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
2025-11-19 17:30:48 +01:00
parent 93b8db03e7 9963134262
commit 64db25c974
46 changed files with 1207 additions and 651 deletions
--- a/test/integration/agents/actuation/test_robot_speech_agent.py
+++ b/test/integration/agents/actuation/test_robot_speech_agent.py
@@ -4,12 +4,14 @@ from unittest.mock import AsyncMock, MagicMock, patch
 import pytest
 import zmq

-from control_backend.agents.ri_command_agent import RICommandAgent
+from control_backend.agents.actuation.robot_speech_agent import RobotSpeechAgent


@pytest.fixture
 def zmq_context(mocker):
-    mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance")
+    mock_context = mocker.patch(
+        "control_backend.agents.actuation.robot_speech_agent.zmq.Context.instance"
+    )
    mock_context.return_value = MagicMock()
    return mock_context

@@ -19,20 +21,18 @@ async def test_setup_bind(zmq_context, mocker):
    """Test setup with bind=True"""
    fake_socket = zmq_context.return_value.socket.return_value

-    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
-    settings = mocker.patch("control_backend.agents.ri_command_agent.settings")
+    agent = RobotSpeechAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
+    settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
    settings.zmq_settings.internal_sub_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)
+    assert any(isinstance(b, agent.SendZMQCommandsBehaviour) for b in agent.behaviours)


@pytest.mark.asyncio
@@ -40,13 +40,12 @@ async def test_setup_connect(zmq_context, mocker):
    """Test setup with bind=False"""
    fake_socket = zmq_context.return_value.socket.return_value

-    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
-    settings = mocker.patch("control_backend.agents.ri_command_agent.settings")
+    agent = RobotSpeechAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+    settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"

    await agent.setup()

-    # Ensure PUB socket connected
    fake_socket.connect.assert_any_call("tcp://localhost:5555")


@@ -60,14 +59,16 @@ async def test_send_commands_behaviour_valid_message():
    )
    fake_socket.send_json = AsyncMock()

-    agent = RICommandAgent("test@server", "password")
+    agent = RobotSpeechAgent("test@server", "password")
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket

-    behaviour = agent.SendCommandsBehaviour()
+    behaviour = agent.SendZMQCommandsBehaviour()
    behaviour.agent = agent

-    with patch("control_backend.agents.ri_command_agent.SpeechCommand") as MockSpeechCommand:
+    with patch(
+        "control_backend.agents.actuation.robot_speech_agent.SpeechCommand"
+    ) as MockSpeechCommand:
        mock_message = MagicMock()
        MockSpeechCommand.model_validate.return_value = mock_message

@@ -78,22 +79,20 @@ async def test_send_commands_behaviour_valid_message():


@pytest.mark.asyncio
-async def test_send_commands_behaviour_invalid_message(caplog):
+async def test_send_commands_behaviour_invalid_message():
    """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 = RobotSpeechAgent("test@server", "password")
    agent.subsocket = fake_socket
    agent.pubsocket = fake_socket

-    behaviour = agent.SendCommandsBehaviour()
+    behaviour = agent.SendZMQCommandsBehaviour()
    behaviour.agent = agent

-    with caplog.at_level("ERROR"):
-        await behaviour.run()
+    await behaviour.run()

    fake_socket.recv_multipart.assert_awaited()
    fake_socket.send_json.assert_not_awaited()
-    assert "Error processing message" in caplog.text
--- a/test/integration/agents/communication/test_ri_communication_agent.py
+++ b/test/integration/agents/communication/test_ri_communication_agent.py
@@ -3,7 +3,11 @@ from unittest.mock import ANY, AsyncMock, MagicMock, patch

 import pytest

-from control_backend.agents.ri_communication_agent import RICommunicationAgent
+from control_backend.agents.communication.ri_communication_agent import RICommunicationAgent
+
+
+def speech_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"


 def fake_json_correct_negototiate_1():
@@ -86,7 +90,9 @@ def fake_json_invalid_id_negototiate():

@pytest.fixture
 def zmq_context(mocker):
-    mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance")
+    mock_context = mocker.patch(
+        "control_backend.agents.communication.ri_communication_agent.zmq.Context.instance"
+    )
    mock_context.return_value = MagicMock()
    return mock_context

@@ -100,23 +106,25 @@ async def test_setup_creates_socket_and_negotiate_1(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_correct_negototiate_1()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    # Mock ActSpeechAgent agent startup
+    with patch(speech_agent_path(), 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
+            "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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
        fake_socket.recv_json.assert_awaited()
        fake_agent_instance.start.assert_awaited()
        MockCommandAgent.assert_called_once_with(
@@ -138,23 +146,25 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_correct_negototiate_2()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    # Mock ActSpeechAgent agent startup
+    with patch(speech_agent_path(), 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
+            "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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
        fake_socket.recv_json.assert_awaited()
        fake_agent_instance.start.assert_awaited()
        MockCommandAgent.assert_called_once_with(
@@ -168,7 +178,7 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context):


@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
+async def test_setup_creates_socket_and_negotiate_3(zmq_context):
    """
    Test the functionality of setup with incorrect negotiation message
    """
@@ -176,23 +186,24 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_wrong_negototiate_1()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
+    # Mock ActSpeechAgent 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:
+    with patch(speech_agent_path(), 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)
+
+        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")
@@ -200,7 +211,6 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):

        # 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)
@@ -215,23 +225,24 @@ async def test_setup_creates_socket_and_negotiate_4(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_correct_negototiate_3()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    # Mock ActSpeechAgent agent startup
+    with patch(speech_agent_path(), 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
+            "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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
        fake_socket.recv_json.assert_awaited()
        fake_agent_instance.start.assert_awaited()
        MockCommandAgent.assert_called_once_with(
@@ -253,23 +264,24 @@ async def test_setup_creates_socket_and_negotiate_5(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_correct_negototiate_4()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    # Mock ActSpeechAgent agent startup
+    with patch(speech_agent_path(), 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
+            "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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
        fake_socket.recv_json.assert_awaited()
        fake_agent_instance.start.assert_awaited()
        MockCommandAgent.assert_called_once_with(
@@ -291,23 +303,24 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_correct_negototiate_5()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    # Mock ActSpeechAgent agent startup
+    with patch(speech_agent_path(), 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
+            "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.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
        fake_socket.recv_json.assert_awaited()
        fake_agent_instance.start.assert_awaited()
        MockCommandAgent.assert_called_once_with(
@@ -321,7 +334,7 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context):


@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
+async def test_setup_creates_socket_and_negotiate_7(zmq_context):
    """
    Test the functionality of setup with incorrect id
    """
@@ -329,23 +342,25 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = fake_json_invalid_id_negototiate()
+    fake_socket.send_multipart = AsyncMock()

-    # Mock RICommandAgent agent startup
+    # Mock ActSpeechAgent 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:
+    with patch(speech_agent_path(), 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)
+
+        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")
@@ -353,11 +368,10 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):

        # 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(zmq_context, caplog):
+async def test_setup_creates_socket_and_negotiate_timeout(zmq_context):
    """
    Test the functionality of setup with incorrect negotiation message
    """
@@ -365,55 +379,54 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context, caplog):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+    fake_socket.send_multipart = AsyncMock()

-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    with patch(speech_agent_path(), 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)
+
+        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):
+async def test_listen_behaviour_ping_correct():
    fake_socket = AsyncMock()
    fake_socket.send_json = AsyncMock()
    fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
+    fake_socket.send_multipart = AsyncMock()

-    # TODO: Integration test between actual server and password needed for spade agents
    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
+    agent._req_socket = fake_socket
+    agent.connected = True

    behaviour = agent.ListenBehaviour()
    agent.add_behaviour(behaviour)

-    # Run once (CyclicBehaviour normally loops)
-    with caplog.at_level("DEBUG"):
-        await behaviour.run()
+    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):
+async def test_listen_behaviour_ping_wrong_endpoint():
    """
    Test if our listen behaviour can work with wrong messages (wrong endpoint)
    """
@@ -430,48 +443,51 @@ async def test_listen_behaviour_ping_wrong_endpoint(caplog):
            ],
        }
    )
+    fake_pub_socket = AsyncMock()

-    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
+    agent = RICommunicationAgent("test@server", "password", fake_pub_socket)
+    agent._req_socket = fake_socket
+    agent.connected = True

    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
+    await behaviour.run()
+
    fake_socket.send_json.assert_awaited()
    fake_socket.recv_json.assert_awaited()


@pytest.mark.asyncio
-async def test_listen_behaviour_timeout(zmq_context, caplog):
+async def test_listen_behaviour_timeout(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    # recv_json will never resolve, simulate timeout
    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+    fake_socket.send_multipart = AsyncMock()

    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
+    agent._req_socket = fake_socket
+    agent.connected = True

    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
+    await behaviour.run()
+    assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+    assert not agent.connected


@pytest.mark.asyncio
-async def test_listen_behaviour_ping_no_endpoint(caplog):
+async def test_listen_behaviour_ping_no_endpoint():
    """
    Test if our listen behaviour can work with wrong messages (wrong endpoint)
    """
    fake_socket = AsyncMock()
    fake_socket.send_json = AsyncMock()
+    fake_socket.send_multipart = AsyncMock()

    # This is a message without endpoint >:(
    fake_socket.recv_json = AsyncMock(
@@ -481,43 +497,45 @@ async def test_listen_behaviour_ping_no_endpoint(caplog):
    )

    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
+    agent._req_socket = fake_socket
+    agent.connected = True

    behaviour = agent.ListenBehaviour()
    agent.add_behaviour(behaviour)

-    # Run once (CyclicBehaviour normally loops)
-    with caplog.at_level("ERROR"):
-        await behaviour.run()
+    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(zmq_context, caplog):
+async def test_setup_unexpected_exception(zmq_context):
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
    # Simulate unexpected exception during recv_json()
    fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
+    fake_socket.send_multipart = AsyncMock()

    agent = RICommunicationAgent(
-        "test@server", "password", address="tcp://localhost:5555", bind=False
+        "test@server",
+        "password",
+        address="tcp://localhost:5555",
+        bind=False,
    )

-    with caplog.at_level("ERROR"):
-        await agent.setup(max_retries=1)
+    await agent.setup(max_retries=1)

-    # Ensure that the error was logged
-    assert "Unexpected error during negotiation: boom!" in caplog.text
+    assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+    assert not agent.connected


@pytest.mark.asyncio
-async def test_setup_unpacking_exception(zmq_context, caplog):
+async def test_setup_unpacking_exception(zmq_context):
    # --- Arrange ---
    fake_socket = zmq_context.return_value.socket.return_value
    fake_socket.send_json = AsyncMock()
+    fake_socket.send_multipart = AsyncMock()

    # Make recv_json return malformed negotiation data to trigger unpacking exception
    malformed_data = {
@@ -526,23 +544,21 @@ async def test_setup_unpacking_exception(zmq_context, caplog):
    }  # missing 'port' and 'bind'
    fake_socket.recv_json = AsyncMock(return_value=malformed_data)

-    # Patch RICommandAgent so it won't actually start
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
+    # Patch ActSpeechAgent so it won't actually start
+    with patch(speech_agent_path(), 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
+            "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
+        await agent.setup(max_retries=1)

        # Ensure no command agent was started
        fake_agent_instance.start.assert_not_awaited()
--- a/test/integration/agents/perception/vad_agent/speech_with_pauses_16k_1c_float32.wav
+++ b/test/integration/agents/perception/vad_agent/speech_with_pauses_16k_1c_float32.wav
--- a/test/integration/agents/perception/vad_agent/test_vad_agent.py
+++ b/test/integration/agents/perception/vad_agent/test_vad_agent.py
@@ -5,43 +5,45 @@ import pytest
 import zmq
 from spade.agent import Agent

-from control_backend.agents.vad_agent import VADAgent
+from control_backend.agents.perception.vad_agent import VADAgent


@pytest.fixture
 def zmq_context(mocker):
-    mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance")
+    mock_context = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Context.instance")
    mock_context.return_value = MagicMock()
    return mock_context


@pytest.fixture
 def streaming(mocker):
-    return mocker.patch("control_backend.agents.vad_agent.Streaming")
+    return mocker.patch("control_backend.agents.perception.vad_agent.StreamingBehaviour")


@pytest.fixture
-def transcription_agent(mocker):
-    return mocker.patch("control_backend.agents.vad_agent.TranscriptionAgent", autospec=True)
+def per_transcription_agent(mocker):
+    return mocker.patch(
+        "control_backend.agents.perception.vad_agent.TranscriptionAgent", autospec=True
+    )


@pytest.mark.asyncio
-async def test_normal_setup(streaming, transcription_agent):
+async def test_normal_setup(streaming, per_transcription_agent):
    """
    Test that during normal setup, the VAD agent creates a Streaming behavior and creates audio
    sockets, and starts the TranscriptionAgent without loading real models.
    """
-    vad_agent = VADAgent("tcp://localhost:12345", False)
-    vad_agent.add_behaviour = MagicMock()
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
+    per_vad_agent.add_behaviour = MagicMock()

-    await vad_agent.setup()
+    await per_vad_agent.setup()

    streaming.assert_called_once()
-    vad_agent.add_behaviour.assert_called_once_with(streaming.return_value)
-    transcription_agent.assert_called_once()
-    transcription_agent.return_value.start.assert_called_once()
-    assert vad_agent.audio_in_socket is not None
-    assert vad_agent.audio_out_socket is not None
+    per_vad_agent.add_behaviour.assert_called_once_with(streaming.return_value)
+    per_transcription_agent.assert_called_once()
+    per_transcription_agent.return_value.start.assert_called_once()
+    assert per_vad_agent.audio_in_socket is not None
+    assert per_vad_agent.audio_out_socket is not None


@pytest.mark.parametrize("do_bind", [True, False])
@@ -50,11 +52,11 @@ def test_in_socket_creation(zmq_context, do_bind: bool):
    Test that the VAD agent creates an audio input socket, differentiating between binding and
    connecting.
    """
-    vad_agent = VADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind)
+    per_vad_agent = VADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind)

-    vad_agent._connect_audio_in_socket()
+    per_vad_agent._connect_audio_in_socket()

-    assert vad_agent.audio_in_socket is not None
+    assert per_vad_agent.audio_in_socket is not None

    zmq_context.return_value.socket.assert_called_once_with(zmq.SUB)
    zmq_context.return_value.socket.return_value.setsockopt_string.assert_called_once_with(
@@ -74,11 +76,11 @@ def test_out_socket_creation(zmq_context):
    """
    Test that the VAD agent creates an audio output socket correctly.
    """
-    vad_agent = VADAgent("tcp://localhost:12345", False)
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)

-    vad_agent._connect_audio_out_socket()
+    per_vad_agent._connect_audio_out_socket()

-    assert vad_agent.audio_out_socket is not None
+    assert per_vad_agent.audio_out_socket is not None

    zmq_context.return_value.socket.assert_called_once_with(zmq.PUB)
    zmq_context.return_value.socket.return_value.bind_to_random_port.assert_called_once()
@@ -93,28 +95,28 @@ async def test_out_socket_creation_failure(zmq_context):
        zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = (
            zmq.ZMQBindError
        )
-        vad_agent = VADAgent("tcp://localhost:12345", False)
+        per_vad_agent = VADAgent("tcp://localhost:12345", False)

-        await vad_agent.setup()
+        await per_vad_agent.setup()

-        assert vad_agent.audio_out_socket is None
+        assert per_vad_agent.audio_out_socket is None
        mock_super_stop.assert_called_once()


@pytest.mark.asyncio
-async def test_stop(zmq_context, transcription_agent):
+async def test_stop(zmq_context, per_transcription_agent):
    """
    Test that when the VAD agent is stopped, the sockets are closed correctly.
    """
-    vad_agent = VADAgent("tcp://localhost:12345", False)
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
    zmq_context.return_value.socket.return_value.bind_to_random_port.return_value = random.randint(
        1000,
        10000,
    )

-    await vad_agent.setup()
-    await vad_agent.stop()
+    await per_vad_agent.setup()
+    await per_vad_agent.stop()

    assert zmq_context.return_value.socket.return_value.close.call_count == 2
-    assert vad_agent.audio_in_socket is None
-    assert vad_agent.audio_out_socket is None
+    assert per_vad_agent.audio_in_socket is None
+    assert per_vad_agent.audio_out_socket is None
--- a/test/integration/agents/perception/vad_agent/test_vad_with_audio.py
+++ b/test/integration/agents/perception/vad_agent/test_vad_with_audio.py
@@ -5,7 +5,7 @@ import pytest
 import soundfile as sf
 import zmq

-from control_backend.agents.vad_agent import Streaming
+from control_backend.agents.perception.vad_agent import StreamingBehaviour


 def get_audio_chunks() -> list[bytes]:
@@ -42,12 +42,12 @@ async def test_real_audio(mocker):
    audio_in_socket = AsyncMock()
    audio_in_socket.recv.side_effect = audio_chunks

-    mock_poller: MagicMock = mocker.patch("control_backend.agents.vad_agent.zmq.Poller")
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
    mock_poller.return_value.poll.return_value = [(audio_in_socket, zmq.POLLIN)]

    audio_out_socket = AsyncMock()

-    vad_streamer = Streaming(audio_in_socket, audio_out_socket)
+    vad_streamer = StreamingBehaviour(audio_in_socket, audio_out_socket)
    vad_streamer._ready = True
    vad_streamer.agent = MagicMock()
    for _ in audio_chunks:
--- a/test/integration/api/endpoints/test_command_endpoint.py
+++ b/test/integration/api/endpoints/test_command_endpoint.py
@@ -1,61 +0,0 @@
-from unittest.mock import AsyncMock
-
-import pytest
-from fastapi import FastAPI
-from fastapi.testclient import TestClient
-
-from control_backend.api.v1.endpoints import command
-from control_backend.schemas.ri_message import SpeechCommand
-
-
-@pytest.fixture
-def app():
-    """
-    Creates a FastAPI test app and attaches the router under test.
-    Also sets up a mock internal_comm_socket.
-    """
-    app = FastAPI()
-    app.include_router(command.router)
-    return app
-
-
-@pytest.fixture
-def client(app):
-    """Create a test client for the app."""
-    return TestClient(app)
-
-
-def test_receive_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
-    expected data.
-    """
-    # Arrange
-    mock_pub_socket = AsyncMock()
-    client.app.state.endpoints_pub_socket = mock_pub_socket
-
-    command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
-    speech_command = SpeechCommand(**command_data)
-
-    # Act
-    response = client.post("/command", json=command_data)
-
-    # Assert
-    assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
-
-    # Verify that the ZMQ socket was used correctly
-    mock_pub_socket.send_multipart.assert_awaited_once_with(
-        [b"command", speech_command.model_dump_json().encode()]
-    )
-
-
-def test_receive_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)
-    assert response.status_code == 422  # validation error
--- a/test/integration/api/endpoints/test_program_endpoint.py
+++ b/test/integration/api/endpoints/test_program_endpoint.py
@@ -0,0 +1,125 @@
+import json
+from unittest.mock import AsyncMock
+
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.endpoints import program
+from control_backend.schemas.program import Program
+
+
+@pytest.fixture
+def app():
+    """Create a FastAPI app with the /program route and mock socket."""
+    app = FastAPI()
+    app.include_router(program.router)
+    return app
+
+
+@pytest.fixture
+def client(app):
+    """Create a TestClient."""
+    return TestClient(app)
+
+
+def make_valid_program_dict():
+    """Helper to create a valid Program JSON structure."""
+    return {
+        "phases": [
+            {
+                "id": "phase1",
+                "name": "basephase",
+                "nextPhaseId": "phase2",
+                "phaseData": {
+                    "norms": [{"id": "n1", "name": "norm", "value": "be nice"}],
+                    "goals": [
+                        {"id": "g1", "name": "goal", "description": "test goal", "achieved": False}
+                    ],
+                    "triggers": [
+                        {
+                            "id": "t1",
+                            "label": "trigger",
+                            "type": "keyword",
+                            "value": ["stop", "exit"],
+                        }
+                    ],
+                },
+            }
+        ]
+    }
+
+
+def test_receive_program_success(client):
+    """Valid Program JSON should be parsed and sent through the socket."""
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    program_dict = make_valid_program_dict()
+
+    response = client.post("/program", json=program_dict)
+
+    assert response.status_code == 202
+    assert response.json() == {"status": "Program parsed"}
+
+    # Verify socket call
+    mock_pub_socket.send_multipart.assert_awaited_once()
+    args, kwargs = mock_pub_socket.send_multipart.await_args
+
+    assert args[0][0] == b"program"
+
+    sent_bytes = args[0][1]
+    sent_obj = json.loads(sent_bytes.decode())
+
+    expected_obj = Program.model_validate(program_dict).model_dump()
+    assert sent_obj == expected_obj
+
+
+def test_receive_program_invalid_json(client):
+    """
+    Invalid JSON (malformed) -> FastAPI never calls endpoint.
+    It returns a 422 Unprocessable Entity.
+    """
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    # FastAPI only accepts valid JSON bodies, so send raw string
+    response = client.post("/program", content="{invalid json}")
+
+    assert response.status_code == 422
+    mock_pub_socket.send_multipart.assert_not_called()
+
+
+def test_receive_program_invalid_deep_structure(client):
+    """
+    Valid JSON but schema invalid -> Pydantic throws validation error -> 422.
+    """
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    # Missing "value" in norms element
+    bad_program = {
+        "phases": [
+            {
+                "id": "phase1",
+                "name": "deepfail",
+                "nextPhaseId": "phase2",
+                "phaseData": {
+                    "norms": [
+                        {"id": "n1", "name": "norm"}  # INVALID: missing "value"
+                    ],
+                    "goals": [
+                        {"id": "g1", "name": "goal", "description": "desc", "achieved": False}
+                    ],
+                    "triggers": [
+                        {"id": "t1", "label": "trigger", "type": "keyword", "value": ["start"]}
+                    ],
+                },
+            }
+        ]
+    }
+
+    response = client.post("/program", json=bad_program)
+
+    assert response.status_code == 422
+    mock_pub_socket.send_multipart.assert_not_called()
--- a/test/integration/api/endpoints/test_robot_endpoint.py
+++ b/test/integration/api/endpoints/test_robot_endpoint.py
@@ -0,0 +1,156 @@
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+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
+
+
+@pytest.fixture
+def app():
+    """
+    Creates a FastAPI test app and attaches the router under test.
+    Also sets up a mock internal_comm_socket.
+    """
+    app = FastAPI()
+    app.include_router(robot.router)
+    return app
+
+
+@pytest.fixture
+def client(app):
+    """Create a test client for the app."""
+    return TestClient(app)
+
+
+def test_receive_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
+    expected data.
+    """
+    # Arrange
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
+    speech_command = SpeechCommand(**command_data)
+
+    # Act
+    response = client.post("/command", json=command_data)
+
+    # Assert
+    assert response.status_code == 202
+    assert response.json() == {"status": "Command received"}
+
+    # Verify that the ZMQ socket was used correctly
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", speech_command.model_dump_json().encode()]
+    )
+
+
+def test_receive_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)
+    assert response.status_code == 422  # validation error
+
+
+def test_ping_check_returns_none(client):
+    """Ensure /ping_check returns 200 and None (currently unimplemented)."""
+    response = client.get("/ping_check")
+    assert response.status_code == 200
+    assert response.json() is None
+
+
+@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."""
+    mock_sub_socket = AsyncMock()
+    mock_sub_socket.connect = MagicMock()
+    mock_sub_socket.setsockopt = MagicMock()
+    mock_sub_socket.recv_multipart = AsyncMock(return_value=[b"ping", b"true"])
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_sub_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    mock_request = AsyncMock()
+    mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
+
+    response = await robot.ping_stream(mock_request)
+    generator = aiter(response.body_iterator)
+
+    event = await anext(generator)
+    event_text = event.decode() if isinstance(event, bytes) else str(event)
+    assert event_text.strip() == "data: true"
+
+    with pytest.raises(StopAsyncIteration):
+        await anext(generator)
+
+    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
+    mock_sub_socket.recv_multipart.assert_awaited()
+
+
+@pytest.mark.asyncio
+async def test_ping_stream_handles_timeout(monkeypatch):
+    """Test that ping_stream continues looping on TimeoutError."""
+    mock_sub_socket = AsyncMock()
+    mock_sub_socket.connect = MagicMock()
+    mock_sub_socket.setsockopt = MagicMock()
+    mock_sub_socket.recv_multipart.side_effect = TimeoutError()
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_sub_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    mock_request = AsyncMock()
+    mock_request.is_disconnected = AsyncMock(return_value=True)
+
+    response = await robot.ping_stream(mock_request)
+    generator = aiter(response.body_iterator)
+
+    with pytest.raises(StopAsyncIteration):
+        await anext(generator)
+
+    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
+    mock_sub_socket.recv_multipart.assert_awaited()
+
+
+@pytest.mark.asyncio
+async def test_ping_stream_yields_json_values(monkeypatch):
+    """Ensure ping_stream correctly parses and yields JSON body values."""
+    mock_sub_socket = AsyncMock()
+    mock_sub_socket.connect = MagicMock()
+    mock_sub_socket.setsockopt = MagicMock()
+    mock_sub_socket.recv_multipart = AsyncMock(
+        return_value=[b"ping", json.dumps({"connected": True}).encode()]
+    )
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_sub_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    mock_request = AsyncMock()
+    mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
+
+    response = await robot.ping_stream(mock_request)
+    generator = aiter(response.body_iterator)
+
+    event = await anext(generator)
+    event_text = event.decode() if isinstance(event, bytes) else str(event)
+
+    assert "connected" in event_text
+    assert "true" in event_text
+
+    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
+    mock_sub_socket.recv_multipart.assert_awaited()
--- a/test/integration/schemas/test_ui_program_message.py
+++ b/test/integration/schemas/test_ui_program_message.py
@@ -0,0 +1,85 @@
+import pytest
+from pydantic import ValidationError
+
+from control_backend.schemas.program import Goal, Norm, Phase, PhaseData, Program, Trigger
+
+
+def base_norm() -> Norm:
+    return Norm(
+        id="norm1",
+        name="testNorm",
+        value="you should act nice",
+    )
+
+
+def base_goal() -> Goal:
+    return Goal(
+        id="goal1",
+        name="testGoal",
+        description="you should act nice",
+        achieved=False,
+    )
+
+
+def base_trigger() -> Trigger:
+    return Trigger(
+        id="trigger1",
+        label="testTrigger",
+        type="keyword",
+        value=["Stop", "Exit"],
+    )
+
+
+def base_phase_data() -> PhaseData:
+    return PhaseData(
+        norms=[base_norm()],
+        goals=[base_goal()],
+        triggers=[base_trigger()],
+    )
+
+
+def base_phase() -> Phase:
+    return Phase(
+        id="phase1",
+        name="basephase",
+        nextPhaseId="phase2",
+        phaseData=base_phase_data(),
+    )
+
+
+def base_program() -> Program:
+    return Program(phases=[base_phase()])
+
+
+def invalid_program() -> dict:
+    # wrong types inside phases list (not Phase objects)
+    return {
+        "phases": [
+            {"id": "phase1"},  # incomplete
+            {"not_a_phase": True},
+        ]
+    }
+
+
+def test_valid_program():
+    program = base_program()
+    validated = Program.model_validate(program)
+    assert isinstance(validated, Program)
+    assert validated.phases[0].phaseData.norms[0].name == "testNorm"
+
+
+def test_valid_deepprogram():
+    program = base_program()
+    validated = Program.model_validate(program)
+    # validate nested components directly
+    phase = validated.phases[0]
+    assert isinstance(phase.phaseData, PhaseData)
+    assert isinstance(phase.phaseData.goals[0], Goal)
+    assert isinstance(phase.phaseData.triggers[0], Trigger)
+    assert isinstance(phase.phaseData.norms[0], Norm)
+
+
+def test_invalid_program():
+    bad = invalid_program()
+    with pytest.raises(ValidationError):
+        Program.model_validate(bad)
--- a/test/unit/agents/bdi/bdi_core_agent/behaviours/test_belief_setter.py
+++ b/test/unit/agents/bdi/bdi_core_agent/behaviours/test_belief_setter.py
@@ -4,10 +4,12 @@ from unittest.mock import AsyncMock, MagicMock, call

 import pytest

-from control_backend.agents.bdi.behaviours.belief_setter import BeliefSetterBehaviour
+from control_backend.agents.bdi.bdi_core_agent.behaviours.belief_setter_behaviour import (
+    BeliefSetterBehaviour,
+)

 # Define a constant for the collector agent name to use in tests
-COLLECTOR_AGENT_NAME = "belief_collector"
+COLLECTOR_AGENT_NAME = "belief_collector_agent"
 COLLECTOR_AGENT_JID = f"{COLLECTOR_AGENT_NAME}@test"


@@ -21,11 +23,12 @@ def mock_agent(mocker):


@pytest.fixture
-def belief_setter(mock_agent, mocker):
+def belief_setter_behaviour(mock_agent, mocker):
    """Fixture to create an instance of BeliefSetterBehaviour with a mocked agent."""
    # Patch the settings to use a predictable agent name
    mocker.patch(
-        "control_backend.agents.bdi.behaviours.belief_setter.settings.agent_settings.belief_collector_agent_name",
+        "control_backend.agents.bdi.bdi_core_agent."
+        "behaviours.belief_setter_behaviour.settings.agent_settings.bdi_belief_collector_name",
        COLLECTOR_AGENT_NAME,
    )

@@ -46,53 +49,53 @@ def create_mock_message(sender_node: str, body: str, thread: str) -> MagicMock:


@pytest.mark.asyncio
-async def test_run_message_received(belief_setter, mocker):
+async def test_run_message_received(belief_setter_behaviour, mocker):
    """
    Test that when a message is received, _process_message is called.
    """
    # Arrange
    msg = MagicMock()
-    belief_setter.receive.return_value = msg
-    mocker.patch.object(belief_setter, "_process_message")
+    belief_setter_behaviour.receive.return_value = msg
+    mocker.patch.object(belief_setter_behaviour, "_process_message")

    # Act
-    await belief_setter.run()
+    await belief_setter_behaviour.run()

    # Assert
-    belief_setter._process_message.assert_called_once_with(msg)
+    belief_setter_behaviour._process_message.assert_called_once_with(msg)


-def test_process_message_from_belief_collector(belief_setter, mocker):
+def test_process_message_from_bdi_belief_collector_agent(belief_setter_behaviour, mocker):
    """
    Test processing a message from the correct belief collector agent.
    """
    # Arrange
    msg = create_mock_message(sender_node=COLLECTOR_AGENT_NAME, body="", thread="")
-    mock_process_belief = mocker.patch.object(belief_setter, "_process_belief_message")
+    mock_process_belief = mocker.patch.object(belief_setter_behaviour, "_process_belief_message")

    # Act
-    belief_setter._process_message(msg)
+    belief_setter_behaviour._process_message(msg)

    # Assert
    mock_process_belief.assert_called_once_with(msg)


-def test_process_message_from_other_agent(belief_setter, mocker):
+def test_process_message_from_other_agent(belief_setter_behaviour, mocker):
    """
    Test that messages from other agents are ignored.
    """
    # Arrange
    msg = create_mock_message(sender_node="other_agent", body="", thread="")
-    mock_process_belief = mocker.patch.object(belief_setter, "_process_belief_message")
+    mock_process_belief = mocker.patch.object(belief_setter_behaviour, "_process_belief_message")

    # Act
-    belief_setter._process_message(msg)
+    belief_setter_behaviour._process_message(msg)

    # Assert
    mock_process_belief.assert_not_called()


-def test_process_belief_message_valid_json(belief_setter, mocker):
+def test_process_belief_message_valid_json(belief_setter_behaviour, mocker):
    """
    Test processing a valid belief message with correct thread and JSON body.
    """
@@ -101,16 +104,16 @@ def test_process_belief_message_valid_json(belief_setter, mocker):
    msg = create_mock_message(
        sender_node=COLLECTOR_AGENT_JID, body=json.dumps(beliefs_payload), thread="beliefs"
    )
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
+    mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs")

    # Act
-    belief_setter._process_belief_message(msg)
+    belief_setter_behaviour._process_belief_message(msg)

    # Assert
    mock_set_beliefs.assert_called_once_with(beliefs_payload)


-def test_process_belief_message_invalid_json(belief_setter, mocker, caplog):
+def test_process_belief_message_invalid_json(belief_setter_behaviour, mocker, caplog):
    """
    Test that a message with invalid JSON is handled gracefully and an error is logged.
    """
@@ -118,16 +121,16 @@ def test_process_belief_message_invalid_json(belief_setter, mocker, caplog):
    msg = create_mock_message(
        sender_node=COLLECTOR_AGENT_JID, body="this is not a json string", thread="beliefs"
    )
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
+    mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs")

    # Act
-    belief_setter._process_belief_message(msg)
+    belief_setter_behaviour._process_belief_message(msg)

    # Assert
    mock_set_beliefs.assert_not_called()


-def test_process_belief_message_wrong_thread(belief_setter, mocker):
+def test_process_belief_message_wrong_thread(belief_setter_behaviour, mocker):
    """
    Test that a message with an incorrect thread is ignored.
    """
@@ -135,31 +138,31 @@ def test_process_belief_message_wrong_thread(belief_setter, mocker):
    msg = create_mock_message(
        sender_node=COLLECTOR_AGENT_JID, body='{"some": "data"}', thread="not_beliefs"
    )
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
+    mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs")

    # Act
-    belief_setter._process_belief_message(msg)
+    belief_setter_behaviour._process_belief_message(msg)

    # Assert
    mock_set_beliefs.assert_not_called()


-def test_process_belief_message_empty_body(belief_setter, mocker):
+def test_process_belief_message_empty_body(belief_setter_behaviour, mocker):
    """
    Test that a message with an empty body is ignored.
    """
    # Arrange
    msg = create_mock_message(sender_node=COLLECTOR_AGENT_JID, body="", thread="beliefs")
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
+    mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs")

    # Act
-    belief_setter._process_belief_message(msg)
+    belief_setter_behaviour._process_belief_message(msg)

    # Assert
    mock_set_beliefs.assert_not_called()


-def test_set_beliefs_success(belief_setter, mock_agent, caplog):
+def test_set_beliefs_success(belief_setter_behaviour, mock_agent, caplog):
    """
    Test that beliefs are correctly set on the agent's BDI.
    """
@@ -171,7 +174,7 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog):

    # Act
    with caplog.at_level(logging.INFO):
-        belief_setter._set_beliefs(beliefs_to_set)
+        belief_setter_behaviour._set_beliefs(beliefs_to_set)

    # Assert
    expected_calls = [
@@ -182,18 +185,18 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog):
    assert mock_agent.bdi.set_belief.call_count == 2


-# def test_responded_unset(belief_setter, mock_agent):
+# def test_responded_unset(belief_setter_behaviour, mock_agent):
 #     # Arrange
 #     new_beliefs = {"user_said": ["message"]}
 #
 #     # Act
-#     belief_setter._set_beliefs(new_beliefs)
+#     belief_setter_behaviour._set_beliefs(new_beliefs)
 #
 #     # Assert
 #     mock_agent.bdi.set_belief.assert_has_calls([call("user_said", "message")])
 #     mock_agent.bdi.remove_belief.assert_has_calls([call("responded")])

-# def test_set_beliefs_bdi_not_initialized(belief_setter, mock_agent, caplog):
+# def test_set_beliefs_bdi_not_initialized(belief_setter_behaviour, mock_agent, caplog):
 #     """
 #     Test that a warning is logged if the agent's BDI is not initialized.
 #     """
@@ -203,7 +206,7 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog):
 #
 #     # Act
 #     with caplog.at_level(logging.WARNING):
-#         belief_setter._set_beliefs(beliefs_to_set)
+#         belief_setter_behaviour._set_beliefs(beliefs_to_set)
 #
 #     # Assert
 #     assert "Cannot set beliefs, since agent's BDI is not yet initialized." in caplog.text
--- a/test/unit/agents/bdi/belief_collector_agent/behaviours/test_continuous_collect.py
+++ b/test/unit/agents/bdi/belief_collector_agent/behaviours/test_continuous_collect.py
@@ -0,0 +1,101 @@
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+
+from control_backend.agents.bdi.belief_collector_agent.behaviours.belief_collector_behaviour import (  # noqa: E501
+    BeliefCollectorBehaviour,
+)
+
+
+def create_mock_message(sender_node: str, body: str) -> MagicMock:
+    """Helper function to create a configured mock message."""
+    msg = MagicMock()
+    msg.sender.node = sender_node  # MagicMock automatically creates nested mocks
+    msg.body = body
+    return msg
+
+
+@pytest.fixture
+def mock_agent(mocker):
+    """Fixture to create a mock Agent."""
+    agent = MagicMock()
+    agent.jid = "belief_collector_agent@test"
+    return agent
+
+
+@pytest.fixture
+def bel_collector_behaviouror(mock_agent, mocker):
+    """Fixture to create an instance of BelCollectorBehaviour with a mocked agent."""
+    # Patch asyncio.sleep to prevent tests from actually waiting
+    mocker.patch("asyncio.sleep", return_value=None)
+
+    collector = BeliefCollectorBehaviour()
+    collector.agent = mock_agent
+    # Mock the receive method, we will control its return value in each test
+    collector.receive = AsyncMock()
+    return collector
+
+
+@pytest.mark.asyncio
+async def test_run_message_received(bel_collector_behaviouror, mocker):
+    """
+    Test that when a message is received, _process_message is called with that message.
+    """
+    # Arrange
+    mock_msg = MagicMock()
+    bel_collector_behaviouror.receive.return_value = mock_msg
+    mocker.patch.object(bel_collector_behaviouror, "_process_message")
+
+    # Act
+    await bel_collector_behaviouror.run()
+
+    # Assert
+    bel_collector_behaviouror._process_message.assert_awaited_once_with(mock_msg)
+
+
+@pytest.mark.asyncio
+async def test_routes_to_handle_belief_text_by_type(bel_collector_behaviouror, mocker):
+    msg = create_mock_message(
+        "anyone",
+        json.dumps({"type": "belief_extraction_text", "beliefs": {"user_said": [["hi"]]}}),
+    )
+    spy = mocker.patch.object(bel_collector_behaviouror, "_handle_belief_text", new=AsyncMock())
+    await bel_collector_behaviouror._process_message(msg)
+    spy.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_routes_to_handle_belief_text_by_sender(bel_collector_behaviouror, mocker):
+    msg = create_mock_message(
+        "bel_text_agent_mock", json.dumps({"beliefs": {"user_said": [["hi"]]}})
+    )
+    spy = mocker.patch.object(bel_collector_behaviouror, "_handle_belief_text", new=AsyncMock())
+    await bel_collector_behaviouror._process_message(msg)
+    spy.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_routes_to_handle_emo_text(bel_collector_behaviouror, mocker):
+    msg = create_mock_message("anyone", json.dumps({"type": "emotion_extraction_text"}))
+    spy = mocker.patch.object(bel_collector_behaviouror, "_handle_emo_text", new=AsyncMock())
+    await bel_collector_behaviouror._process_message(msg)
+    spy.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_belief_text_happy_path_sends(bel_collector_behaviouror, mocker):
+    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": ["hello test", "No"]}}
+    bel_collector_behaviouror.send = AsyncMock()
+    await bel_collector_behaviouror._handle_belief_text(payload, "bel_text_agent_mock")
+
+    # make sure we attempted a send
+    bel_collector_behaviouror.send.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_belief_text_coerces_non_strings(bel_collector_behaviouror, mocker):
+    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": [["hi", 123]]}}
+    bel_collector_behaviouror.send = AsyncMock()
+    await bel_collector_behaviouror._handle_belief_text(payload, "origin")
+    bel_collector_behaviouror.send.assert_awaited_once()
--- a/test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py
+++ b/test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py
@@ -4,7 +4,9 @@ from unittest.mock import AsyncMock, MagicMock, patch
 import pytest
 from spade.message import Message

-from control_backend.agents.bdi.behaviours.text_belief_extractor import BeliefFromText
+from control_backend.agents.bdi.text_belief_extractor_agent.behaviours.text_belief_extractor_behaviour import (  # noqa: E501, We can't shorten this import.
+    TextBeliefExtractorBehaviour,
+)


@pytest.fixture
@@ -15,15 +17,17 @@ def mock_settings():
    """
    # Create a mock object that mimics the nested structure
    settings_mock = MagicMock()
-    settings_mock.agent_settings.transcription_agent_name = "transcriber"
-    settings_mock.agent_settings.belief_collector_agent_name = "collector"
+    settings_mock.agent_settings.transcription_name = "transcriber"
+    settings_mock.agent_settings.bdi_belief_collector_name = "collector"
    settings_mock.agent_settings.host = "fake.host"

    # Use patch to replace the settings object during the test
    # Adjust 'control_backend.behaviours.belief_from_text.settings' to where
    # your behaviour file imports it from.
    with patch(
-        "control_backend.agents.bdi.behaviours.text_belief_extractor.settings", settings_mock
+        "control_backend.agents.bdi.text_belief_extractor_agent.behaviours"
+        ".text_belief_extractor_behaviour.settings",
+        settings_mock,
    ):
        yield settings_mock

@@ -31,10 +35,10 @@ def mock_settings():
@pytest.fixture
 def behavior(mock_settings):
    """
-    Creates an instance of the BeliefFromText behaviour and mocks its
+    Creates an instance of the BDITextBeliefBehaviour behaviour and mocks its
    agent, logger, send, and receive methods.
    """
-    b = BeliefFromText()
+    b = TextBeliefExtractorBehaviour()

    b.agent = MagicMock()
    b.send = AsyncMock()
@@ -100,7 +104,7 @@ async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkey
    # Arrange: Create a mock message from the transcriber
    transcription_text = "hello world"
    mock_msg = create_mock_message(
-        mock_settings.agent_settings.transcription_agent_name, transcription_text, None
+        mock_settings.agent_settings.transcription_name, transcription_text, None
    )
    behavior.receive.return_value = mock_msg

@@ -119,7 +123,7 @@ async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkey

    assert (
        sent_msg.to
-        == mock_settings.agent_settings.belief_collector_agent_name
+        == mock_settings.agent_settings.bdi_belief_collector_name
        + "@"
        + mock_settings.agent_settings.host
    )
@@ -159,7 +163,7 @@ async def test_process_transcription_success(behavior, mock_settings):
    # 2. Inspect the sent message
    sent_msg: Message = behavior.send.call_args[0][0]
    expected_to = (
-        mock_settings.agent_settings.belief_collector_agent_name
+        mock_settings.agent_settings.bdi_belief_collector_name
        + "@"
        + mock_settings.agent_settings.host
    )
--- a/test/unit/agents/belief_collector/behaviours/test_continuous_collect.py
+++ b/test/unit/agents/belief_collector/behaviours/test_continuous_collect.py
@@ -1,101 +0,0 @@
-import json
-from unittest.mock import AsyncMock, MagicMock
-
-import pytest
-
-from control_backend.agents.belief_collector.behaviours.continuous_collect import (
-    ContinuousBeliefCollector,
-)
-
-
-def create_mock_message(sender_node: str, body: str) -> MagicMock:
-    """Helper function to create a configured mock message."""
-    msg = MagicMock()
-    msg.sender.node = sender_node  # MagicMock automatically creates nested mocks
-    msg.body = body
-    return msg
-
-
-@pytest.fixture
-def mock_agent(mocker):
-    """Fixture to create a mock Agent."""
-    agent = MagicMock()
-    agent.jid = "belief_collector_agent@test"
-    return agent
-
-
-@pytest.fixture
-def continuous_collector(mock_agent, mocker):
-    """Fixture to create an instance of ContinuousBeliefCollector with a mocked agent."""
-    # Patch asyncio.sleep to prevent tests from actually waiting
-    mocker.patch("asyncio.sleep", return_value=None)
-
-    collector = ContinuousBeliefCollector()
-    collector.agent = mock_agent
-    # Mock the receive method, we will control its return value in each test
-    collector.receive = AsyncMock()
-    return collector
-
-
-@pytest.mark.asyncio
-async def test_run_message_received(continuous_collector, mocker):
-    """
-    Test that when a message is received, _process_message is called with that message.
-    """
-    # Arrange
-    mock_msg = MagicMock()
-    continuous_collector.receive.return_value = mock_msg
-    mocker.patch.object(continuous_collector, "_process_message")
-
-    # Act
-    await continuous_collector.run()
-
-    # Assert
-    continuous_collector._process_message.assert_awaited_once_with(mock_msg)
-
-
-@pytest.mark.asyncio
-async def test_routes_to_handle_belief_text_by_type(continuous_collector, mocker):
-    msg = create_mock_message(
-        "anyone",
-        json.dumps({"type": "belief_extraction_text", "beliefs": {"user_said": [["hi"]]}}),
-    )
-    spy = mocker.patch.object(continuous_collector, "_handle_belief_text", new=AsyncMock())
-    await continuous_collector._process_message(msg)
-    spy.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_routes_to_handle_belief_text_by_sender(continuous_collector, mocker):
-    msg = create_mock_message(
-        "belief_text_agent_mock", json.dumps({"beliefs": {"user_said": [["hi"]]}})
-    )
-    spy = mocker.patch.object(continuous_collector, "_handle_belief_text", new=AsyncMock())
-    await continuous_collector._process_message(msg)
-    spy.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_routes_to_handle_emo_text(continuous_collector, mocker):
-    msg = create_mock_message("anyone", json.dumps({"type": "emotion_extraction_text"}))
-    spy = mocker.patch.object(continuous_collector, "_handle_emo_text", new=AsyncMock())
-    await continuous_collector._process_message(msg)
-    spy.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_belief_text_happy_path_sends(continuous_collector, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": ["hello test", "No"]}}
-    continuous_collector.send = AsyncMock()
-    await continuous_collector._handle_belief_text(payload, "belief_text_agent_mock")
-
-    # make sure we attempted a send
-    continuous_collector.send.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_belief_text_coerces_non_strings(continuous_collector, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": [["hi", 123]]}}
-    continuous_collector.send = AsyncMock()
-    await continuous_collector._handle_belief_text(payload, "origin")
-    continuous_collector.send.assert_awaited_once()
--- a/test/unit/agents/perception/transcription_agent/test_speech_recognizer.py
+++ b/test/unit/agents/perception/transcription_agent/test_speech_recognizer.py
@@ -1,7 +1,7 @@
 import numpy as np
 import pytest

-from control_backend.agents.transcription.speech_recognizer import (
+from control_backend.agents.perception.transcription_agent.speech_recognizer import (
    OpenAIWhisperSpeechRecognizer,
    SpeechRecognizer,
 )
@@ -10,7 +10,7 @@ from control_backend.agents.transcription.speech_recognizer import (
@pytest.fixture(autouse=True)
 def patch_sr_settings(monkeypatch):
    # Patch the *module-local* settings that SpeechRecognizer imported
-    from control_backend.agents.transcription import speech_recognizer as sr
+    from control_backend.agents.perception.transcription_agent import speech_recognizer as sr

    # Provide real numbers for everything _estimate_max_tokens() reads
    monkeypatch.setattr(sr.settings.vad_settings, "sample_rate_hz", 16_000, raising=False)
--- a/test/unit/agents/perception/vad_agent/test_vad_socket_poller.py
+++ b/test/unit/agents/perception/vad_agent/test_vad_socket_poller.py
@@ -3,7 +3,7 @@ from unittest.mock import AsyncMock, MagicMock
 import pytest
 import zmq

-from control_backend.agents.vad_agent import SocketPoller
+from control_backend.agents.perception.vad_agent import SocketPoller


@pytest.fixture
@@ -16,7 +16,7 @@ async def test_socket_poller_with_data(socket, mocker):
    socket_data = b"test"
    socket.recv.return_value = socket_data

-    mock_poller: MagicMock = mocker.patch("control_backend.agents.vad_agent.zmq.Poller")
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
    mock_poller.return_value.poll.return_value = [(socket, zmq.POLLIN)]

    poller = SocketPoller(socket)
@@ -35,7 +35,7 @@ async def test_socket_poller_with_data(socket, mocker):

@pytest.mark.asyncio
 async def test_socket_poller_no_data(socket, mocker):
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.vad_agent.zmq.Poller")
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller")
    mock_poller.return_value.poll.return_value = []

    poller = SocketPoller(socket)
--- a/test/unit/agents/perception/vad_agent/test_vad_streaming.py
+++ b/test/unit/agents/perception/vad_agent/test_vad_streaming.py
@@ -3,7 +3,7 @@ from unittest.mock import AsyncMock, MagicMock
 import numpy as np
 import pytest

-from control_backend.agents.vad_agent import Streaming
+from control_backend.agents.perception.vad_agent import StreamingBehaviour


@pytest.fixture
@@ -29,7 +29,7 @@ def streaming(audio_in_socket, audio_out_socket, mock_agent):
    import torch

    torch.hub.load.return_value = (..., ...)  # Mock
-    streaming = Streaming(audio_in_socket, audio_out_socket)
+    streaming = StreamingBehaviour(audio_in_socket, audio_out_socket)
    streaming._ready = True
    streaming.agent = mock_agent
    return streaming
@@ -38,7 +38,7 @@ def streaming(audio_in_socket, audio_out_socket, mock_agent):
@pytest.fixture(autouse=True)
 def patch_settings(monkeypatch):
    # Patch the settings that vad_agent.run() reads
-    from control_backend.agents import vad_agent
+    from control_backend.agents.perception import vad_agent

    monkeypatch.setattr(
        vad_agent.settings.behaviour_settings, "vad_prob_threshold", 0.5, raising=False