Merge remote-tracking branch 'origin/dev' into refactor/zmq-internal-socket-behaviour

# Conflicts:
#	src/control_backend/agents/ri_command_agent.py
#	src/control_backend/agents/ri_communication_agent.py
#	src/control_backend/api/v1/endpoints/command.py
#	src/control_backend/main.py
#	test/integration/api/endpoints/test_command_endpoint.py

test/integration/agents/test_ri_commands_agent.py

@@ -1,10 +1,10 @@
-import asyncio
-import zmq
 import json
-import pytest
 from unittest.mock import AsyncMock, MagicMock, patch
+
+import pytest
+import zmq
+
 from control_backend.agents.ri_command_agent import RICommandAgent
-from control_backend.schemas.ri_message import SpeechCommand
 
 
 @pytest.fixture

test/integration/agents/test_ri_communication_agent.py

@@ -1,6 +1,8 @@
 import asyncio
+from unittest.mock import ANY, AsyncMock, MagicMock, patch
+
 import pytest
-from unittest.mock import AsyncMock, MagicMock, patch, ANY
+
 from control_backend.agents.ri_communication_agent import RICommunicationAgent
 
 
@@ -177,8 +179,8 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
 
     # 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.
+    # 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:
@@ -330,8 +332,8 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
 
     # 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.
+    # 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:

test/integration/api/endpoints/test_command_endpoint.py

@@ -1,4 +1,4 @@
-from unittest.mock import AsyncMock, patch
+from unittest.mock import MagicMock
 
 import pytest
 from fastapi import FastAPI
@@ -16,6 +16,7 @@ def app():
     """
     app = FastAPI()
     app.include_router(command.router)
+    app.state.internal_comm_socket = MagicMock()  # mock ZMQ socket
     return app
 
 
@@ -25,32 +26,32 @@ def client(app):
     return TestClient(app)
 
 
-@pytest.mark.asyncio
-@patch("control_backend.api.v1.endpoints.command.Context.instance")
-async def test_receive_command_success(mock_context_instance, client):
+def test_receive_command_endpoint(client, app):
     """
-    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.
+    Test that a POST to /command sends the right multipart message
+    and returns a 202 with the expected JSON body.
     """
-    # Arrange
-    mock_pub_socket = AsyncMock()
-    client.app.state.endpoints_pub_socket = mock_pub_socket
+    mock_socket = app.state.internal_comm_socket
 
-    command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
-    speech_command = SpeechCommand(**command_data)
+    # Prepare test payload that matches SpeechCommand
+    payload = {"endpoint": "actuate/speech", "data": "yooo"}
 
-    # Act
-    response = client.post("/command", json=command_data)
+    # Send POST request
+    response = client.post("/command", json=payload)
 
-    # Assert
+    # Check response
     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()]
-    )
+    # 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/integration/schemas/test_ri_message.py

@@ -1,7 +1,8 @@
 import pytest
-from control_backend.schemas.ri_message import RIMessage, RIEndpoint, SpeechCommand
 from pydantic import ValidationError
 
+from control_backend.schemas.ri_message import RIEndpoint, RIMessage, SpeechCommand
+
 
 def valid_command_1():
     return SpeechCommand(data="Hallo?")
@@ -13,24 +14,13 @@ def invalid_command_1():
 
 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
+    RIMessage.model_validate(command)
+    SpeechCommand.model_validate(command)
 
 
 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
+    RIMessage.model_validate(command)
 
-        # Should fail.
+    with pytest.raises(ValidationError):
         SpeechCommand.model_validate(command)
-        assert False
-    except ValidationError:
-        assert passed_ri_message_validation