Merge remote-tracking branch 'origin/dev' into fix/bdi-correct-belief-management

test/integration/agents/test_ri_commands_agent.py

@@ -0,0 +1,102 @@
+import asyncio
+import zmq
+import json
+import pytest
+from unittest.mock import AsyncMock, MagicMock, patch
+from control_backend.agents.ri_command_agent import RICommandAgent
+from control_backend.schemas.ri_message import SpeechCommand
+
+
+@pytest.mark.asyncio
+async def test_setup_bind(monkeypatch):
+    """Test setup with bind=True"""
+    fake_socket = MagicMock()
+    monkeypatch.setattr(
+        "control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket
+    )
+
+    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
+    monkeypatch.setattr(
+        "control_backend.agents.ri_command_agent.settings",
+        MagicMock(zmq_settings=MagicMock(internal_comm_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)
+
+
+@pytest.mark.asyncio
+async def test_setup_connect(monkeypatch):
+    """Test setup with bind=False"""
+    fake_socket = MagicMock()
+    monkeypatch.setattr(
+        "control_backend.agents.ri_command_agent.context.socket", lambda _: fake_socket
+    )
+
+    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
+    monkeypatch.setattr(
+        "control_backend.agents.ri_command_agent.settings",
+        MagicMock(zmq_settings=MagicMock(internal_comm_address="tcp://internal:1234")),
+    )
+
+    await agent.setup()
+
+    # Ensure PUB socket connected
+    fake_socket.connect.assert_any_call("tcp://localhost:5555")
+
+
+@pytest.mark.asyncio
+async def test_send_commands_behaviour_valid_message():
+    """Test behaviour with valid JSON message"""
+    fake_socket = AsyncMock()
+    message_dict = {"message": "hello"}
+    fake_socket.recv_multipart = AsyncMock(
+        return_value=(b"command", json.dumps(message_dict).encode("utf-8"))
+    )
+    fake_socket.send_json = AsyncMock()
+
+    agent = RICommandAgent("test@server", "password")
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+
+    behaviour = agent.SendCommandsBehaviour()
+    behaviour.agent = agent
+
+    with patch("control_backend.agents.ri_command_agent.SpeechCommand") as MockSpeechCommand:
+        mock_message = MagicMock()
+        MockSpeechCommand.model_validate.return_value = mock_message
+
+        await behaviour.run()
+
+    fake_socket.recv_multipart.assert_awaited()
+    fake_socket.send_json.assert_awaited_with(mock_message.model_dump())
+
+
+@pytest.mark.asyncio
+async def test_send_commands_behaviour_invalid_message(caplog):
+    """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.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+
+    behaviour = agent.SendCommandsBehaviour()
+    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/test_ri_communication_agent.py

@@ -0,0 +1,591 @@
+import asyncio
+import pytest
+from unittest.mock import AsyncMock, MagicMock, patch, ANY
+from control_backend.agents.ri_communication_agent import RICommunicationAgent
+
+
+def fake_json_correct_negototiate_1():
+    return AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "main", "port": 5555, "bind": False},
+                {"id": "actuation", "port": 5556, "bind": True},
+            ],
+        }
+    )
+
+
+def fake_json_correct_negototiate_2():
+    return AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "main", "port": 5555, "bind": False},
+                {"id": "actuation", "port": 5557, "bind": True},
+            ],
+        }
+    )
+
+
+def fake_json_correct_negototiate_3():
+    return AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "main", "port": 5555, "bind": True},
+                {"id": "actuation", "port": 5557, "bind": True},
+            ],
+        }
+    )
+
+
+def fake_json_correct_negototiate_4():
+    # Different port, do bind
+    return AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "main", "port": 4555, "bind": True},
+                {"id": "actuation", "port": 5557, "bind": True},
+            ],
+        }
+    )
+
+
+def fake_json_correct_negototiate_5():
+    # Different port, dont bind.
+    return AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "main", "port": 4555, "bind": False},
+                {"id": "actuation", "port": 5557, "bind": True},
+            ],
+        }
+    )
+
+
+def fake_json_wrong_negototiate_1():
+    return AsyncMock(return_value={"endpoint": "ping", "data": ""})
+
+
+def fake_json_invalid_id_negototiate():
+    return AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "banana", "port": 4555, "bind": False},
+                {"id": "tomato", "port": 5557, "bind": True},
+            ],
+        }
+    )
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_1(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_1()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent agent startup
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", 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
+        )
+        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.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY,  # Server Name
+            ANY,  # Server Password
+            address="tcp://*:5556",  # derived from the 'port' value in negotiation
+            bind=True,
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_2(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_2()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent agent startup
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", 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
+        )
+        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.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY,  # Server Name
+            ANY,  # Server Password
+            address="tcp://*:5557",  # derived from the 'port' value in negotiation
+            bind=True,
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_3(monkeypatch, caplog):
+    """
+    Test the functionality of setup with incorrect negotiation message
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_wrong_negototiate_1()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent 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:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        with caplog.at_level("ERROR"):
+            agent = RICommunicationAgent(
+                "test@server", "password", address="tcp://localhost:5555", bind=False
+            )
+            await agent.setup(max_retries=1)
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.recv_json.assert_awaited()
+
+        # 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)
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_4(monkeypatch):
+    """
+    Test the setup of the communication agent with different bind value
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_3()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent agent startup
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", 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
+        )
+        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.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY,  # Server Name
+            ANY,  # Server Password
+            address="tcp://*:5557",  # derived from the 'port' value in negotiation
+            bind=True,
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_5(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_4()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent agent startup
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", 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
+        )
+        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.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY,  # Server Name
+            ANY,  # Server Password
+            address="tcp://*:5557",  # derived from the 'port' value in negotiation
+            bind=True,
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_6(monkeypatch):
+    """
+    Test the setup of the communication agent
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_correct_negototiate_5()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent agent startup
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", 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
+        )
+        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.recv_json.assert_awaited()
+        fake_agent_instance.start.assert_awaited()
+        MockCommandAgent.assert_called_once_with(
+            ANY,  # Server Name
+            ANY,  # Server Password
+            address="tcp://*:5557",  # derived from the 'port' value in negotiation
+            bind=True,
+        )
+        # Ensure the agent attached a ListenBehaviour
+        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+
+@pytest.mark.asyncio
+async def test_setup_creates_socket_and_negotiate_7(monkeypatch, caplog):
+    """
+    Test the functionality of setup with incorrect id
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = fake_json_invalid_id_negototiate()
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Mock RICommandAgent 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:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        with caplog.at_level("WARNING"):
+            agent = RICommunicationAgent(
+                "test@server", "password", address="tcp://localhost:5555", bind=False
+            )
+            await agent.setup(max_retries=1)
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+        fake_socket.recv_json.assert_awaited()
+
+        # 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(monkeypatch, caplog):
+    """
+    Test the functionality of setup with incorrect negotiation message
+    """
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+
+    # Mock context.socket to return our fake socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
+    ) as MockCommandAgent:
+        fake_agent_instance = MockCommandAgent.return_value
+        fake_agent_instance.start = AsyncMock()
+
+        # --- Act ---
+        with caplog.at_level("WARNING"):
+            agent = RICommunicationAgent(
+                "test@server", "password", address="tcp://localhost:5555", bind=False
+            )
+            await agent.setup(max_retries=1)
+
+        # --- Assert ---
+        fake_socket.connect.assert_any_call("tcp://localhost:5555")
+
+        # Since it failed, there should not be any command agent.
+        fake_agent_instance.start.assert_not_awaited()
+        assert "No connection established in 20 seconds" in caplog.text
+
+        # Ensure the agent did not attach a ListenBehaviour
+        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
+
+
+@pytest.mark.asyncio
+async def test_listen_behaviour_ping_correct(caplog):
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
+
+    # TODO: Integration test between actual server and password needed for spade agents
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    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):
+    """
+    Test if our listen behaviour can work with wrong messages (wrong endpoint)
+    """
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+
+    # This is a message for the wrong endpoint >:(
+    fake_socket.recv_json = AsyncMock(
+        return_value={
+            "endpoint": "negotiate/ports",
+            "data": [
+                {"id": "main", "port": 5555, "bind": False},
+                {"id": "actuation", "port": 5556, "bind": True},
+            ],
+        }
+    )
+
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    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(caplog):
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+    # recv_json will never resolve, simulate timeout
+    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    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
+
+
+@pytest.mark.asyncio
+async def test_listen_behaviour_ping_no_endpoint(caplog):
+    """
+    Test if our listen behaviour can work with wrong messages (wrong endpoint)
+    """
+    fake_socket = AsyncMock()
+    fake_socket.send_json = AsyncMock()
+
+    # This is a message without endpoint >:(
+    fake_socket.recv_json = AsyncMock(
+        return_value={
+            "data": "I dont have an endpoint >:)",
+        }
+    )
+
+    agent = RICommunicationAgent("test@server", "password")
+    agent.req_socket = fake_socket
+
+    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(monkeypatch, caplog):
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+    # Simulate unexpected exception during recv_json()
+    fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
+
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    agent = RICommunicationAgent(
+        "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
+
+
+@pytest.mark.asyncio
+async def test_setup_unpacking_exception(monkeypatch, caplog):
+    # --- Arrange ---
+    fake_socket = MagicMock()
+    fake_socket.send_json = AsyncMock()
+
+    # Make recv_json return malformed negotiation data to trigger unpacking exception
+    malformed_data = {
+        "endpoint": "negotiate/ports",
+        "data": [{"id": "main"}],
+    }  # missing 'port' and 'bind'
+    fake_socket.recv_json = AsyncMock(return_value=malformed_data)
+
+    # Patch context.socket
+    monkeypatch.setattr(
+        "control_backend.agents.ri_communication_agent.context.socket", lambda _: fake_socket
+    )
+
+    # Patch RICommandAgent so it won't actually start
+    with patch(
+        "control_backend.agents.ri_communication_agent.RICommandAgent", 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
+        )
+
+        # --- 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
+
+        # Ensure no command agent was started
+        fake_agent_instance.start.assert_not_awaited()
+
+        # Ensure no behaviour was attached
+        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)

test/integration/agents/vad_agent/test_vad_agent.py

@@ -0,0 +1,99 @@
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import pytest
+import zmq
+from spade.agent import Agent
+
+from control_backend.agents.vad_agent import VADAgent
+
+
+@pytest.fixture
+def zmq_context(mocker):
+    return mocker.patch("control_backend.agents.vad_agent.zmq_context")
+
+
+@pytest.fixture
+def streaming(mocker):
+    return mocker.patch("control_backend.agents.vad_agent.Streaming")
+
+
+@pytest.mark.asyncio
+async def test_normal_setup(streaming):
+    """
+    Test that during normal setup, the VAD agent creates a Streaming behavior and creates audio
+    sockets.
+    """
+    vad_agent = VADAgent("tcp://localhost:12345", False)
+    vad_agent.add_behaviour = MagicMock()
+
+    await vad_agent.setup()
+
+    streaming.assert_called_once()
+    vad_agent.add_behaviour.assert_called_once_with(streaming.return_value)
+    assert vad_agent.audio_in_socket is not None
+    assert vad_agent.audio_out_socket is not None
+
+
+@pytest.mark.parametrize("do_bind", [True, False])
+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)
+
+    vad_agent._connect_audio_in_socket()
+
+    assert vad_agent.audio_in_socket is not None
+
+    zmq_context.socket.assert_called_once_with(zmq.SUB)
+    zmq_context.socket.return_value.setsockopt_string.assert_called_once_with(zmq.SUBSCRIBE, "")
+
+    if do_bind:
+        zmq_context.socket.return_value.bind.assert_called_once_with("tcp://*:12345")
+    else:
+        zmq_context.socket.return_value.connect.assert_called_once_with("tcp://localhost:12345")
+
+
+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)
+
+    vad_agent._connect_audio_out_socket()
+
+    assert vad_agent.audio_out_socket is not None
+
+    zmq_context.socket.assert_called_once_with(zmq.PUB)
+    zmq_context.socket.return_value.bind_to_random_port.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_out_socket_creation_failure(zmq_context):
+    """
+    Test setup failure when the audio output socket cannot be created.
+    """
+    with patch.object(Agent, "stop", new_callable=AsyncMock) as mock_super_stop:
+        zmq_context.socket.return_value.bind_to_random_port.side_effect = zmq.ZMQBindError
+        vad_agent = VADAgent("tcp://localhost:12345", False)
+
+        await vad_agent.setup()
+
+        assert vad_agent.audio_out_socket is None
+        mock_super_stop.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_stop(zmq_context):
+    """
+    Test that when the VAD agent is stopped, the sockets are closed correctly.
+    """
+    vad_agent = VADAgent("tcp://localhost:12345", False)
+
+    await vad_agent.setup()
+    await vad_agent.stop()
+
+    assert zmq_context.socket.return_value.close.call_count == 2
+    assert vad_agent.audio_in_socket is None
+    assert vad_agent.audio_out_socket is None

test/integration/agents/vad_agent/test_vad_with_audio.py

@@ -0,0 +1,57 @@
+import os
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import soundfile as sf
+import zmq
+
+from control_backend.agents.vad_agent import Streaming
+
+
+def get_audio_chunks() -> list[bytes]:
+    curr_file = os.path.realpath(__file__)
+    curr_dir = os.path.dirname(curr_file)
+    file = f"{curr_dir}/speech_with_pauses_16k_1c_float32.wav"
+
+    chunk_size = 512
+
+    chunks = []
+
+    with sf.SoundFile(file, "r") as f:
+        assert f.samplerate == 16000
+        assert f.channels == 1
+        assert f.subtype == "FLOAT"
+
+        while True:
+            data = f.read(chunk_size, dtype="float32")
+            if len(data) != chunk_size:
+                break
+
+            chunks.append(data.tobytes())
+
+    return chunks
+
+
+@pytest.mark.asyncio
+async def test_real_audio(mocker):
+    """
+    Test the VAD agent with only input and output mocked. Using the real model, using real audio as
+    input. Ensure that it outputs some fragments with audio.
+    """
+    audio_chunks = get_audio_chunks()
+    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.return_value.poll.return_value = [(audio_in_socket, zmq.POLLIN)]
+
+    audio_out_socket = AsyncMock()
+
+    vad_streamer = Streaming(audio_in_socket, audio_out_socket)
+    for _ in audio_chunks:
+        await vad_streamer.run()
+
+    audio_out_socket.send.assert_called()
+    for args in audio_out_socket.send.call_args_list:
+        assert isinstance(args[0][0], bytes)
+        assert len(args[0][0]) >= 512 * 4 * 3  # Should be at least 3 chunks of audio

test/integration/api/endpoints/test_command_endpoint.py

@@ -0,0 +1,63 @@
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+from unittest.mock import MagicMock
+
+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)
+    app.state.internal_comm_socket = MagicMock()  # mock ZMQ socket
+    return app
+
+
+@pytest.fixture
+def client(app):
+    """Create a test client for the app."""
+    return TestClient(app)
+
+
+def test_receive_command_endpoint(client, app):
+    """
+    Test that a POST to /command sends the right multipart message
+    and returns a 202 with the expected JSON body.
+    """
+    mock_socket = app.state.internal_comm_socket
+
+    # Prepare test payload that matches SpeechCommand
+    payload = {"endpoint": "actuate/speech", "data": "yooo"}
+
+    # Send POST request
+    response = client.post("/command", json=payload)
+
+    # Check response
+    assert response.status_code == 202
+    assert response.json() == {"status": "Command received"}
+
+    # Verify that the socket was called with the correct data
+    assert mock_socket.send_multipart.called, "Socket should be used to send data"
+
+    args, kwargs = mock_socket.send_multipart.call_args
+    sent_data = args[0]
+
+    assert sent_data[0] == b"command"
+    # Check JSON encoding roughly matches
+    assert isinstance(SpeechCommand.model_validate_json(sent_data[1].decode()), SpeechCommand)
+
+
+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/schemas/test_ri_message.py

@@ -0,0 +1,36 @@
+import pytest
+from control_backend.schemas.ri_message import RIMessage, RIEndpoint, SpeechCommand
+from pydantic import ValidationError
+
+
+def valid_command_1():
+    return SpeechCommand(data="Hallo?")
+
+
+def invalid_command_1():
+    return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.")
+
+
+def test_valid_speech_command_1():
+    command = valid_command_1()
+    try:
+        RIMessage.model_validate(command)
+        SpeechCommand.model_validate(command)
+        assert True
+    except ValidationError:
+        assert False
+
+
+def test_invalid_speech_command_1():
+    command = invalid_command_1()
+    passed_ri_message_validation = False
+    try:
+        # Should succeed, still.
+        RIMessage.model_validate(command)
+        passed_ri_message_validation = True
+
+        # Should fail.
+        SpeechCommand.model_validate(command)
+        assert False
+    except ValidationError:
+        assert passed_ri_message_validation

test/unit/agents/test_vad_socket_poller.py

@@ -0,0 +1,46 @@
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import zmq
+
+from control_backend.agents.vad_agent import SocketPoller
+
+
+@pytest.fixture
+def socket():
+    return AsyncMock()
+
+
+@pytest.mark.asyncio
+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.return_value.poll.return_value = [(socket, zmq.POLLIN)]
+
+    poller = SocketPoller(socket)
+    # Calling `poll` twice to be able to check that the poller is reused
+    await poller.poll()
+    data = await poller.poll()
+
+    assert data == socket_data
+
+    # Ensure that the poller was reused
+    mock_poller.assert_called_once_with()
+    mock_poller.return_value.register.assert_called_once_with(socket, zmq.POLLIN)
+
+    assert socket.recv.call_count == 2
+
+
+@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.return_value.poll.return_value = []
+
+    poller = SocketPoller(socket)
+    data = await poller.poll()
+
+    assert data is None
+
+    socket.recv.assert_not_called()

test/unit/agents/test_vad_streaming.py

@@ -0,0 +1,95 @@
+from unittest.mock import AsyncMock, MagicMock
+
+import numpy as np
+import pytest
+
+from control_backend.agents.vad_agent import Streaming
+
+
+@pytest.fixture
+def audio_in_socket():
+    return AsyncMock()
+
+
+@pytest.fixture
+def audio_out_socket():
+    return AsyncMock()
+
+
+@pytest.fixture
+def streaming(audio_in_socket, audio_out_socket):
+    import torch
+
+    torch.hub.load.return_value = (..., ...)  # Mock
+    return Streaming(audio_in_socket, audio_out_socket)
+
+
+async def simulate_streaming_with_probabilities(streaming, probabilities: list[float]):
+    """
+    Simulates a streaming scenario with given VAD model probabilities for testing purposes.
+
+    :param streaming: The streaming component to be tested.
+    :param probabilities: A list of probabilities representing the outputs of the VAD model.
+    """
+    model_item = MagicMock()
+    model_item.item.side_effect = probabilities
+    streaming.model = MagicMock()
+    streaming.model.return_value = model_item
+
+    audio_in_poller = AsyncMock()
+    audio_in_poller.poll.return_value = np.empty(shape=512, dtype=np.float32)
+    streaming.audio_in_poller = audio_in_poller
+
+    for _ in probabilities:
+        await streaming.run()
+
+
+@pytest.mark.asyncio
+async def test_voice_activity_detected(audio_in_socket, audio_out_socket, streaming):
+    """
+    Test a scenario where there is voice activity detected between silences.
+    :return:
+    """
+    speech_chunk_count = 5
+    probabilities = [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] * 5
+    await simulate_streaming_with_probabilities(streaming, probabilities)
+
+    audio_out_socket.send.assert_called_once()
+    data = audio_out_socket.send.call_args[0][0]
+    assert isinstance(data, bytes)
+    # each sample has 512 frames of 4 bytes, expecting 7 chunks (5 with speech, 2 as padding)
+    assert len(data) == 512 * 4 * (speech_chunk_count + 2)
+
+
+@pytest.mark.asyncio
+async def test_voice_activity_short_pause(audio_in_socket, audio_out_socket, streaming):
+    """
+    Test a scenario where there is a short pause between speech, checking whether it ignores the
+    short pause.
+    """
+    speech_chunk_count = 5
+    probabilities = (
+        [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] + [1.0] * speech_chunk_count + [0.0] * 5
+    )
+    await simulate_streaming_with_probabilities(streaming, probabilities)
+
+    audio_out_socket.send.assert_called_once()
+    data = audio_out_socket.send.call_args[0][0]
+    assert isinstance(data, bytes)
+    # Expecting 13 chunks (2*5 with speech, 1 pause between, 2 as padding)
+    assert len(data) == 512 * 4 * (speech_chunk_count * 2 + 1 + 2)
+
+
+@pytest.mark.asyncio
+async def test_no_data(audio_in_socket, audio_out_socket, streaming):
+    """
+    Test a scenario where there is no data received. This should not cause errors.
+    """
+    audio_in_poller = AsyncMock()
+    audio_in_poller.poll.return_value = None
+    streaming.audio_in_poller = audio_in_poller
+
+    await streaming.run()
+
+    audio_out_socket.send.assert_not_called()
+    assert len(streaming.audio_buffer) == 0

test/unit/conftest.py

@@ -33,3 +33,13 @@ def pytest_configure(config):
     mock_config_module.settings = MagicMock()
 
     sys.modules["control_backend.core.config"] = mock_config_module
+
+    # --- Mock torch and zmq for VAD ---
+    mock_torch = MagicMock()
+    mock_zmq = MagicMock()
+    mock_zmq.asyncio = mock_zmq
+
+    # In individual tests, these can be imported and the return values changed
+    sys.modules["torch"] = mock_torch
+    sys.modules["zmq"] = mock_zmq
+    sys.modules["zmq.asyncio"] = mock_zmq.asyncio