feat: functionality implemented for RI pausing functionality

Currently, no CB pausing functionality has been implemented yet. This commit only includes necessary changes to use RI pausing.

ref: N25B-350

src/control_backend/agents/communication/ri_communication_agent.py

@@ -1,13 +1,16 @@
 import asyncio
 import json
 
+from pydantic import ValidationError
 import zmq
 import zmq.asyncio as azmq
 from zmq.asyncio import Context
 
 from control_backend.agents import BaseAgent
+from control_backend.core.agent_system import InternalMessage
 from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
 from control_backend.core.config import settings
+from control_backend.schemas.ri_message import PauseCommand
 
 from ..actuation.robot_speech_agent import RobotSpeechAgent
 from ..perception import VADAgent
@@ -296,3 +299,11 @@ class RICommunicationAgent(BaseAgent):
         self.logger.debug("Restarting communication negotiation.")
         if await self._negotiate_connection(max_retries=1):
             self.connected = True
+
+    async def handle_message(self, msg : InternalMessage):
+        try:
+            pause_command = PauseCommand.model_validate_json(msg.body)
+            self._req_socket.send_json(pause_command.model_dump())
+            self.logger.debug(self._req_socket.recv_json())
+        except ValidationError:
+            self.logger.warning("Incorrect message format for PauseCommand.")

src/control_backend/agents/mock_agents/test_pause_ri.py

@@ -0,0 +1,44 @@
+import asyncio
+import json
+
+from control_backend.agents.base import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+
+
+class TestPauseAgent(BaseAgent):
+    def __init__(self, name: str):
+        super().__init__(name)
+        
+    async def setup(self):
+        self.logger.debug("TestPauseAgent setup complete.")
+        self.add_behavior(self._pause_command_loop())
+    
+    async def _pause_command_loop(self):
+        print("Starting Pause command test loop.")
+        while True:
+            pause_command = {
+                "endpoint": "pause",
+                "data": True,
+            }
+
+            message = InternalMessage(
+                to="ri_communication_agent",
+                sender=self.name,
+                body=json.dumps(pause_command),
+            )
+            await self.send(message)
+            self.logger.info("Pausing robot actions.")
+            await asyncio.sleep(15)  # Simulate delay between messages
+
+            pause_command = {
+                "endpoint": "pause",
+                "data": False,
+            }
+            message = InternalMessage(
+                to="ri_communication_agent",
+                sender=self.name,
+                body=json.dumps(pause_command),
+            )
+            await self.send(message)
+            self.logger.info("Resuming robot actions.")
+            await asyncio.sleep(15)  # Simulate delay between messages

src/control_backend/core/config.py

@@ -91,7 +91,7 @@ class LLMSettings(BaseModel):
     """
 
     local_llm_url: str = "http://localhost:1234/v1/chat/completions"
-    local_llm_model: str = "gpt-oss"
+    local_llm_model: str = "google/gemma-3-1b"
 
 
 class VADSettings(BaseModel):

src/control_backend/main.py

@@ -40,6 +40,7 @@ from control_backend.agents.communication import RICommunicationAgent
 from control_backend.agents.llm import LLMAgent
 
 # Other backend imports
+from control_backend.agents.mock_agents.test_pause_ri import TestPauseAgent
 from control_backend.api.v1.router import api_router
 from control_backend.core.config import settings
 from control_backend.logging import setup_logging
@@ -138,6 +139,12 @@ async def lifespan(app: FastAPI):
                 "name": settings.agent_settings.bdi_program_manager_name,
             },
         ),
+        "TestPauseAgent": (
+            TestPauseAgent,
+            {
+                "name": "pause_test_agent",
+            },
+        ),
     }
 
     agents = []

src/control_backend/schemas/ri_message.py

@@ -14,6 +14,7 @@ class RIEndpoint(str, Enum):
     GESTURE_TAG = "actuate/gesture/tag"
     PING = "ping"
     NEGOTIATE_PORTS = "negotiate/ports"
+    PAUSE = "pause"
 
 
 class RIMessage(BaseModel):
@@ -62,3 +63,14 @@ class GestureCommand(RIMessage):
         if self.endpoint not in allowed:
             raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
         return self
+
+class PauseCommand(RIMessage):
+    """
+    A specific command to pause or unpause the robot's actions.
+
+    :ivar endpoint: Fixed to ``RIEndpoint.PAUSE``.
+    :ivar data: A boolean indicating whether to pause (True) or unpause (False).
+    """
+
+    endpoint: RIEndpoint = RIEndpoint(RIEndpoint.PAUSE)
+    data: bool