feat: setup gesture agent and adjust command port for the UI

ref: N25B-334

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

@@ -3,12 +3,13 @@ import json
 import logging
 
 import zmq.asyncio
-from fastapi import APIRouter, Request
+from fastapi import APIRouter, HTTPException, Request
 from fastapi.responses import StreamingResponse
+from pydantic import ValidationError
 from zmq.asyncio import Context, Socket
 
 from control_backend.core.config import settings
-from control_backend.schemas.ri_message import SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand
 
 logger = logging.getLogger(__name__)
 
@@ -22,17 +23,29 @@ async def receive_command(command: SpeechCommand, request: Request):
 
     Publishes the command to the internal 'command' topic. The
     :class:`~control_backend.agents.actuation.robot_speech_agent.RobotSpeechAgent`
+    or
+    :class:`~control_backend.agents.actuation.robot_speech_agent.RobotGestureAgent`
     will forward this to the robot.
 
     :param command: The speech command payload.
     :param request: The FastAPI request object.
     """
     # Validate and retrieve data.
-    SpeechCommand.model_validate(command)
+    validated = None
+    valid_commands = (GestureCommand, SpeechCommand)
+    for command_model in valid_commands:
+        try:
+            validated = command_model.model_validate(command)
+        except ValidationError:
+            continue
+
+    if validated is None:
+        raise HTTPException(status_code=422, detail="Payload is not valid for command models")
+
     topic = b"command"
 
     pub_socket: Socket = request.app.state.endpoints_pub_socket
-    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
+    await pub_socket.send_multipart([topic, validated.model_dump_json().encode()])
 
     return {"status": "Command received"}