for Server-Sent Events (SSE)
-@app.get("/sse")
-async def sse_endpoint(request: Request):
-    """
-    Endpoint for Server-Sent Events.
-    """
-    
-    async def event_generator():
-        while True:
-            # If connection to client closes, stop sending events
-            if await request.is_disconnected():
-                break
-            
-            # Let's check if we have to send any messages from our sse queue
-            queue = app.state.sse_queue
-            if not queue.empty():
-                print("message queue not empty, fetching data.")
-                data = await queue.get()
-                data_json = json.dumps(data)
-                print(f"queue not empty. yielding msg to event_generator, msg: {data_json}\n\n")
-                yield f"data: {data_json}\n\n"
-                await asyncio.sleep(1)
-
-            else:
-                # Send message containing current time every second
-                current_time = datetime.datetime.now().strftime("%H:%M:%S")
-                yield f"data: Server time: {current_time}\n\n" # \n\n is needed to separate events (SSE is text-based)
-                await asyncio.sleep(1)  
-
-    return StreamingResponse(event_generator(), media_type="text/event-stream") # media_type specifies that this connection is for event streams

pyproject.toml

@@ -11,6 +11,10 @@ dependencies = [
     "pyaudio>=0.2.14",
     "pydantic>=2.12.0",
     "pydantic-settings>=2.11.0",
+    "pytest>=8.4.2",
+    "pytest-asyncio>=1.2.0",
+    "pytest-cov>=7.0.0",
+    "pytest-mock>=3.15.1",
     "pyzmq>=27.1.0",
     "silero-vad>=6.0.0",
     "spade>=4.1.0",

src/control_backend/agents/ri_command_agent.py

@@ -0,0 +1,60 @@
+import json
+import logging
+from spade.agent import Agent
+from spade.behaviour import CyclicBehaviour
+import zmq
+
+from control_backend.core.config import settings
+from control_backend.core.zmq_context import context
+from control_backend.schemas.message import Message
+
+logger = logging.getLogger(__name__)
+
+class RICommandAgent(Agent):
+    subsocket: zmq.Socket
+    pubsocket: zmq.Socket
+    address = ""
+    bind = False
+
+    def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False):
+        super().__init__(jid, password, port, verify_security)
+        self.address = address
+        self.bind = bind
+
+    class SendCommandsBehaviour(CyclicBehaviour):
+        async def run(self):
+            assert self.agent is not None
+            # Get a message internally (with topic command)
+            topic, body = await self.agent.subsocket.recv_multipart()
+            
+            # 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)
+
+                # Send to the robot.
+                await self.agent.pubsocket.send_json(message)
+            except Exception as e:
+                logger.error("Error processing message: %s", e)
+
+    async def setup(self):
+        logger.info("Setting up %s", self.jid)
+
+        # To the robot
+        self.pubsocket = context.socket(zmq.PUB)
+        if self.bind: 
+            self.pubsocket.bind(self.address)
+        else :
+            self.pubsocket.connect(self.address)
+        
+        # Receive internal topics regarding commands
+        self.subsocket = context.socket(zmq.SUB)
+        self.subsocket.connect(settings.zmq_settings.internal_comm_address)
+        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
+
+        # Add behaviour to our agent
+        commands_behaviour = self.SendCommandsBehaviour()
+        self.add_behaviour(commands_behaviour)
+
+        logger.info("Finished setting up %s", self.jid)

src/control_backend/agents/ri_communication_agent.py

@@ -0,0 +1,138 @@
+import asyncio
+import json
+import logging
+from spade.agent import Agent
+from spade.behaviour import CyclicBehaviour
+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.agents.ri_command_agent import RICommandAgent
+
+logger = logging.getLogger(__name__)
+
+class RICommunicationAgent(Agent):
+    req_socket: zmq.Socket
+    _address = ""
+    _bind = True
+
+    def __init__(self, jid: str, password: str, port: int = 5222, verify_security: bool = False, address = "tcp://localhost:0000", bind = False):
+        super().__init__(jid, password, port, verify_security)
+        self._address = address
+        self._bind = bind
+
+    class ListenBehaviour(CyclicBehaviour):
+        async def run(self):
+            assert self.agent is not None
+
+            # We need to listen and sent pings.
+            message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
+            await self.agent.req_socket.send_json(message)
+
+            # Wait up to three seconds for a reply:)
+            try:
+                message = await asyncio.wait_for(
+                    self.agent.req_socket.recv_json(),
+                    timeout=3.0)
+
+            # We didnt get a reply :(
+            except asyncio.TimeoutError as e: 
+                logger.info("No ping retrieved in 3 seconds, killing myself.")
+                self.kill()
+
+            # message = Message.model_validate(message)
+            logger.info("Received message \"%s\"", message)
+            if "endpoint" not in message:
+                logger.error("No received endpoint in message, excepted ping endpoint.")
+                return
+            
+            # See what endpoint we received
+            match message["endpoint"]:
+                case "ping":  
+                    await asyncio.sleep(1)
+                case _:
+                    logger.info("Received message with topic different than ping, while ping expected.")
+                
+
+    async def setup(self, max_retries: int = 5):
+        logger.info("Setting up %s", self.jid)
+        retries = 0
+
+        # Let's try a certain amount of times before failing connection
+        while retries < max_retries:
+            # Bind request socket
+            self.req_socket = context.socket(zmq.REQ)
+            if self._bind: 
+                self.req_socket.bind(self._address)
+            else:    
+                self.req_socket.connect(self._address)
+
+            # Send our message and receive one back:)
+            message = {"endpoint": "negotiate/ports", "data": None}
+            await self.req_socket.send_json(message)
+
+            try:
+                received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0)
+
+            except asyncio.TimeoutError:
+                logger.warning("No connection established in 20 seconds (attempt %d/%d)", retries + 1, max_retries)
+                retries += 1
+                continue  
+
+            except Exception as e:
+                logger.error("Unexpected error during negotiation: %s", e)
+                retries += 1
+                continue
+
+            # Validate endpoint
+            endpoint = received_message.get("endpoint")
+            if endpoint != "negotiate/ports":
+                # TODO: Should this send a message back?
+                logger.error("Invalid endpoint '%s' received (attempt %d/%d)", endpoint, retries + 1, max_retries)
+                retries += 1
+                continue  
+
+            # At this point, we have a valid response
+            try:
+                for port_data in received_message["data"]:
+                    id = port_data["id"]
+                    port = port_data["port"]
+                    bind = port_data["bind"]
+                    addr = f"tcp://localhost:{port}"
+
+                    match id:
+                        case "main":
+                            if addr != self._address:
+                                if not bind:
+                                    self.req_socket.connect(addr)
+                                else:
+                                    self.req_socket.bind(addr)
+                        case "actuation":
+                            ri_commands_agent = RICommandAgent(
+                                settings.agent_settings.ri_command_agent_name + '@' + settings.agent_settings.host, 
+                                settings.agent_settings.ri_command_agent_name, 
+                                address=addr, 
+                                bind=bind )
+                            await ri_commands_agent.start()
+                        case _:
+                            logger.warning("Unhandled negotiation id: %s", id)
+
+            except Exception as e:
+                logger.error("Error unpacking negotiation data: %s", e)
+                retries += 1
+                continue
+
+            # setup succeeded
+            break
+
+        else:
+            logger.error("Failed to set up RICommunicationAgent after %d retries", max_retries)
+            return
+
+        # Set up ping behaviour
+        listen_behaviour = self.ListenBehaviour()
+        self.add_behaviour(listen_behaviour)
+        logger.info("Finished setting up %s", self.jid)
+
+

src/control_backend/core/config.py

@@ -1,15 +1,27 @@
+from re import L
 from pydantic import BaseModel
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
 class ZMQSettings(BaseModel):
     internal_comm_address: str = "tcp://localhost:5560"
 
+class AgentSettings(BaseModel):
+    host: str = "localhost"
+    bdi_core_agent_name: str = "bdi_core"
+    belief_collector_agent_name: str = "belief_collector"
+    test_agent_name: str = "test_agent"
+
+    ri_communication_agent_name: str = "ri_communication_agent"
+    ri_command_agent_name: str = "ri_command_agent"
+
 class Settings(BaseSettings):
     app_title: str = "PepperPlus"
-    
+
     ui_url: str = "http://localhost:5173"
 
     zmq_settings: ZMQSettings = ZMQSettings()
+
+    agent_settings: AgentSettings = AgentSettings()
     
     model_config = SettingsConfigDict(env_file=".env")
     

src/control_backend/main.py

@@ -7,6 +7,7 @@ import zmq
 
 # Internal imports
 from control_backend.agents.test_agent import TestAgent
+from control_backend.agents.ri_communication_agent import RICommunicationAgent
 from control_backend.api.v1.router import api_router
 from control_backend.core.config import settings
 from control_backend.core.zmq_context import context
@@ -26,9 +27,13 @@ async def lifespan(app: FastAPI):
     logger.info("Internal publishing socket bound to %s", internal_comm_socket)
 
     # Initiate agents
-    test_agent = TestAgent("test_agent@localhost", "test_agent")
+    logger.info(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host)
-    await test_agent.start()
+    logger.info(settings.agent_settings.ri_communication_agent_name)
-    
+    ri_communication_agent = RICommunicationAgent(settings.agent_settings.ri_communication_agent_name + '@' + settings.agent_settings.host, 
+                                                  settings.agent_settings.ri_communication_agent_name, 
+                                                  address="tcp://*:5555", bind=True)
+    await ri_communication_agent.start()
+
     yield
     
     logger.info("%s shutting down.", app.title)

test/unit/test_ri_commands_agent.py

@@ -0,0 +1,84 @@
+import asyncio
+import zmq
+import json
+import pytest
+from unittest.mock import AsyncMock, MagicMock, patch
+from control_backend.agents.ri_command_agent import RICommandAgent
+from control_backend.schemas.message import Message
+
+@pytest.mark.asyncio
+async def test_setup_bind(monkeypatch):
+    """Test setup with bind=True"""
+    fake_socket = MagicMock()
+    monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket)
+
+    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
+    monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")))
+
+    await agent.setup()
+
+    # Ensure PUB socket bound
+    fake_socket.bind.assert_any_call("tcp://localhost:5555")
+    # Ensure SUB socket connected to internal address and subscribed
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
+
+    # Ensure behaviour attached
+    assert any(isinstance(b, agent.SendCommandsBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_connect(monkeypatch):
+    """Test setup with bind=False"""
+    fake_socket = MagicMock()
+    monkeypatch.setattr("control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket)
+
+    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+    monkeypatch.setattr("control_backend.agents.ri_command_agent.settings", MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")))
+
+    await agent.setup()
+
+    # Ensure PUB socket connected
+    fake_socket.connect.assert_any_call("tcp://localhost:5555")
+
+@pytest.mark.asyncio
+async def test_send_commands_behaviour_valid_message(caplog):
+    """Test behaviour with valid JSON message"""
+    fake_socket = AsyncMock()
+    message_dict = {"message": "hello"}
+    fake_socket.recv_multipart = AsyncMock(return_value=(b"command", json.dumps(message_dict).encode("utf-8")))
+    fake_socket.send_json = AsyncMock()
+
+    agent = RICommandAgent("test@server", "password")
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+
+    behaviour = agent.SendCommandsBehaviour()
+    behaviour.agent = agent
+
+    with caplog.at_level("INFO"):
+        await behaviour.run()
+
+    fake_socket.recv_multipart.assert_awaited()
+    fake_socket.send_json.assert_awaited()
+    assert "Received message" in caplog.text
+
+@pytest.mark.asyncio
+async def test_send_commands_behaviour_invalid_message(caplog):
+    """Test behaviour with invalid JSON message triggers error logging"""
+    fake_socket = AsyncMock()
+    fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}"))
+    fake_socket.send_json = AsyncMock()
+
+    agent = RICommandAgent("test@server", "password")
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+
+    behaviour = agent.SendCommandsBehaviour()
+    behaviour.agent = agent
+
+    with caplog.at_level("ERROR"):
+        await behaviour.run()
+
+    fake_socket.recv_multipart.assert_awaited()
+    fake_socket.send_json.assert_not_awaited()
+    assert "Error processing message" in caplog.text

test/unit/test_ri_communication_agent.py

@@ -0,0 +1,498 @@
+import asyncio
+import pytest
+from unittest.mock import AsyncMock, MagicMock, patch, ANY
+from control_backend.agents.ri_communication_agent import RICommunicationAgent
+
+def fake_json_correct_negototiate_1():
+    return AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": 5555, "bind": False},
+            {"id": "actuation", "port": 5556, "bind": True},
+        ]})
+
+def fake_json_correct_negototiate_2():
+    return AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": 5555, "bind": False},
+            {"id": "actuation", "port": 5557, "bind": True},
+        ]})
+
+def fake_json_correct_negototiate_3():
+    return AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": 5555, "bind": True},
+            {"id": "actuation", "port": 5557, "bind": True},
+        ]})
+
+def fake_json_correct_negototiate_4():
+    # Different port, do bind
+    return AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": 4555, "bind": True},
+            {"id": "actuation", "port": 5557, "bind": True},
+        ]})
+
+def fake_json_correct_negototiate_5():
+    # Different port, dont bind.
+    return AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": 4555, "bind": False},
+            {"id": "actuation", "port": 5557, "bind": True},
+        ]})
+
+def fake_json_wrong_negototiate_1():
+    return AsyncMock(return_value={
+        "endpoint": "ping",
+        "data": ""})
+
+def fake_json_invalid_id_negototiate():
+    return AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "banana", "port": 4555, "bind": False},
+            {"id": "tomato", "port": 5557, "bind": True},
+        ]})
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_1(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_1()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        await agent.setup()
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
+        fake_socket.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY, # Server Name 
+            ANY, # Server Password
+            address="tcp://localhost:5556",  # derived from the 'port' value in negotiation
+            bind=True
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_2(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_2()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        await agent.setup()
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
+        fake_socket.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY, # Server Name
+            ANY, # Server Password
+            address="tcp://localhost:5557",  # derived from the 'port' value in negotiation
+            bind=True
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog):
+    """
+    Test the functionality of setup with incorrect negotiation message
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_wrong_negototiate_1()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+
+
+    # We are sending wrong negotiation info to the communication agent, so we should retry and expect a
+    # better response, within a limited time.
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        with caplog.at_level("ERROR"):
+            agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+            await agent.setup(max_retries=1)
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.recv_json.assert_awaited()
+
+        # Since it failed, there should not be any command agent.
+        fake_agent_instance.start.assert_not_awaited()
+        assert "Failed to set up RICommunicationAgent" in caplog.text
+        
+        # Ensure the agent did not attach a ListenBehaviour
+        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_4(monkeypatch):
+    """
+    Test the setup of the communication agent with different bind value
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_3()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
+        await agent.setup()
+
+        # --- Assert ---
+        fake_socket.bind.assert_any_call("tcp://localhost:5555")
+        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
+        fake_socket.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY, # Server Name 
+            ANY, # Server Password
+            address="tcp://localhost:5557",  # derived from the 'port' value in negotiation
+            bind=True
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_5(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_4()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        await agent.setup()
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
+        fake_socket.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY, # Server Name 
+            ANY, # Server Password
+            address="tcp://localhost:5557",  # derived from the 'port' value in negotiation
+            bind=True
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_6(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_5()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+        await agent.setup()
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
+        fake_socket.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY, # Server Name 
+            ANY, # Server Password
+            address="tcp://localhost:5557",  # derived from the 'port' value in negotiation
+            bind=True
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog):
+    """
+    Test the functionality of setup with incorrect id
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_invalid_id_negototiate()
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    # Mock RICommandAgent agent startup
+
+
+    # We are sending wrong negotiation info to the communication agent, so we should retry and expect a
+    # better response, within a limited time.
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        with caplog.at_level("WARNING"):
+            agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+            await agent.setup(max_retries=1)
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.recv_json.assert_awaited()
+
+        # Since it failed, there should not be any command agent.
+        fake_agent_instance.start.assert_not_awaited()
+        assert "Unhandled negotiation id:" in caplog.text
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_timeout(monkeypatch, caplog):
+    """
+    Test the functionality of setup with incorrect negotiation message
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+    
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr("control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket)
+
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        with caplog.at_level("WARNING"):
+            agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+            await agent.setup(max_retries=1)
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        
+        # Since it failed, there should not be any command agent.
+        fake_agent_instance.start.assert_not_awaited()
+        assert "No connection established in 20 seconds" in caplog.text
+        
+        # Ensure the agent did not attach a ListenBehaviour
+        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+@pytest.mark.asyncio
+async def test_listen_behaviour_ping_correct(caplog):
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
+
+    # TODO: Integration test between actual server and password needed for spade agents
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    behaviour = agent.ListenBehaviour()
+    agent.add_behaviour(behaviour)
+
+    # Run once (CyclicBehaviour normally loops)
+    with caplog.at_level("INFO"):
+        await behaviour.run()
+
+    fake_socket.send_json.assert_awaited()
+    fake_socket.recv_json.assert_awaited()
+    assert "Received message" in caplog.text
+
+@pytest.mark.asyncio
+async def test_listen_behaviour_ping_wrong_endpoint(caplog):
+    """
+    Test if our listen behaviour can work with wrong messages (wrong endpoint)
+    """
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+
+    # This is a message for the wrong endpoint >:(
+    fake_socket.recv_json = AsyncMock(return_value={
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": 5555, "bind": False},
+            {"id": "actuation", "port": 5556, "bind": True},
+        ]})
+
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    behaviour = agent.ListenBehaviour()
+    agent.add_behaviour(behaviour)
+
+    # Run once (CyclicBehaviour normally loops)
+    with caplog.at_level("INFO"):
+        await behaviour.run()
+
+   
+    assert "Received message with topic different than ping, while ping expected." in caplog.text
+    fake_socket.send_json.assert_awaited()
+    fake_socket.recv_json.assert_awaited()
+
+@pytest.mark.asyncio
+async def test_listen_behaviour_timeout(caplog):
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+    # recv_json will never resolve, simulate timeout
+    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    behaviour = agent.ListenBehaviour()
+    agent.add_behaviour(behaviour)
+
+    with caplog.at_level("INFO"):
+        await behaviour.run()
+
+    assert "No ping retrieved in 3 seconds" in caplog.text
+
+@pytest.mark.asyncio
+async def test_listen_behaviour_ping_no_endpoint(caplog):
+    """
+    Test if our listen behaviour can work with wrong messages (wrong endpoint)
+    """
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+
+    # This is a message without endpoint >:(
+    fake_socket.recv_json = AsyncMock(return_value={
+        "data": "I dont have an endpoint >:)",
+        })
+
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    behaviour = agent.ListenBehaviour()
+    agent.add_behaviour(behaviour)
+
+    # Run once (CyclicBehaviour normally loops)
+    with caplog.at_level("ERROR"):
+        await behaviour.run()
+
+    assert "No received endpoint in message, excepted ping endpoint." in caplog.text
+    fake_socket.send_json.assert_awaited()
+    fake_socket.recv_json.assert_awaited()
+
+@pytest.mark.asyncio
+async def test_setup_unexpected_exception(monkeypatch, caplog):
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    # Simulate unexpected exception during recv_json()
+    fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
+
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket",
+        lambda _: fake_socket
+    )
+
+    agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+
+    with caplog.at_level("ERROR"):
+        await agent.setup(max_retries=1)
+
+    # Ensure that the error was logged
+    assert "Unexpected error during negotiation: boom!" in caplog.text
+
+@pytest.mark.asyncio
+async def test_setup_unpacking_exception(monkeypatch, caplog):
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+
+    # Make recv_json return malformed negotiation data to trigger unpacking exception
+    malformed_data = {"endpoint": "negotiate/ports", "data": [ {"id": "main"} ]}  # missing 'port' and 'bind'
+    fake_socket.recv_json = AsyncMock(return_value=malformed_data)
+
+    # Patch context.socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket",
+        lambda _: fake_socket
+    )
+
+    # Patch RICommandAgent so it won't actually start
+    with patch("control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        agent = RICommunicationAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+
+        # --- Act & Assert ---
+        with caplog.at_level("ERROR"):
+            await agent.setup(max_retries=1)
+
+        # Ensure the unpacking exception was logged
+        assert "Error unpacking negotiation data" in caplog.text
+
+        # Ensure no command agent was started
+        fake_agent_instance.start.assert_not_awaited()
+
+        # Ensure no behaviour was attached
+        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)

uv.lock

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 ]
 
+[[package]]
+name = "coverage"
+version = "7.11.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/1c/38/ee22495420457259d2f3390309505ea98f98a5eed40901cf62196abad006/coverage-7.11.0.tar.gz", hash = "sha256:167bd504ac1ca2af7ff3b81d245dfea0292c5032ebef9d66cc08a7d28c1b8050", size = 811905, upload-time = "2025-10-15T15:15:08.542Z" }
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