Merge remote-tracking branch 'origin/dev' into refactor/config-file

# Conflicts:
#	src/control_backend/agents/ri_communication_agent.py
#	src/control_backend/core/config.py
#	src/control_backend/main.py

src/control_backend/agents/actuation/__init__.py

@@ -0,0 +1 @@
+from .robot_speech_agent import RobotSpeechAgent as RobotSpeechAgent

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -0,0 +1,90 @@
+import json
+
+import spade.agent
+import zmq
+from spade.behaviour import CyclicBehaviour
+from zmq.asyncio import Context
+
+from control_backend.agents import BaseAgent
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import SpeechCommand
+
+
+class RobotSpeechAgent(BaseAgent):
+    subsocket: zmq.Socket
+    pubsocket: zmq.Socket
+    address = ""
+    bind = False
+
+    def __init__(
+        self,
+        jid: str,
+        password: str,
+        port: int = settings.agent_settings.default_spade_port,
+        verify_security: bool = False,
+        address=settings.zmq_settings.ri_command_address,
+        bind=False,
+    ):
+        super().__init__(jid, password, port, verify_security)
+        self.address = address
+        self.bind = bind
+
+    class SendZMQCommandsBehaviour(CyclicBehaviour):
+        """Behaviour for sending commands received from the UI."""
+
+        async def run(self):
+            """
+            Run the command publishing loop indefinetely.
+            """
+            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:
+                body = json.loads(body)
+                message = SpeechCommand.model_validate(body)
+
+                # Send to the robot.
+                await self.agent.pubsocket.send_json(message.model_dump())
+            except Exception as e:
+                self.agent.logger.error("Error processing message: %s", e)
+
+    class SendSpadeCommandsBehaviour(CyclicBehaviour):
+        """Behaviour for sending commands received from other Python agents."""
+
+        async def run(self):
+            message: spade.agent.Message = await self.receive(timeout=0.1)
+            if message and message.to == self.agent.jid:
+                try:
+                    speech_command = SpeechCommand.model_validate_json(message.body)
+                    await self.agent.pubsocket.send_json(speech_command.model_dump())
+                except Exception as e:
+                    self.agent.logger.error("Error processing message: %s", e)
+
+    async def setup(self):
+        """
+        Setup the robot speech command agent
+        """
+        self.logger.info("Setting up %s", self.jid)
+
+        context = Context.instance()
+
+        # To the robot
+        self.pubsocket = context.socket(zmq.PUB)
+        if self.bind:  # TODO: Should this ever be the case?
+            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_sub_address)
+        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
+
+        # Add behaviour to our agent
+        commands_behaviour = self.SendZMQCommandsBehaviour()
+        self.add_behaviour(commands_behaviour)
+        self.add_behaviour(self.SendSpadeCommandsBehaviour())
+
+        self.logger.info("Finished setting up %s", self.jid)