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/__init__.py

@@ -1,7 +1 @@
 from .base import BaseAgent as BaseAgent
-from .belief_collector.belief_collector import BeliefCollectorAgent as BeliefCollectorAgent
-from .llm.llm import LLMAgent as LLMAgent
-from .ri_command_agent import RICommandAgent as RICommandAgent
-from .ri_communication_agent import RICommunicationAgent as RICommunicationAgent
-from .transcription.transcription_agent import TranscriptionAgent as TranscriptionAgent
-from .vad_agent import VADAgent as VADAgent

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

@@ -10,7 +10,7 @@ from control_backend.core.config import settings
 from control_backend.schemas.ri_message import SpeechCommand
 
 
-class RICommandAgent(BaseAgent):
+class RobotSpeechAgent(BaseAgent):
     subsocket: zmq.Socket
     pubsocket: zmq.Socket
     address = ""
@@ -29,7 +29,7 @@ class RICommandAgent(BaseAgent):
         self.address = address
         self.bind = bind
 
-    class SendCommandsBehaviour(CyclicBehaviour):
+    class SendZMQCommandsBehaviour(CyclicBehaviour):
         """Behaviour for sending commands received from the UI."""
 
         async def run(self):
@@ -50,7 +50,7 @@ class RICommandAgent(BaseAgent):
             except Exception as e:
                 self.agent.logger.error("Error processing message: %s", e)
 
-    class SendPythonCommandsBehaviour(CyclicBehaviour):
+    class SendSpadeCommandsBehaviour(CyclicBehaviour):
         """Behaviour for sending commands received from other Python agents."""
 
         async def run(self):
@@ -64,7 +64,7 @@ class RICommandAgent(BaseAgent):
 
     async def setup(self):
         """
-        Setup the command agent
+        Setup the robot speech command agent
         """
         self.logger.info("Setting up %s", self.jid)
 
@@ -72,7 +72,7 @@ class RICommandAgent(BaseAgent):
 
         # To the robot
         self.pubsocket = context.socket(zmq.PUB)
-        if self.bind:
+        if self.bind:  # TODO: Should this ever be the case?
             self.pubsocket.bind(self.address)
         else:
             self.pubsocket.connect(self.address)
@@ -83,8 +83,8 @@ class RICommandAgent(BaseAgent):
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
 
         # Add behaviour to our agent
-        commands_behaviour = self.SendCommandsBehaviour()
+        commands_behaviour = self.SendZMQCommandsBehaviour()
         self.add_behaviour(commands_behaviour)
-        self.add_behaviour(self.SendPythonCommandsBehaviour())
+        self.add_behaviour(self.SendSpadeCommandsBehaviour())
 
         self.logger.info("Finished setting up %s", self.jid)

src/control_backend/agents/bdi/__init__.py

@@ -1,2 +1,7 @@
-from .bdi_core import BDICoreAgent as BDICoreAgent
-from .text_extractor import TBeliefExtractorAgent as TBeliefExtractorAgent
+from .bdi_core_agent.bdi_core_agent import BDICoreAgent as BDICoreAgent
+from .belief_collector_agent.belief_collector_agent import (
+    BDIBeliefCollectorAgent as BDIBeliefCollectorAgent,
+)
+from .text_belief_extractor_agent.text_belief_extractor_agent import (
+    TextBeliefExtractorAgent as TextBeliefExtractorAgent,
+)

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -7,7 +7,7 @@ from spade_bdi.bdi import BDIAgent
 
 from control_backend.core.config import settings
 
-from .behaviours.belief_setter import BeliefSetterBehaviour
+from .behaviours.belief_setter_behaviour import BeliefSetterBehaviour
 from .behaviours.receive_llm_resp_behaviour import ReceiveLLMResponseBehaviour
 
 
@@ -57,7 +57,7 @@ class BDICoreAgent(BDIAgent):
         class SendBehaviour(OneShotBehaviour):
             async def run(self) -> None:
                 msg = Message(
-                    to=settings.agent_settings.llm_agent_name + "@" + settings.agent_settings.host,
+                    to=settings.agent_settings.llm_name + "@" + settings.agent_settings.host,
                     body=text,
                 )
 

src/control_backend/agents/bdi/bdi_core_agent/behaviours/belief_setter_behaviour.py

@@ -32,7 +32,7 @@ class BeliefSetterBehaviour(CyclicBehaviour):
         self.agent.logger.debug("Processing message from sender: %s", sender)
 
         match sender:
-            case settings.agent_settings.belief_collector_agent_name:
+            case settings.agent_settings.bdi_belief_collector_name:
                 self.agent.logger.debug(
                     "Message is from the belief collector agent. Processing as belief message."
                 )

src/control_backend/agents/bdi/bdi_core_agent/behaviours/receive_llm_resp_behaviour.py

@@ -15,14 +15,14 @@ class ReceiveLLMResponseBehaviour(CyclicBehaviour):
 
         sender = msg.sender.node
         match sender:
-            case settings.agent_settings.llm_agent_name:
+            case settings.agent_settings.llm_name:
                 content = msg.body
                 self.agent.logger.info("Received LLM response: %s", content)
 
                 speech_command = SpeechCommand(data=content)
 
                 message = Message(
-                    to=settings.agent_settings.ri_command_agent_name
+                    to=settings.agent_settings.robot_speech_name
                     + "@"
                     + settings.agent_settings.host,
                     sender=self.agent.jid,

src/control_backend/agents/bdi/belief_collector_agent/behaviours/belief_collector_behaviour.py

@@ -7,7 +7,7 @@ from spade.behaviour import CyclicBehaviour
 from control_backend.core.config import settings
 
 
-class ContinuousBeliefCollector(CyclicBehaviour):
+class BeliefCollectorBehaviour(CyclicBehaviour):
     """
     Continuously collects beliefs/emotions from extractor agents:
     Then we send a unified belief packet to the BDI agent.
@@ -35,7 +35,7 @@ class ContinuousBeliefCollector(CyclicBehaviour):
         msg_type = payload.get("type")
 
         # Prefer explicit 'type' field
-        if msg_type == "belief_extraction_text" or sender_node == "belief_text_agent_mock":
+        if msg_type == "belief_extraction_text" or sender_node == "bel_text_agent_mock":
             self.agent.logger.debug(
                 "Message routed to _handle_belief_text (sender=%s)", sender_node
             )
@@ -83,7 +83,7 @@ class ContinuousBeliefCollector(CyclicBehaviour):
         if not beliefs:
             return
 
-        to_jid = f"{settings.agent_settings.bdi_core_agent_name}@{settings.agent_settings.host}"
+        to_jid = f"{settings.agent_settings.bdi_core_name}@{settings.agent_settings.host}"
 
         msg = Message(to=to_jid, sender=self.agent.jid, thread="beliefs")
         msg.body = json.dumps(beliefs)

src/control_backend/agents/bdi/belief_collector_agent/belief_collector_agent.py

@@ -0,0 +1,11 @@
+from control_backend.agents.base import BaseAgent
+
+from .behaviours.belief_collector_behaviour import BeliefCollectorBehaviour
+
+
+class BDIBeliefCollectorAgent(BaseAgent):
+    async def setup(self):
+        self.logger.info("BDIBeliefCollectorAgent starting (%s)", self.jid)
+        # Attach the continuous collector behaviour (listens and forwards to BDI)
+        self.add_behaviour(BeliefCollectorBehaviour())
+        self.logger.info("BDIBeliefCollectorAgent ready.")

src/control_backend/agents/bdi/text_belief_extractor_agent/behaviours/text_belief_extractor_behaviour.py

@@ -7,7 +7,7 @@ from spade.message import Message
 from control_backend.core.config import settings
 
 
-class BeliefFromText(CyclicBehaviour):
+class TextBeliefExtractorBehaviour(CyclicBehaviour):
     logger = logging.getLogger(__name__)
 
     # TODO: LLM prompt nog hardcoded
@@ -44,7 +44,7 @@ class BeliefFromText(CyclicBehaviour):
 
         sender = msg.sender.node
         match sender:
-            case settings.agent_settings.transcription_agent_name:
+            case settings.agent_settings.transcription_name:
                 self.logger.debug("Received text from transcriber: %s", msg.body)
                 await self._process_transcription_demo(msg.body)
             case _:
@@ -71,7 +71,7 @@ class BeliefFromText(CyclicBehaviour):
             belief_message = Message()
 
             belief_message.to = (
-                settings.agent_settings.belief_collector_agent_name
+                settings.agent_settings.bdi_belief_collector_name
                 + "@"
                 + settings.agent_settings.host
             )
@@ -95,7 +95,7 @@ class BeliefFromText(CyclicBehaviour):
         belief_msg = Message()
 
         belief_msg.to = (
-            settings.agent_settings.belief_collector_agent_name + "@" + settings.agent_settings.host
+            settings.agent_settings.bdi_belief_collector_name + "@" + settings.agent_settings.host
         )
         belief_msg.body = payload
         belief_msg.thread = "beliefs"

src/control_backend/agents/bdi/text_belief_extractor_agent/text_belief_extractor_agent.py

@@ -0,0 +1,8 @@
+from control_backend.agents.base import BaseAgent
+
+from .behaviours.text_belief_extractor_behaviour import TextBeliefExtractorBehaviour
+
+
+class TextBeliefExtractorAgent(BaseAgent):
+    async def setup(self):
+        self.add_behaviour(TextBeliefExtractorBehaviour())

src/control_backend/agents/bdi/text_extractor.py

@@ -1,8 +0,0 @@
-from control_backend.agents.base import BaseAgent
-
-from .behaviours.text_belief_extractor import BeliefFromText
-
-
-class TBeliefExtractorAgent(BaseAgent):
-    async def setup(self):
-        self.add_behaviour(BeliefFromText())

src/control_backend/agents/belief_collector/belief_collector.py

@@ -1,11 +0,0 @@
-from control_backend.agents.base import BaseAgent
-
-from .behaviours.continuous_collect import ContinuousBeliefCollector
-
-
-class BeliefCollectorAgent(BaseAgent):
-    async def setup(self):
-        self.logger.info("BeliefCollectorAgent starting (%s)", self.jid)
-        # Attach the continuous collector behaviour (listens and forwards to BDI)
-        self.add_behaviour(ContinuousBeliefCollector())
-        self.logger.info("BeliefCollectorAgent ready.")

src/control_backend/agents/communication/__init__.py

@@ -0,0 +1 @@
+from .ri_communication_agent import RICommunicationAgent as RICommunicationAgent

src/control_backend/agents/communication/ri_communication_agent.py

@@ -0,0 +1,250 @@
+import asyncio
+import json
+
+import zmq.asyncio
+from spade.behaviour import CyclicBehaviour
+from zmq.asyncio import Context
+
+from control_backend.agents import BaseAgent
+from control_backend.core.config import settings
+
+from ..actuation.robot_speech_agent import RobotSpeechAgent
+
+
+class RICommunicationAgent(BaseAgent):
+    req_socket: zmq.Socket
+    _address = ""
+    _bind = True
+    connected = 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
+        self._req_socket: zmq.asyncio.Socket | None = None
+        self.pub_socket: zmq.asyncio.Socket | None = None
+
+    class ListenBehaviour(CyclicBehaviour):
+        async def run(self):
+            """
+            Run the listening (ping) loop indefinetely.
+            """
+            assert self.agent is not None
+
+            if not self.agent.connected:
+                await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                return
+
+            # We need to listen and sent pings.
+            message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
+            seconds_to_wait_total = settings.behaviour_settings.sleep_s
+            try:
+                await asyncio.wait_for(
+                    self.agent._req_socket.send_json(message), timeout=seconds_to_wait_total / 2
+                )
+            except TimeoutError:
+                self.agent.logger.debug(
+                    "Waited too long to send message - "
+                    "we probably dont have any receivers... but let's check!"
+                )
+
+            # Wait up to {seconds_to_wait_total/2} seconds for a reply
+            try:
+                message = await asyncio.wait_for(
+                    self.agent._req_socket.recv_json(), timeout=seconds_to_wait_total / 2
+                )
+
+            # We didnt get a reply
+            except TimeoutError:
+                self.agent.logger.info(
+                    f"No ping retrieved in {seconds_to_wait_total} seconds, "
+                    "sending UI disconnection event and attempting to restart."
+                )
+
+                # Make sure we dont retry receiving messages untill we're setup.
+                self.agent.connected = False
+                self.agent.remove_behaviour(self)
+
+                # Tell UI we're disconnected.
+                topic = b"ping"
+                data = json.dumps(False).encode()
+                if self.agent.pub_socket is None:
+                    self.agent.logger.warning(
+                        "Communication agent pub socket not correctly initialized."
+                    )
+                else:
+                    try:
+                        await asyncio.wait_for(
+                            self.agent.pub_socket.send_multipart([topic, data]), 5
+                        )
+                    except TimeoutError:
+                        self.agent.logger.warning(
+                            f"Initial connection ping for router timed out in {self.agent.name}."
+                        )
+
+                # Try to reboot.
+                self.agent.logger.debug("Restarting communication agent.")
+                await self.agent.setup()
+
+            self.agent.logger.debug(f'Received message "{message}" from RI.')
+            if "endpoint" not in message:
+                self.agent.logger.warning(
+                    "No received endpoint in message, expected ping endpoint."
+                )
+                return
+
+            # See what endpoint we received
+            match message["endpoint"]:
+                case "ping":
+                    topic = b"ping"
+                    data = json.dumps(True).encode()
+                    if self.agent.pub_socket is not None:
+                        await self.agent.pub_socket.send_multipart([topic, data])
+                    await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                case _:
+                    self.agent.logger.debug(
+                        "Received message with topic different than ping, while ping expected."
+                    )
+
+    async def setup_sockets(self, force=False):
+        """
+        Sets up request socket for communication agent.
+        """
+        # Bind request socket
+        if self._req_socket is None or force:
+            self._req_socket = Context.instance().socket(zmq.REQ)
+            if self._bind:
+                self._req_socket.bind(self._address)
+            else:
+                self._req_socket.connect(self._address)
+
+        if self.pub_socket is None or force:
+            self.pub_socket = Context.instance().socket(zmq.PUB)
+            self.pub_socket.connect(settings.zmq_settings.internal_pub_address)
+
+    async def setup(self, max_retries: int = settings.behaviour_settings.comm_setup_max_retries):
+        """
+        Try to set up the communication agent, we have `behaviour_settings.comm_setup_max_retries`
+        retries in case we don't have a response yet.
+        """
+        self.logger.info("Setting up %s", self.jid)
+
+        # Bind request socket
+        await self.setup_sockets()
+
+        retries = 0
+        # Let's try a certain amount of times before failing connection
+        while retries < max_retries:
+            # Make sure the socket is properly setup.
+            if self._req_socket is None:
+                continue
+
+            # Send our message and receive one back
+            message = {"endpoint": "negotiate/ports", "data": {}}
+            await self._req_socket.send_json(message)
+
+            retry_frequency = 1.0
+            try:
+                received_message = await asyncio.wait_for(
+                    self._req_socket.recv_json(), timeout=retry_frequency
+                )
+
+            except TimeoutError:
+                self.logger.warning(
+                    "No connection established in %d seconds (attempt %d/%d)",
+                    retries * retry_frequency,
+                    retries + 1,
+                    max_retries,
+                )
+                retries += 1
+                continue
+
+            except Exception as e:
+                self.logger.warning("Unexpected error during negotiation: %s", e)
+                retries += 1
+                continue
+
+            # Validate endpoint
+            endpoint = received_message.get("endpoint")
+            if endpoint != "negotiate/ports":
+                self.logger.warning(
+                    "Invalid endpoint '%s' received (attempt %d/%d)",
+                    endpoint,
+                    retries + 1,
+                    max_retries,
+                )
+                retries += 1
+                await asyncio.sleep(1)
+                continue
+
+            # At this point, we have a valid response
+            try:
+                for port_data in received_message["data"]:
+                    id = port_data["id"]
+                    port = port_data["port"]
+                    bind = port_data["bind"]
+
+                    if not bind:
+                        addr = f"tcp://localhost:{port}"
+                    else:
+                        addr = f"tcp://*:{port}"
+
+                    match id:
+                        case "main":
+                            if addr != self._address:
+                                if not bind:
+                                    self._req_socket.connect(addr)
+                                else:
+                                    self._req_socket.bind(addr)
+                        case "actuation":
+                            ri_commands_agent = RobotSpeechAgent(
+                                settings.agent_settings.robot_speech_name
+                                + "@"
+                                + settings.agent_settings.host,
+                                settings.agent_settings.robot_speech_name,
+                                address=addr,
+                                bind=bind,
+                            )
+                            await ri_commands_agent.start()
+                        case _:
+                            self.logger.warning("Unhandled negotiation id: %s", id)
+
+            except Exception as e:
+                self.logger.warning("Error unpacking negotiation data: %s", e)
+                retries += 1
+                await asyncio.sleep(1)
+                continue
+
+            # setup succeeded
+            break
+
+        else:
+            self.logger.warning("Failed to set up %s after %d retries", self.name, max_retries)
+            return
+
+        # Set up ping behaviour
+        listen_behaviour = self.ListenBehaviour()
+        self.add_behaviour(listen_behaviour)
+
+        # Let UI know that we're connected
+        topic = b"ping"
+        data = json.dumps(True).encode()
+        if self.pub_socket is None:
+            self.logger.warning("Communication agent pub socket not correctly initialized.")
+        else:
+            try:
+                await asyncio.wait_for(self.pub_socket.send_multipart([topic, data]), 5)
+            except TimeoutError:
+                self.logger.warning("Initial connection ping for router timed out in com_ri_agent.")
+
+        # Make sure to start listening now that we're connected.
+        self.connected = True
+        self.logger.info("Finished setting up %s", self.jid)

src/control_backend/agents/llm/__init__.py

@@ -0,0 +1 @@
+from .llm_agent import LLMAgent as LLMAgent

src/control_backend/agents/llm/llm_agent.py

@@ -39,7 +39,7 @@ class LLMAgent(BaseAgent):
                 sender,
             )
 
-            if sender == settings.agent_settings.bdi_core_agent_name:
+            if sender == settings.agent_settings.bdi_core_name:
                 self.agent.logger.debug("Processing message from BDI Core Agent")
                 await self._process_bdi_message(msg)
             else:
@@ -63,7 +63,7 @@ class LLMAgent(BaseAgent):
             Sends a response message back to the BDI Core Agent.
             """
             reply = Message(
-                to=settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host,
+                to=settings.agent_settings.bdi_core_name + "@" + settings.agent_settings.host,
                 body=msg,
             )
             await self.send(reply)

src/control_backend/agents/perception/__init__.py

@@ -0,0 +1,4 @@
+from .transcription_agent.transcription_agent import (
+    TranscriptionAgent as TranscriptionAgent,
+)
+from .vad_agent import VADAgent as VADAgent

src/control_backend/agents/perception/transcription_agent/transcription_agent.py

@@ -19,13 +19,13 @@ class TranscriptionAgent(BaseAgent):
     """
 
     def __init__(self, audio_in_address: str):
-        jid = settings.agent_settings.transcription_agent_name + "@" + settings.agent_settings.host
-        super().__init__(jid, settings.agent_settings.transcription_agent_name)
+        jid = settings.agent_settings.transcription_name + "@" + settings.agent_settings.host
+        super().__init__(jid, settings.agent_settings.transcription_name)
 
         self.audio_in_address = audio_in_address
         self.audio_in_socket: azmq.Socket | None = None
 
-    class Transcribing(CyclicBehaviour):
+    class TranscribingBehaviour(CyclicBehaviour):
         def __init__(self, audio_in_socket: azmq.Socket):
             super().__init__()
             max_concurrent_tasks = settings.behaviour_settings.transcription_max_concurrent_tasks
@@ -44,7 +44,7 @@ class TranscriptionAgent(BaseAgent):
         async def _share_transcription(self, transcription: str):
             """Share a transcription to the other agents that depend on it."""
             receiver_jids = [
-                settings.agent_settings.text_belief_extractor_agent_name
+                settings.agent_settings.text_belief_extractor_name
                 + "@"
                 + settings.agent_settings.host,
             ]  # Set message receivers here
@@ -80,7 +80,7 @@ class TranscriptionAgent(BaseAgent):
 
         self._connect_audio_in_socket()
 
-        transcribing = self.Transcribing(self.audio_in_socket)
+        transcribing = self.TranscribingBehaviour(self.audio_in_socket)
         transcribing.warmup()
         self.add_behaviour(transcribing)
 

src/control_backend/agents/perception/vad_agent.py

@@ -7,7 +7,7 @@ from spade.behaviour import CyclicBehaviour
 from control_backend.agents import BaseAgent
 from control_backend.core.config import settings
 
-from .transcription.transcription_agent import TranscriptionAgent
+from .transcription_agent.transcription_agent import TranscriptionAgent
 
 
 class SocketPoller[T]:
@@ -44,7 +44,7 @@ class SocketPoller[T]:
         return None
 
 
-class Streaming(CyclicBehaviour):
+class StreamingBehaviour(CyclicBehaviour):
     def __init__(self, audio_in_socket: azmq.Socket, audio_out_socket: azmq.Socket):
         super().__init__()
         self.audio_in_poller = SocketPoller[bytes](audio_in_socket)
@@ -120,8 +120,8 @@ class VADAgent(BaseAgent):
     """
 
     def __init__(self, audio_in_address: str, audio_in_bind: bool):
-        jid = settings.agent_settings.vad_agent_name + "@" + settings.agent_settings.host
-        super().__init__(jid, settings.agent_settings.vad_agent_name)
+        jid = settings.agent_settings.vad_name + "@" + settings.agent_settings.host
+        super().__init__(jid, settings.agent_settings.vad_name)
 
         self.audio_in_address = audio_in_address
         self.audio_in_bind = audio_in_bind
@@ -129,7 +129,7 @@ class VADAgent(BaseAgent):
         self.audio_in_socket: azmq.Socket | None = None
         self.audio_out_socket: azmq.Socket | None = None
 
-        self.streaming_behaviour: Streaming | None = None
+        self.streaming_behaviour: StreamingBehaviour | None = None
 
     async def stop(self):
         """
@@ -173,7 +173,7 @@ class VADAgent(BaseAgent):
             return
         audio_out_address = f"tcp://localhost:{audio_out_port}"
 
-        self.streaming_behaviour = Streaming(self.audio_in_socket, self.audio_out_socket)
+        self.streaming_behaviour = StreamingBehaviour(self.audio_in_socket, self.audio_out_socket)
         self.add_behaviour(self.streaming_behaviour)
 
         # Start agents dependent on the output audio fragments here

src/control_backend/agents/ri_communication_agent.py

@@ -1,162 +0,0 @@
-import asyncio
-
-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 .ri_command_agent import RICommandAgent
-
-
-class RICommunicationAgent(BaseAgent):
-    req_socket: zmq.Socket
-    _address = ""
-    _bind = True
-
-    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 ListenBehaviour(CyclicBehaviour):
-        async def run(self):
-            """
-            Run the listening (ping) loop indefinetely.
-            """
-            assert self.agent is not None
-
-            # We need to listen and sent pings.
-            message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
-            await self.agent.req_socket.send_json(message)
-
-            # Wait up to three seconds for a reply:)
-            try:
-                message = await asyncio.wait_for(self.agent.req_socket.recv_json(), timeout=3.0)
-
-            # We didnt get a reply :(
-            except TimeoutError:
-                self.agent.logger.info("No ping retrieved in 3 seconds, killing myself.")
-                self.kill()
-
-            self.agent.logger.debug('Received message "%s"', message)
-            if "endpoint" not in message:
-                self.agent.logger.error("No received endpoint in message, excepted ping endpoint.")
-                return
-
-            # See what endpoint we received
-            match message["endpoint"]:
-                case "ping":
-                    await asyncio.sleep(settings.behaviour_settings.ping_sleep_s)
-                case _:
-                    self.agent.logger.info(
-                        "Received message with topic different than ping, while ping expected."
-                    )
-
-    async def setup(self, max_retries: int = settings.behaviour_settings.comm_setup_max_retries):
-        """
-        Try to setup the communication agent, we have 5 retries in case we dont have a response yet.
-        """
-        self.logger.info("Setting up %s", self.jid)
-        retries = 0
-
-        # Let's try a certain amount of times before failing connection
-        while retries < max_retries:
-            # Bind request socket
-            self.req_socket = Context.instance().socket(zmq.REQ)
-            if self._bind:
-                self.req_socket.bind(self._address)
-            else:
-                self.req_socket.connect(self._address)
-
-            # Send our message and receive one back:)
-            message = {"endpoint": "negotiate/ports", "data": None}
-            await self.req_socket.send_json(message)
-
-            try:
-                received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0)
-
-            except TimeoutError:
-                self.logger.warning(
-                    "No connection established in 20 seconds (attempt %d/%d)",
-                    retries + 1,
-                    max_retries,
-                )
-                retries += 1
-                continue
-
-            except Exception as e:
-                self.logger.error("Unexpected error during negotiation: %s", e)
-                retries += 1
-                continue
-
-            # Validate endpoint
-            endpoint = received_message.get("endpoint")
-            if endpoint != "negotiate/ports":
-                # TODO: Should this send a message back?
-                self.logger.error(
-                    "Invalid endpoint '%s' received (attempt %d/%d)",
-                    endpoint,
-                    retries + 1,
-                    max_retries,
-                )
-                retries += 1
-                continue
-
-            # At this point, we have a valid response
-            try:
-                for port_data in received_message["data"]:
-                    id = port_data["id"]
-                    port = port_data["port"]
-                    bind = port_data["bind"]
-
-                    if not bind:
-                        addr = f"tcp://localhost:{port}"
-                    else:
-                        addr = f"tcp://*:{port}"
-
-                    match id:
-                        case "main":
-                            if addr != self._address:
-                                if not bind:
-                                    self.req_socket.connect(addr)
-                                else:
-                                    self.req_socket.bind(addr)
-                        case "actuation":
-                            ri_commands_agent = RICommandAgent(
-                                settings.agent_settings.ri_command_agent_name
-                                + "@"
-                                + settings.agent_settings.host,
-                                settings.agent_settings.ri_command_agent_name,
-                                address=addr,
-                                bind=bind,
-                            )
-                            await ri_commands_agent.start()
-                        case _:
-                            self.logger.warning("Unhandled negotiation id: %s", id)
-
-            except Exception as e:
-                self.logger.error("Error unpacking negotiation data: %s", e)
-                retries += 1
-                continue
-
-            # setup succeeded
-            break
-
-        else:
-            self.logger.error("Failed to set up RICommunicationAgent after %d retries", max_retries)
-            return
-
-        # Set up ping behaviour
-        listen_behaviour = self.ListenBehaviour()
-        self.add_behaviour(listen_behaviour)
-        self.logger.info("Finished setting up %s", self.jid)

src/control_backend/api/v1/endpoints/command.py

@@ -1,20 +0,0 @@
-import logging
-
-from fastapi import APIRouter, Request
-
-from control_backend.schemas.ri_message import SpeechCommand
-
-logger = logging.getLogger(__name__)
-
-router = APIRouter()
-
-
-@router.post("/command", status_code=202)
-async def receive_command(command: SpeechCommand, request: Request):
-    # Validate and retrieve data.
-    SpeechCommand.model_validate(command)
-    topic = b"command"
-    pub_socket = request.app.state.endpoints_pub_socket
-    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
-
-    return {"status": "Command received"}

src/control_backend/api/v1/endpoints/program.py

@@ -0,0 +1,25 @@
+import logging
+
+from fastapi import APIRouter, Request
+
+from control_backend.schemas.program import Program
+
+logger = logging.getLogger(__name__)
+router = APIRouter()
+
+
+@router.post("/program", status_code=202)
+async def receive_message(program: Program, request: Request):
+    """
+    Receives a BehaviorProgram, pydantic checks it.
+    Converts it into real Phase objects.
+    """
+    logger.debug("Received raw program: %s", program)
+
+    # send away
+    topic = b"program"
+    body = program.model_dump_json().encode()
+    pub_socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, body])
+
+    return {"status": "Program parsed"}

src/control_backend/api/v1/endpoints/robot.py

@@ -0,0 +1,71 @@
+import asyncio
+import json
+import logging
+
+import zmq.asyncio
+from fastapi import APIRouter, Request
+from fastapi.responses import StreamingResponse
+from zmq.asyncio import Context, Socket
+
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import SpeechCommand
+
+logger = logging.getLogger(__name__)
+
+router = APIRouter()
+
+
+@router.post("/command", status_code=202)
+async def receive_command(command: SpeechCommand, request: Request):
+    # Validate and retrieve data.
+    SpeechCommand.model_validate(command)
+    topic = b"command"
+
+    pub_socket: Socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
+
+    return {"status": "Command received"}
+
+
+@router.get("/ping_check")
+async def ping(request: Request):
+    pass
+
+
+@router.get("/ping_stream")
+async def ping_stream(request: Request):
+    """Stream live updates whenever the device state changes."""
+
+    async def event_stream():
+        # Set up internal socket to receive ping updates
+
+        sub_socket = Context.instance().socket(zmq.SUB)
+        sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
+        connected = False
+
+        ping_frequency = 2
+
+        # Even though its most likely the updates should alternate
+        # (So, True - False - True - False for connectivity),
+        # let's still check.
+        while True:
+            try:
+                topic, body = await asyncio.wait_for(
+                    sub_socket.recv_multipart(), timeout=ping_frequency
+                )
+                connected = json.loads(body)
+            except TimeoutError:
+                logger.debug("got timeout error in ping loop in ping router")
+                connected = False
+
+            # Stop if client disconnected
+            if await request.is_disconnected():
+                logger.info("Client disconnected from SSE")
+                break
+
+            logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
+            connectedJson = json.dumps(connected)
+            yield (f"data: {connectedJson}\n\n")
+
+    return StreamingResponse(event_stream(), media_type="text/event-stream")

src/control_backend/api/v1/router.py

@@ -1,6 +1,6 @@
 from fastapi.routing import APIRouter
 
-from control_backend.api.v1.endpoints import command, logs, message, sse
+from control_backend.api.v1.endpoints import logs, message, program, robot, sse
 
 api_router = APIRouter()
 
@@ -8,6 +8,8 @@ api_router.include_router(message.router, tags=["Messages"])
 
 api_router.include_router(sse.router, tags=["SSE"])
 
-api_router.include_router(command.router, tags=["Commands"])
+api_router.include_router(robot.router, prefix="/robot", tags=["Pings", "Commands"])
 
 api_router.include_router(logs.router, tags=["Logs"])
+
+api_router.include_router(program.router, tags=["Program"])

src/control_backend/core/config.py

@@ -15,22 +15,22 @@ class AgentSettings(BaseModel):
     host: str = "localhost"
 
     # agent names
-    bdi_core_agent_name: str = "bdi_core"
-    belief_collector_agent_name: str = "belief_collector"
-    text_belief_extractor_agent_name: str = "text_belief_extractor"
-    vad_agent_name: str = "vad_agent"
-    llm_agent_name: str = "llm_agent"
-    test_agent_name: str = "test_agent"
-    transcription_agent_name: str = "transcription_agent"
-    ri_communication_agent_name: str = "ri_communication_agent"
-    ri_command_agent_name: str = "ri_command_agent"
+    bdi_core_name: str = "bdi_core_agent"
+    bdi_belief_collector_name: str = "belief_collector_agent"
+    text_belief_extractor_name: str = "text_belief_extractor_agent"
+    vad_name: str = "vad_agent"
+    llm_name: str = "llm_agent"
+    test_name: str = "test_agent"
+    transcription_name: str = "transcription_agent"
+    ri_communication_name: str = "ri_communication_agent"
+    robot_speech_name: str = "robot_speech_agent"
 
     # default SPADE port
     default_spade_port: int = 5222
 
 
 class BehaviourSettings(BaseModel):
-    ping_sleep_s: float = 1.0
+    sleep_s: float = 1.0
     comm_setup_max_retries: int = 5
     socket_poller_timeout_ms: int = 100
 

src/control_backend/main.py

@@ -7,13 +7,25 @@ from fastapi import FastAPI
 from fastapi.middleware.cors import CORSMiddleware
 from zmq.asyncio import Context
 
-from control_backend.agents import (
-    BeliefCollectorAgent,
-    LLMAgent,
-    RICommunicationAgent,
-    VADAgent,
+# Act agents
+# BDI agents
+from control_backend.agents.bdi import (
+    BDIBeliefCollectorAgent,
+    BDICoreAgent,
+    TextBeliefExtractorAgent,
 )
-from control_backend.agents.bdi import BDICoreAgent, TBeliefExtractorAgent
+
+# Communication agents
+from control_backend.agents.communication import RICommunicationAgent
+
+# Emotional Agents
+# LLM Agents
+from control_backend.agents.llm import LLMAgent
+
+# Perceive agents
+from control_backend.agents.perception import VADAgent
+
+# Other backend imports
 from control_backend.api.v1.router import api_router
 from control_backend.core.config import settings
 from control_backend.logging import setup_logging
@@ -67,10 +79,10 @@ async def lifespan(app: FastAPI):
         "RICommunicationAgent": (
             RICommunicationAgent,
             {
-                "name": settings.agent_settings.ri_communication_agent_name,
-                "jid": f"{settings.agent_settings.ri_communication_agent_name}"
+                "name": settings.agent_settings.ri_communication_name,
+                "jid": f"{settings.agent_settings.ri_communication_name}"
                 f"@{settings.agent_settings.host}",
-                "password": settings.agent_settings.ri_communication_agent_name,
+                "password": settings.agent_settings.ri_communication_name,
                 "address": settings.zmq_settings.ri_communication_address,
                 "bind": True,
             },
@@ -78,37 +90,36 @@ async def lifespan(app: FastAPI):
         "LLMAgent": (
             LLMAgent,
             {
-                "name": settings.agent_settings.llm_agent_name,
-                "jid": f"{settings.agent_settings.llm_agent_name}@{settings.agent_settings.host}",
-                "password": settings.agent_settings.llm_agent_name,
+                "name": settings.agent_settings.llm_name,
+                "jid": f"{settings.agent_settings.llm_name}@{settings.agent_settings.host}",
+                "password": settings.agent_settings.llm_name,
             },
         ),
         "BDICoreAgent": (
             BDICoreAgent,
             {
-                "name": settings.agent_settings.bdi_core_agent_name,
-                "jid": f"{settings.agent_settings.bdi_core_agent_name}@"
-                f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.bdi_core_agent_name,
-                "asl": "src/control_backend/agents/bdi/rules.asl",
+                "name": settings.agent_settings.bdi_core_name,
+                "jid": f"{settings.agent_settings.bdi_core_name}@{settings.agent_settings.host}",
+                "password": settings.agent_settings.bdi_core_name,
+                "asl": "src/control_backend/agents/bdi/bdi_core_agent/rules.asl",
             },
         ),
         "BeliefCollectorAgent": (
-            BeliefCollectorAgent,
+            BDIBeliefCollectorAgent,
             {
-                "name": settings.agent_settings.belief_collector_agent_name,
-                "jid": f"{settings.agent_settings.belief_collector_agent_name}@"
+                "name": settings.agent_settings.bdi_belief_collector_name,
+                "jid": f"{settings.agent_settings.bdi_belief_collector_name}@"
                 f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.belief_collector_agent_name,
+                "password": settings.agent_settings.bdi_belief_collector_name,
             },
         ),
-        "TBeliefExtractor": (
-            TBeliefExtractorAgent,
+        "TextBeliefExtractorAgent": (
+            TextBeliefExtractorAgent,
             {
-                "name": settings.agent_settings.text_belief_extractor_agent_name,
-                "jid": f"{settings.agent_settings.text_belief_extractor_agent_name}@"
+                "name": settings.agent_settings.text_belief_extractor_name,
+                "jid": f"{settings.agent_settings.text_belief_extractor_name}@"
                 f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.text_belief_extractor_agent_name,
+                "password": settings.agent_settings.text_belief_extractor_name,
             },
         ),
         "VADAgent": (
@@ -117,17 +128,23 @@ async def lifespan(app: FastAPI):
         ),
     }
 
+    vad_agent = None
+
     for name, (agent_class, kwargs) in agents_to_start.items():
         try:
             logger.debug("Starting agent: %s", name)
             agent_instance = agent_class(**{k: v for k, v in kwargs.items() if k != "name"})
             await agent_instance.start()
+            if isinstance(agent_instance, VADAgent):
+                vad_agent = agent_instance
             logger.info("Agent '%s' started successfully.", name)
         except Exception as e:
             logger.error("Failed to start agent '%s': %s", name, e, exc_info=True)
             # Consider if the application should continue if an agent fails to start.
             raise
 
+    await vad_agent.streaming_behaviour.reset()
+
     logger.info("Application startup complete.")
 
     yield

src/control_backend/schemas/program.py

@@ -0,0 +1,38 @@
+from pydantic import BaseModel
+
+
+class Norm(BaseModel):
+    id: str
+    name: str
+    value: str
+
+
+class Goal(BaseModel):
+    id: str
+    name: str
+    description: str
+    achieved: bool
+
+
+class Trigger(BaseModel):
+    id: str
+    label: str
+    type: str
+    value: list[str]
+
+
+class PhaseData(BaseModel):
+    norms: list[Norm]
+    goals: list[Goal]
+    triggers: list[Trigger]
+
+
+class Phase(BaseModel):
+    id: str
+    name: str
+    nextPhaseId: str
+    phaseData: PhaseData
+
+
+class Program(BaseModel):
+    phases: list[Phase]

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()
 
     fake_socket.recv_multipart.assert_awaited()
     fake_socket.send_json.assert_not_awaited()
-    assert "Error processing message" in caplog.text

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
     """
@@ -176,21 +186,22 @@ 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
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
         )
         await agent.setup(max_retries=1)
 
@@ -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
     """
@@ -329,21 +342,23 @@ 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
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
         )
         await agent.setup(max_retries=1)
 
@@ -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
     """
@@ -365,17 +379,19 @@ 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
+            "test@server",
+            "password",
+            address="tcp://localhost:5555",
+            bind=False,
         )
         await agent.setup(max_retries=1)
 
@@ -384,36 +400,33 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context, caplog):
 
         # 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()
 
     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
     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
+    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()
 
-    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)
 
-    # 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()

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

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:

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

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()

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()

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)

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

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()

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
     )

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()

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)

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)

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