feat: create tests for all currect functionality and add get available tags router

ref: N25B-334

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -6,7 +6,7 @@ import zmq.asyncio as azmq
 from control_backend.agents import BaseAgent
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
-from control_backend.schemas.ri_message import GestureCommand
+from control_backend.schemas.ri_message import GestureCommand, RIEndpoint
 
 
 class RobotGestureAgent(BaseAgent):
@@ -36,7 +36,9 @@ class RobotGestureAgent(BaseAgent):
         gesture_data=None,
     ):
         if gesture_data is None:
-            gesture_data = []
+            self.gesture_data = []
+        else:
+            self.gesture_data = gesture_data
         super().__init__(name)
         self.address = address
         self.bind = bind
@@ -65,8 +67,10 @@ class RobotGestureAgent(BaseAgent):
         self.subsocket = context.socket(zmq.SUB)
         self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
-        # This one
+        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"send_gestures")
+
         self.add_behavior(self._zmq_command_loop())
+        self.add_behavior(self._fetch_gestures_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 
@@ -87,6 +91,14 @@ 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.availableTags():
+                    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:
             self.logger.exception("Error processing internal message.")
@@ -99,15 +111,63 @@ class RobotGestureAgent(BaseAgent):
         """
         while self._running:
             try:
-                _, body = await self.subsocket.recv_multipart()
+                topic, body = await self.subsocket.recv_multipart()
+
+                # Don't process send_gestures here
+                if topic != b"command":
+                    continue
 
                 body = json.loads(body)
-                message = GestureCommand.model_validate(body)
-
-                await self.pubsocket.send_json(message.model_dump())
+                gesture_command = GestureCommand.model_validate(body)
+                if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
+                    if gesture_command.data not in self.availableTags():
+                        self.logger.warning(
+                            "Received gesture tag '%s' which is not in available tags.\
+                            Early returning",
+                            gesture_command.data,
+                        )
+                        continue
+                await self.pubsocket.send_json(gesture_command.model_dump())
             except Exception:
                 self.logger.exception("Error processing ZMQ message.")
 
+    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.
+        """
+        while self._running:
+            try:
+                topic, body = await self.subsocket.recv_multipart()
+
+                # Don't process commands here
+                if topic != b"send_gestures":
+                    continue
+
+                try:
+                    body = json.loads(body)
+                except json.JSONDecodeError:
+                    body = None
+
+                # We could have the body be the nummer of gestures you want to fetch or something.
+                amount = None
+                if isinstance(body, int):
+                    amount = body
+
+                tags = self.availableTags()[:amount] if amount else self.availableTags()
+                response = json.dumps({"tags": tags}).encode()
+
+                await self.pubsocket.send_multipart(
+                    [
+                        b"get_gestures",
+                        response,
+                    ]
+                )
+
+            except Exception:
+                self.logger.exception("Error fetching gesture tags.")
+
     def availableTags(self):
         """
         Returns the available gesture tags.