Merge remote-tracking branch 'origin/dev' into feat/environment-variables

# Conflicts: # src/control_backend/core/config.py # test/unit/agents/actuation/test_robot_speech_agent.py
2025-12-29 12:35:39 +01:00
parent 0c682d6440 adbb7ffd5c
commit 5282c2471f
23 changed files with 1477 additions and 49 deletions
--- a/test/unit/agents/actuation/test_robot_gesture_agent.py
+++ b/test/unit/agents/actuation/test_robot_gesture_agent.py
@@ -0,0 +1,444 @@
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import zmq
+
+from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.schemas.ri_message import RIEndpoint
+
+
+@pytest.fixture
+def zmq_context(mocker):
+    """Mock the ZMQ context."""
+    mock_context = mocker.patch(
+        "control_backend.agents.actuation.robot_gesture_agent.azmq.Context.instance"
+    )
+    mock_context.return_value = MagicMock()
+    return mock_context
+
+
+@pytest.mark.asyncio
+async def test_setup_bind(zmq_context, mocker):
+    """Setup binds and subscribes to internal commands."""
+    fake_socket = zmq_context.return_value.socket.return_value
+    agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=True)
+
+    settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
+    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+
+    agent.add_behavior = MagicMock()
+
+    await agent.setup()
+
+    # Check PUB socket binding
+    fake_socket.bind.assert_any_call("tcp://localhost:5556")
+    # Check REP socket binding
+    fake_socket.bind.assert_called()
+
+    # Check SUB socket connection and subscriptions
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
+    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"send_gestures")
+
+    # Check behavior was added (twice: once for command loop, once for fetch gestures loop)
+    assert agent.add_behavior.call_count == 2
+
+
+@pytest.mark.asyncio
+async def test_setup_connect(zmq_context, mocker):
+    """Setup connects when bind=False."""
+    fake_socket = zmq_context.return_value.socket.return_value
+    agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=False)
+
+    settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
+    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+
+    agent.add_behavior = MagicMock()
+
+    await agent.setup()
+
+    # Check PUB socket connection (not binding)
+    fake_socket.connect.assert_any_call("tcp://localhost:5556")
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    # Check REP socket binding (always binds)
+    fake_socket.bind.assert_called()
+
+    # Check behavior was added (twice)
+    assert agent.add_behavior.call_count == 2
+
+
+@pytest.mark.asyncio
+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.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_TAG,
+        "data": "hello",  # "hello" is in gesture_data
+    }
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+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.pubsocket = pubsocket
+
+    payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    # Non-gesture endpoints should not be forwarded by this agent
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+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.pubsocket = pubsocket
+
+    # Use a tag that's not in gesture_data
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+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.pubsocket = pubsocket
+
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_valid_gesture_payload():
+    """UI command with valid gesture tag is read from SUB and published."""
+    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        # stop after first iteration
+        agent._running = False
+        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.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_valid_non_gesture_payload():
+    """UI command with non-gesture endpoint is not forwarded by this agent."""
+    command = {"endpoint": "some_other_endpoint", "data": "anything"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        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.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_invalid_gesture_tag():
+    """UI command with invalid gesture tag is not forwarded."""
+    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        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.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_invalid_json():
+    """Invalid JSON is ignored without sending."""
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        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.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_ignores_send_gestures_topic():
+    """send_gestures topic is ignored in command loop."""
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        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.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_without_amount():
+    """Fetch gestures request without amount returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"{}"  # Empty JSON request
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    # Check the response contains all tags
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert "tags" in response
+    assert response["tags"] == ["hello", "yes", "no", "wave", "point"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_amount():
+    """Fetch gestures request with amount returns limited tags."""
+    fake_repsocket = AsyncMock()
+    amount = 3
+
+    async def recv_once():
+        agent._running = False
+        return json.dumps(amount).encode()
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert "tags" in response
+    assert len(response["tags"]) == amount
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_integer_request():
+    """Fetch gestures request with integer amount."""
+    fake_repsocket = AsyncMock()
+    amount = 2
+
+    async def recv_once():
+        agent._running = False
+        return json.dumps(amount).encode()
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert response["tags"] == ["hello", "yes"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_invalid_json():
+    """Invalid JSON request returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"not_json"
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_non_integer_json():
+    """Non-integer JSON request returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return json.dumps({"not": "an_integer"}).encode()
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+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)
+
+    assert agent.gesture_data == gesture_data
+    assert isinstance(agent.gesture_data, list)
+    assert len(agent.gesture_data) == 4
+    assert "hello" in agent.gesture_data
+    assert "yes" in agent.gesture_data
+    assert "no" in agent.gesture_data
+    assert "invalid_tag_not_in_list" not in agent.gesture_data
+
+
+@pytest.mark.asyncio
+async def test_stop_closes_sockets():
+    """Stop method closes all sockets."""
+    pubsocket = MagicMock()
+    subsocket = MagicMock()
+    repsocket = MagicMock()
+    agent = RobotGestureAgent("robot_gesture")
+    agent.pubsocket = pubsocket
+    agent.subsocket = subsocket
+    agent.repsocket = repsocket
+
+    await agent.stop()
+
+    pubsocket.close.assert_called_once()
+    subsocket.close.assert_called_once()
+    # Note: repsocket is not closed in stop() method, but you might want to add it
+    # repsocket.close.assert_called_once()
+
+
+@pytest.mark.asyncio
+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)
+
+    assert agent.gesture_data == custom_gestures
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_handles_exception():
+    """Exception in fetch gestures loop is caught and logged."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        raise Exception("Test exception")
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent.logger = MagicMock()
+    agent._running = True
+
+    # Should not raise exception
+    await agent._fetch_gestures_loop()
+
+    # Exception should be logged
+    agent.logger.exception.assert_called_once()
--- a/test/unit/agents/actuation/test_robot_speech_agent.py
+++ b/test/unit/agents/actuation/test_robot_speech_agent.py
@@ -8,6 +8,11 @@ from control_backend.agents.actuation.robot_speech_agent import RobotSpeechAgent
 from control_backend.core.agent_system import InternalMessage


+def mock_speech_agent():
+    agent = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=False)
+    return agent
+
+
@pytest.fixture
 def zmq_context(mocker):
    mock_context = mocker.patch(
@@ -56,10 +61,10 @@ async def test_setup_connect(zmq_context, mocker):
 async def test_handle_message_sends_command():
    """Internal message is forwarded to robot pub socket as JSON."""
    pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech", "tcp://localhost:3498")
+    agent = mock_speech_agent()
    agent.pubsocket = pubsocket

-    payload = {"endpoint": "actuate/speech", "data": "hello"}
+    payload = {"endpoint": "actuate/speech", "data": "hello", "is_priority": False}
    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))

    await agent.handle_message(msg)
@@ -70,7 +75,7 @@ async def test_handle_message_sends_command():
@pytest.mark.asyncio
 async def test_zmq_command_loop_valid_payload(zmq_context):
    """UI command is read from SUB and published."""
-    command = {"endpoint": "actuate/speech", "data": "hello"}
+    command = {"endpoint": "actuate/speech", "data": "hello", "is_priority": False}
    fake_socket = AsyncMock()

    async def recv_once():
@@ -80,7 +85,7 @@ async def test_zmq_command_loop_valid_payload(zmq_context):

    fake_socket.recv_multipart = recv_once
    fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech", "tcp://localhost:3498")
+    agent = mock_speech_agent()
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket
    agent._running = True
@@ -101,7 +106,7 @@ async def test_zmq_command_loop_invalid_json():

    fake_socket.recv_multipart = recv_once
    fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech", "tcp://localhost:3498")
+    agent = mock_speech_agent()
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket
    agent._running = True
@@ -115,7 +120,7 @@ async def test_zmq_command_loop_invalid_json():
 async def test_handle_message_invalid_payload():
    """Invalid payload is caught and does not send."""
    pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech", "tcp://localhost:3498")
+    agent = mock_speech_agent()
    agent.pubsocket = pubsocket

    msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
@@ -129,7 +134,7 @@ async def test_handle_message_invalid_payload():
 async def test_stop_closes_sockets():
    pubsocket = MagicMock()
    subsocket = MagicMock()
-    agent = RobotSpeechAgent("robot_speech", "tcp://localhost:3498")
+    agent = mock_speech_agent()
    agent.pubsocket = pubsocket
    agent.subsocket = subsocket

--- a/test/unit/agents/communication/test_ri_communication_agent.py
+++ b/test/unit/agents/communication/test_ri_communication_agent.py
@@ -10,6 +10,10 @@ def speech_agent_path():
    return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"


+def gesture_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotGestureAgent"
+
+
@pytest.fixture
 def zmq_context(mocker):
    mock_context = mocker.patch(
@@ -22,7 +26,7 @@ def zmq_context(mocker):
 def negotiation_message(
    actuation_port: int = 5556,
    bind_main: bool = False,
-    bind_actuation: bool = True,
+    bind_actuation: bool = False,
    main_port: int = 5555,
 ):
    return {
@@ -41,9 +45,12 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
    fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
    fake_socket.send_multipart = AsyncMock()

-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        robot_instance = MockRobot.return_value
-        robot_instance.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
        agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)

        agent.add_behavior = MagicMock()
@@ -52,9 +59,18 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):

    fake_socket.connect.assert_any_call("tcp://localhost:5555")
    fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
-    robot_instance.start.assert_awaited_once()
-    MockRobot.assert_called_once_with(ANY, address="tcp://*:5556", bind=True)
+    MockSpeech.return_value.start.assert_awaited_once()
+    MockGesture.return_value.start.assert_awaited_once()
+    MockSpeech.assert_called_once_with(ANY, address="tcp://localhost:5556", bind=False)
+    MockGesture.assert_called_once_with(
+        ANY,
+        address="tcp://localhost:5556",
+        bind=False,
+        gesture_data=[],
+        single_gesture_data=[],
+    )
    agent.add_behavior.assert_called_once()
+
    assert agent.connected is True


@@ -69,10 +85,13 @@ async def test_setup_binds_when_requested(zmq_context):

    agent.add_behavior = MagicMock()

-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        MockRobot.return_value.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
        await agent.setup()
-
    fake_socket.bind.assert_any_call("tcp://localhost:5555")
    agent.add_behavior.assert_called_once()

@@ -88,7 +107,6 @@ async def test_negotiate_invalid_endpoint_retries(zmq_context):
    agent._req_socket = fake_socket

    success = await agent._negotiate_connection(max_retries=1)
-
    assert success is False


@@ -112,8 +130,12 @@ async def test_handle_negotiation_response_updates_req_socket(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
    agent._req_socket = fake_socket
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        MockRobot.return_value.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
        await agent._handle_negotiation_response(
            negotiation_message(
                main_port=6000,
@@ -135,7 +157,6 @@ async def test_handle_disconnection_publishes_and_reconnects():
    agent._negotiate_connection = AsyncMock(return_value=True)

    await agent._handle_disconnection()
-
    pub_socket.send_multipart.assert_awaited()
    assert agent.connected is True

@@ -192,7 +213,7 @@ async def test_setup_warns_on_failed_negotiate(zmq_context, mocker):
    fake_socket.recv_json = AsyncMock()
    agent = RICommunicationAgent("ri_comm")

-    async def swallow(coro):
+    def swallow(coro):
        coro.close()

    agent.add_behavior = swallow
--- a/test/unit/agents/llm/test_llm_agent.py
+++ b/test/unit/agents/llm/test_llm_agent.py
@@ -49,6 +49,9 @@ async def test_llm_processing_success(mock_httpx_client, mock_settings):
    agent = LLMAgent("llm_agent")
    agent.send = AsyncMock()  # Mock the send method to verify replies

+    mock_logger = MagicMock()
+    agent.logger = mock_logger
+
    # Simulate receiving a message from BDI
    prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
    msg = InternalMessage(
@@ -194,6 +197,9 @@ async def test_query_llm_yields_final_tail_chunk(mock_settings):
    agent = LLMAgent("llm_agent")
    agent.send = AsyncMock()

+    agent.logger = MagicMock()
+    agent.logger.llm = MagicMock()
+
    # Patch _stream_query_llm to yield tokens that do NOT end with punctuation
    async def fake_stream(messages):
        yield "Hello"
--- a/test/unit/agents/user_interrupt/test_user_interrupt.py
+++ b/test/unit/agents/user_interrupt/test_user_interrupt.py
@@ -0,0 +1,146 @@
+import asyncio
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+
+from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import RIEndpoint
+
+
+@pytest.fixture
+def agent():
+    agent = UserInterruptAgent(name="user_interrupt_agent")
+    agent.send = AsyncMock()
+    agent.logger = MagicMock()
+    agent.sub_socket = AsyncMock()
+    return agent
+
+
+@pytest.mark.asyncio
+async def test_send_to_speech_agent(agent):
+    """Verify speech command format."""
+    await agent._send_to_speech_agent("Hello World")
+
+    agent.send.assert_awaited_once()
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    assert sent_msg.to == settings.agent_settings.robot_speech_name
+    body = json.loads(sent_msg.body)
+    assert body["data"] == "Hello World"
+    assert body["is_priority"] is True
+
+
+@pytest.mark.asyncio
+async def test_send_to_gesture_agent(agent):
+    """Verify gesture command format."""
+    await agent._send_to_gesture_agent("wave_hand")
+
+    agent.send.assert_awaited_once()
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    assert sent_msg.to == settings.agent_settings.robot_gesture_name
+    body = json.loads(sent_msg.body)
+    assert body["data"] == "wave_hand"
+    assert body["is_priority"] is True
+    assert body["endpoint"] == RIEndpoint.GESTURE_SINGLE.value
+
+
+@pytest.mark.asyncio
+async def test_send_to_program_manager(agent):
+    """Verify belief update format."""
+    context_str = "2"
+
+    await agent._send_to_program_manager(context_str)
+
+    agent.send.assert_awaited_once()
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    assert sent_msg.to == settings.agent_settings.bdi_program_manager_name
+    assert sent_msg.thread == "belief_override_id"
+
+    body = json.loads(sent_msg.body)
+
+    assert body["belief"] == context_str
+
+
+@pytest.mark.asyncio
+async def test_receive_loop_routing_success(agent):
+    """
+    Test that the loop correctly:
+    1. Receives 'button_pressed' topic from ZMQ
+    2. Parses the JSON payload to find 'type' and 'context'
+    3. Calls the correct handler method based on 'type'
+    """
+    # Prepare JSON payloads as bytes
+    payload_speech = json.dumps({"type": "speech", "context": "Hello Speech"}).encode()
+    payload_gesture = json.dumps({"type": "gesture", "context": "Hello Gesture"}).encode()
+    payload_override = json.dumps({"type": "override", "context": "Hello Override"}).encode()
+
+    agent.sub_socket.recv_multipart.side_effect = [
+        (b"button_pressed", payload_speech),
+        (b"button_pressed", payload_gesture),
+        (b"button_pressed", payload_override),
+        asyncio.CancelledError,  # Stop the infinite loop
+    ]
+
+    agent._send_to_speech_agent = AsyncMock()
+    agent._send_to_gesture_agent = AsyncMock()
+    agent._send_to_program_manager = AsyncMock()
+
+    try:
+        await agent._receive_button_event()
+    except asyncio.CancelledError:
+        pass
+
+    await asyncio.sleep(0)
+
+    # Speech
+    agent._send_to_speech_agent.assert_awaited_once_with("Hello Speech")
+
+    # Gesture
+    agent._send_to_gesture_agent.assert_awaited_once_with("Hello Gesture")
+
+    # Override
+    agent._send_to_program_manager.assert_awaited_once_with("Hello Override")
+
+    assert agent._send_to_speech_agent.await_count == 1
+    assert agent._send_to_gesture_agent.await_count == 1
+    assert agent._send_to_program_manager.await_count == 1
+
+
+@pytest.mark.asyncio
+async def test_receive_loop_unknown_type(agent):
+    """Test that unknown 'type' values in the JSON log a warning and do not crash."""
+
+    # Prepare a payload with an unknown type
+    payload_unknown = json.dumps({"type": "unknown_thing", "context": "some_data"}).encode()
+
+    agent.sub_socket.recv_multipart.side_effect = [
+        (b"button_pressed", payload_unknown),
+        asyncio.CancelledError,
+    ]
+
+    agent._send_to_speech_agent = AsyncMock()
+    agent._send_to_gesture_agent = AsyncMock()
+    agent._send_to_belief_collector = AsyncMock()
+
+    try:
+        await agent._receive_button_event()
+    except asyncio.CancelledError:
+        pass
+
+    await asyncio.sleep(0)
+
+    # Ensure no handlers were called
+    agent._send_to_speech_agent.assert_not_called()
+    agent._send_to_gesture_agent.assert_not_called()
+    agent._send_to_belief_collector.assert_not_called()
+
+    agent.logger.warning.assert_called_with(
+        "Received button press with unknown type '%s' (context: '%s').",
+        "unknown_thing",
+        "some_data",
+    )
--- a/test/unit/api/v1/endpoints/test_robot_endpoint.py
+++ b/test/unit/api/v1/endpoints/test_robot_endpoint.py
@@ -1,12 +1,14 @@
+# tests/test_robot_endpoints.py
 import json
-from unittest.mock import AsyncMock, MagicMock
+from unittest.mock import AsyncMock, MagicMock, patch

 import pytest
+import zmq.asyncio
 from fastapi import FastAPI
 from fastapi.testclient import TestClient

 from control_backend.api.v1.endpoints import robot
-from control_backend.schemas.ri_message import SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand


@pytest.fixture
@@ -26,7 +28,27 @@ def client(app):
    return TestClient(app)


-def test_receive_command_success(client):
+@pytest.fixture
+def mock_zmq_context():
+    """Mock the ZMQ context used by the endpoint module."""
+    with patch("control_backend.api.v1.endpoints.robot.Context.instance") as mock_context:
+        context_instance = MagicMock()
+        mock_context.return_value = context_instance
+        yield context_instance
+
+
+@pytest.fixture
+def mock_sockets(mock_zmq_context):
+    """Optional helper if you want both a sub and req/push socket available."""
+    mock_sub_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+
+    mock_zmq_context.socket.return_value = mock_sub_socket
+
+    return {"sub": mock_sub_socket, "req": mock_req_socket}
+
+
+def test_receive_speech_command_success(client):
    """
    Test for successful reception of a command. Ensures the status code is 202 and the response body
    is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
@@ -40,11 +62,11 @@ def test_receive_command_success(client):
    speech_command = SpeechCommand(**command_data)

    # Act
-    response = client.post("/command", json=command_data)
+    response = client.post("/command/speech", json=command_data)

    # Assert
    assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
+    assert response.json() == {"status": "Speech command received"}

    # Verify that the ZMQ socket was used correctly
    mock_pub_socket.send_multipart.assert_awaited_once_with(
@@ -52,13 +74,48 @@ def test_receive_command_success(client):
    )


-def test_receive_command_invalid_payload(client):
+def test_receive_gesture_command_success(client):
+    """
+    Test for successful reception of a command that is a gesture command.
+    Ensures the status code is 202 and the response body is correct.
+    """
+    # Arrange
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    command_data = {"endpoint": "actuate/gesture/tag", "data": "happy"}
+    gesture_command = GestureCommand(**command_data)
+
+    # Act
+    response = client.post("/command/gesture", json=command_data)
+
+    # Assert
+    assert response.status_code == 202
+    assert response.json() == {"status": "Gesture command received"}
+
+    # Verify that the ZMQ socket was used correctly
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", gesture_command.model_dump_json().encode()]
+    )
+
+
+def test_receive_speech_command_invalid_payload(client):
    """
    Test invalid data handling (schema validation).
    """
    # Missing required field(s)
    bad_payload = {"invalid": "data"}
-    response = client.post("/command", json=bad_payload)
+    response = client.post("/command/speech", json=bad_payload)
+    assert response.status_code == 422  # validation error
+
+
+def test_receive_gesture_command_invalid_payload(client):
+    """
+    Test invalid data handling (schema validation).
+    """
+    # Missing required field(s)
+    bad_payload = {"invalid": "data"}
+    response = client.post("/command/gesture", json=bad_payload)
    assert response.status_code == 422  # validation error


@@ -69,6 +126,9 @@ def test_ping_check_returns_none(client):
    assert response.json() is None


+# ----------------------------
+# ping_stream tests (unchanged behavior)
+# ----------------------------
@pytest.mark.asyncio
 async def test_ping_stream_yields_ping_event(monkeypatch):
    """Test that ping_stream yields a proper SSE message when a ping is received."""
@@ -81,6 +141,11 @@ async def test_ping_stream_yields_ping_event(monkeypatch):
    mock_context.socket.return_value = mock_sub_socket
    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)

+    # patch settings address used by ping_stream
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
    mock_request = AsyncMock()
    mock_request.is_disconnected = AsyncMock(side_effect=[False, True])

@@ -94,7 +159,7 @@ async def test_ping_stream_yields_ping_event(monkeypatch):
    with pytest.raises(StopAsyncIteration):
        await anext(generator)

-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
    mock_sub_socket.recv_multipart.assert_awaited()

@@ -111,6 +176,10 @@ async def test_ping_stream_handles_timeout(monkeypatch):
    mock_context.socket.return_value = mock_sub_socket
    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)

+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
    mock_request = AsyncMock()
    mock_request.is_disconnected = AsyncMock(return_value=True)

@@ -120,7 +189,7 @@ async def test_ping_stream_handles_timeout(monkeypatch):
    with pytest.raises(StopAsyncIteration):
        await anext(generator)

-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
    mock_sub_socket.recv_multipart.assert_awaited()

@@ -139,6 +208,10 @@ async def test_ping_stream_yields_json_values(monkeypatch):
    mock_context.socket.return_value = mock_sub_socket
    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)

+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
    mock_request = AsyncMock()
    mock_request.is_disconnected = AsyncMock(side_effect=[False, True])

@@ -151,6 +224,192 @@ async def test_ping_stream_yields_json_values(monkeypatch):
    assert "connected" in event_text
    assert "true" in event_text

-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
    mock_sub_socket.recv_multipart.assert_awaited()
+
+
+# ----------------------------
+# Updated get_available_gesture_tags tests (REQ socket on tcp://localhost:7788)
+# ----------------------------
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_success(client, monkeypatch):
+    """
+    Test successful retrieval of available gesture tags using a REQ socket.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"tags": ["wave", "nod", "point", "dance"]}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    # Replace logger methods to avoid noisy logs in tests
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": ["wave", "nod", "point", "dance"]}
+
+    # Verify ZeroMQ REQ interactions
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send.assert_awaited_once_with(b"None")
+    mock_req_socket.recv.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_with_amount(client, monkeypatch):
+    """
+    The endpoint currently ignores the 'amount' TODO, so behavior is the same as 'success'.
+    This test asserts that the endpoint still sends b"None" and returns the tags.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"tags": ["wave", "nod"]}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": ["wave", "nod"]}
+
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send.assert_awaited_once_with(b"None")
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_timeout(client, monkeypatch):
+    """
+    Test timeout scenario when fetching gesture tags. Endpoint should handle TimeoutError
+    and return an empty list while logging the timeout.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    mock_req_socket.recv = AsyncMock(side_effect=TimeoutError)
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    # Patch logger.debug so we can assert it was called with the expected message
+    mock_debug = MagicMock()
+    monkeypatch.setattr(robot.logger, "debug", mock_debug)
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+
+    # Verify the timeout was logged using the exact string from the endpoint code
+    mock_debug.assert_called_once_with("Got timeout error fetching gestures.")
+
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send.assert_awaited_once_with(b"None")
+    mock_req_socket.recv.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
+    """
+    Test scenario when response contains an empty 'tags' list.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"tags": []}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_missing_tags_key(client, monkeypatch):
+    """
+    Test scenario when response JSON doesn't contain 'tags' key.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"some_other_key": "value"}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
+    """
+    Test scenario when response contains invalid JSON. Endpoint should log the error
+    and return an empty list.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    mock_req_socket.recv = AsyncMock(return_value=b"invalid json")
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    mock_error = MagicMock()
+    monkeypatch.setattr(robot.logger, "error", mock_error)
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert - invalid JSON should lead to empty list and error log invocation
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+    assert mock_error.call_count == 1
--- a/test/unit/schemas/test_ri_message.py
+++ b/test/unit/schemas/test_ri_message.py
@@ -1,26 +1,88 @@
 import pytest
 from pydantic import ValidationError

-from control_backend.schemas.ri_message import RIEndpoint, RIMessage, SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, RIMessage, SpeechCommand


 def valid_command_1():
    return SpeechCommand(data="Hallo?")


+def valid_command_2():
+    return GestureCommand(endpoint=RIEndpoint.GESTURE_TAG, data="happy")
+
+
+def valid_command_3():
+    return GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="happy_1")
+
+
 def invalid_command_1():
    return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.")


+def invalid_command_2():
+    return RIMessage(endpoint=RIEndpoint.PING, data="Hey!")
+
+
+def invalid_command_3():
+    return RIMessage(endpoint=RIEndpoint.GESTURE_SINGLE, data={1, 2, 3})
+
+
+def invalid_command_4():
+    test: RIMessage = GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="asdsad")
+
+    def change_endpoint(msg: RIMessage):
+        msg.endpoint = RIEndpoint.PING
+
+    change_endpoint(test)
+    return test
+
+
 def test_valid_speech_command_1():
    command = valid_command_1()
    RIMessage.model_validate(command)
    SpeechCommand.model_validate(command)


+def test_valid_gesture_command_1():
+    command = valid_command_2()
+    RIMessage.model_validate(command)
+    GestureCommand.model_validate(command)
+
+
+def test_valid_gesture_command_2():
+    command = valid_command_3()
+    RIMessage.model_validate(command)
+    GestureCommand.model_validate(command)
+
+
 def test_invalid_speech_command_1():
    command = invalid_command_1()
    RIMessage.model_validate(command)

    with pytest.raises(ValidationError):
        SpeechCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_1():
+    command = invalid_command_2()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_2():
+    command = invalid_command_3()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_3():
+    command = invalid_command_4()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)