diff --git a/src/control_backend/agents/bdi/__init__.py b/src/control_backend/agents/bdi/__init__.py
index 8d45440..d6f5124 100644
--- a/src/control_backend/agents/bdi/__init__.py
+++ b/src/control_backend/agents/bdi/__init__.py
@@ -1,8 +1,5 @@
 from control_backend.agents.bdi.bdi_core_agent import BDICoreAgent as BDICoreAgent
 
-from .belief_collector_agent import (
-    BDIBeliefCollectorAgent as BDIBeliefCollectorAgent,
-)
 from .text_belief_extractor_agent import (
     TextBeliefExtractorAgent as TextBeliefExtractorAgent,
 )
diff --git a/src/control_backend/agents/bdi/agentspeak_ast.py b/src/control_backend/agents/bdi/agentspeak_ast.py
index 188b4f3..68be531 100644
--- a/src/control_backend/agents/bdi/agentspeak_ast.py
+++ b/src/control_backend/agents/bdi/agentspeak_ast.py
@@ -77,7 +77,7 @@ class AstTerm(AstExpression, ABC):
         return AstBinaryOp(self, BinaryOperatorType.NOT_EQUALS, _coalesce_expr(other))
 
 
-@dataclass
+@dataclass(eq=False)
 class AstAtom(AstTerm):
     """
     Grounded expression in all lowercase.
@@ -89,7 +89,7 @@ class AstAtom(AstTerm):
         return self.value.lower()
 
 
-@dataclass
+@dataclass(eq=False)
 class AstVar(AstTerm):
     """
     Ungrounded variable expression. First letter capitalized.
@@ -101,7 +101,7 @@ class AstVar(AstTerm):
         return self.name.capitalize()
 
 
-@dataclass
+@dataclass(eq=False)
 class AstNumber(AstTerm):
     value: int | float
 
@@ -109,7 +109,7 @@ class AstNumber(AstTerm):
         return str(self.value)
 
 
-@dataclass
+@dataclass(eq=False)
 class AstString(AstTerm):
     value: str
 
@@ -117,7 +117,7 @@ class AstString(AstTerm):
         return f'"{self.value}"'
 
 
-@dataclass
+@dataclass(eq=False)
 class AstLiteral(AstTerm):
     functor: str
     terms: list[AstTerm] = field(default_factory=list)
diff --git a/src/control_backend/agents/bdi/belief_collector_agent.py b/src/control_backend/agents/bdi/belief_collector_agent.py
deleted file mode 100644
index ac0e2e5..0000000
--- a/src/control_backend/agents/bdi/belief_collector_agent.py
+++ /dev/null
@@ -1,152 +0,0 @@
-import json
-
-from pydantic import ValidationError
-
-from control_backend.agents.base import BaseAgent
-from control_backend.core.agent_system import InternalMessage
-from control_backend.core.config import settings
-from control_backend.schemas.belief_message import Belief, BeliefMessage
-
-
-class BDIBeliefCollectorAgent(BaseAgent):
-    """
-    BDI Belief Collector Agent.
-
-    This agent acts as a central aggregator for beliefs derived from various sources (e.g., text,
-    emotion, vision). It receives raw extracted data from other agents,
-    normalizes them into valid :class:`Belief` objects, and forwards them as a unified packet to the
-    BDI Core Agent.
-
-    It serves as a funnel to ensure the BDI agent receives a consistent stream of beliefs.
-    """
-
-    async def setup(self):
-        """
-        Initialize the agent.
-        """
-        self.logger.info("Setting up %s", self.name)
-
-    async def handle_message(self, msg: InternalMessage):
-        """
-        Handle incoming messages from other extractor agents.
-
-        Routes the message to specific handlers based on the 'type' field in the JSON body.
-        Supported types:
-        -   ``belief_extraction_text``: Handled by :meth:`_handle_belief_text`
-        -   ``emotion_extraction_text``: Handled by :meth:`_handle_emo_text`
-
-        :param msg: The received internal message.
-        """
-        sender_node = msg.sender
-
-        # Parse JSON payload
-        try:
-            payload = json.loads(msg.body)
-        except Exception as e:
-            self.logger.warning(
-                "BeliefCollector: failed to parse JSON from %s. Body=%r Error=%s",
-                sender_node,
-                msg.body,
-                e,
-            )
-            return
-
-        msg_type = payload.get("type")
-
-        # Prefer explicit 'type' field
-        if msg_type == "belief_extraction_text":
-            self.logger.debug("Message routed to _handle_belief_text (sender=%s)", sender_node)
-            await self._handle_belief_text(payload, sender_node)
-        # This is not implemented yet, but we keep the structure for future use
-        elif msg_type == "emotion_extraction_text":
-            self.logger.debug("Message routed to _handle_emo_text (sender=%s)", sender_node)
-            await self._handle_emo_text(payload, sender_node)
-        else:
-            self.logger.warning(
-                "Unrecognized message (sender=%s, type=%r). Ignoring.", sender_node, msg_type
-            )
-
-    async def _handle_belief_text(self, payload: dict, origin: str):
-        """
-        Process text-based belief extraction payloads.
-
-        Expected payload format::
-
-            {
-                "type": "belief_extraction_text",
-                "beliefs": {
-                    "user_said": ["Can you help me?"],
-                    "intention": ["ask_help"]
-                }
-            }
-
-        Validates and converts the dictionary items into :class:`Belief` objects.
-
-        :param payload: The dictionary payload containing belief data.
-        :param origin: The name of the sender agent.
-        """
-        beliefs = payload.get("beliefs", {})
-
-        if not beliefs:
-            self.logger.debug("Received empty beliefs set.")
-            return
-
-        def try_create_belief(name, arguments) -> Belief | None:
-            """
-            Create a belief object from name and arguments, or return None silently if the input is
-            not correct.
-
-            :param name: The name of the belief.
-            :param arguments: The arguments of the belief.
-            :return: A Belief object if the input is valid or None.
-            """
-            try:
-                return Belief(name=name, arguments=arguments)
-            except ValidationError:
-                return None
-
-        beliefs = [
-            belief
-            for name, arguments in beliefs.items()
-            if (belief := try_create_belief(name, arguments)) is not None
-        ]
-
-        self.logger.debug("Forwarding %d beliefs.", len(beliefs))
-        for belief in beliefs:
-            for argument in belief.arguments:
-                self.logger.debug("  - %s %s", belief.name, argument)
-
-        await self._send_beliefs_to_bdi(beliefs, origin=origin)
-
-    async def _handle_emo_text(self, payload: dict, origin: str):
-        """
-        Process emotion extraction payloads.
-
-        **TODO**: Implement this method once emotion recognition is integrated.
-
-        :param payload: The dictionary payload containing emotion data.
-        :param origin: The name of the sender agent.
-        """
-        pass
-
-    async def _send_beliefs_to_bdi(self, beliefs: list[Belief], origin: str | None = None):
-        """
-        Send a list of aggregated beliefs to the BDI Core Agent.
-
-        Wraps the beliefs in a :class:`BeliefMessage` and sends it via the 'beliefs' thread.
-
-        :param beliefs: The list of Belief objects to send.
-        :param origin: (Optional) The original source of the beliefs (unused currently).
-        """
-        if not beliefs:
-            return
-
-        msg = InternalMessage(
-            to=settings.agent_settings.bdi_core_name,
-            sender=self.name,
-            body=BeliefMessage(create=beliefs).model_dump_json(),
-            thread="beliefs",
-        )
-
-        await self.send(msg)
-        self.logger.info("Sent %d belief(s) to BDI core.", len(beliefs))
diff --git a/src/control_backend/agents/communication/ri_communication_agent.py b/src/control_backend/agents/communication/ri_communication_agent.py
index 719053c..252502d 100644
--- a/src/control_backend/agents/communication/ri_communication_agent.py
+++ b/src/control_backend/agents/communication/ri_communication_agent.py
@@ -324,7 +324,7 @@ class RICommunicationAgent(BaseAgent):
     async def handle_message(self, msg: InternalMessage):
         try:
             pause_command = PauseCommand.model_validate_json(msg.body)
-            self._req_socket.send_json(pause_command.model_dump())
-            self.logger.debug(self._req_socket.recv_json())
+            await self._req_socket.send_json(pause_command.model_dump())
+            self.logger.debug(await self._req_socket.recv_json())
         except ValidationError:
             self.logger.warning("Incorrect message format for PauseCommand.")
diff --git a/src/control_backend/main.py b/src/control_backend/main.py
index d20cc66..ec93b1e 100644
--- a/src/control_backend/main.py
+++ b/src/control_backend/main.py
@@ -172,6 +172,8 @@ async def lifespan(app: FastAPI):
 
     await endpoints_pub_socket.send_multipart([PROGRAM_STATUS, ProgramStatus.STOPPING.value])
     # Additional shutdown logic goes here
+    for agent in agents:
+        await agent.stop()
 
     logger.info("Application shutdown complete.")
 
diff --git a/test/unit/agents/actuation/test_robot_gesture_agent.py b/test/unit/agents/actuation/test_robot_gesture_agent.py
index fe051a6..225278d 100644
--- a/test/unit/agents/actuation/test_robot_gesture_agent.py
+++ b/test/unit/agents/actuation/test_robot_gesture_agent.py
@@ -28,7 +28,11 @@ async def test_setup_bind(zmq_context, mocker):
     settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     await agent.setup()
 
@@ -55,7 +59,11 @@ async def test_setup_connect(zmq_context, mocker):
     settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     await agent.setup()
 
@@ -119,6 +127,65 @@ async def test_handle_message_rejects_invalid_gesture_tag():
     pubsocket.send_json.assert_not_awaited()
 
 
+@pytest.mark.asyncio
+async def test_handle_message_sends_valid_single_gesture_command():
+    """Internal message with valid single gesture is forwarded."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", single_gesture_data=["wave", "point"], address="")
+    agent.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_SINGLE,
+        "data": "wave",
+    }
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_rejects_invalid_single_gesture():
+    """Internal message with invalid single gesture is not forwarded."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", single_gesture_data=["wave", "point"], address="")
+    agent.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_SINGLE,
+        "data": "dance",
+    }
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_valid_single_gesture_payload():
+    """UI command with valid single gesture is read from SUB and published."""
+    command = {"endpoint": RIEndpoint.GESTURE_SINGLE, "data": "wave"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"command", json.dumps(command).encode("utf-8")
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", single_gesture_data=["wave", "point"], address="")
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_awaited_once()
+
+
 @pytest.mark.asyncio
 async def test_handle_message_invalid_payload():
     """Invalid payload is caught and does not send."""
diff --git a/test/unit/agents/actuation/test_robot_speech_agent.py b/test/unit/agents/actuation/test_robot_speech_agent.py
index d95f66a..e5a664d 100644
--- a/test/unit/agents/actuation/test_robot_speech_agent.py
+++ b/test/unit/agents/actuation/test_robot_speech_agent.py
@@ -30,7 +30,11 @@ async def test_setup_bind(zmq_context, mocker):
     settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     await agent.setup()
 
@@ -48,7 +52,11 @@ async def test_setup_connect(zmq_context, mocker):
     settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     await agent.setup()
 
diff --git a/test/unit/agents/bdi/test_agentspeak_ast.py b/test/unit/agents/bdi/test_agentspeak_ast.py
new file mode 100644
index 0000000..8d3bdf0
--- /dev/null
+++ b/test/unit/agents/bdi/test_agentspeak_ast.py
@@ -0,0 +1,186 @@
+import pytest
+
+from control_backend.agents.bdi.agentspeak_ast import (
+    AstAtom,
+    AstBinaryOp,
+    AstLiteral,
+    AstLogicalExpression,
+    AstNumber,
+    AstPlan,
+    AstProgram,
+    AstRule,
+    AstStatement,
+    AstString,
+    AstVar,
+    BinaryOperatorType,
+    StatementType,
+    TriggerType,
+    _coalesce_expr,
+)
+
+
+def test_ast_atom():
+    atom = AstAtom("test")
+    assert str(atom) == "test"
+    assert atom._to_agentspeak() == "test"
+
+
+def test_ast_var():
+    var = AstVar("Variable")
+    assert str(var) == "Variable"
+    assert var._to_agentspeak() == "Variable"
+
+
+def test_ast_number():
+    num = AstNumber(42)
+    assert str(num) == "42"
+    num_float = AstNumber(3.14)
+    assert str(num_float) == "3.14"
+
+
+def test_ast_string():
+    s = AstString("hello")
+    assert str(s) == '"hello"'
+
+
+def test_ast_literal():
+    lit = AstLiteral("functor", [AstAtom("atom"), AstNumber(1)])
+    assert str(lit) == "functor(atom, 1)"
+    lit_empty = AstLiteral("functor")
+    assert str(lit_empty) == "functor"
+
+
+def test_ast_binary_op():
+    left = AstNumber(1)
+    right = AstNumber(2)
+    op = AstBinaryOp(left, BinaryOperatorType.GREATER_THAN, right)
+    assert str(op) == "1 > 2"
+
+    # Test logical wrapper
+    assert isinstance(op.left, AstLogicalExpression)
+    assert isinstance(op.right, AstLogicalExpression)
+
+
+def test_ast_binary_op_parens():
+    # 1 > 2
+    inner = AstBinaryOp(AstNumber(1), BinaryOperatorType.GREATER_THAN, AstNumber(2))
+    # (1 > 2) & 3
+    outer = AstBinaryOp(inner, BinaryOperatorType.AND, AstNumber(3))
+    assert str(outer) == "(1 > 2) & 3"
+
+    # 3 & (1 > 2)
+    outer_right = AstBinaryOp(AstNumber(3), BinaryOperatorType.AND, inner)
+    assert str(outer_right) == "3 & (1 > 2)"
+
+
+def test_ast_binary_op_parens_negated():
+    inner = AstLogicalExpression(AstAtom("foo"), negated=True)
+    outer = AstBinaryOp(inner, BinaryOperatorType.AND, AstAtom("bar"))
+    # The current implementation checks `if self.left.negated: l_str = f"({l_str})"`
+    # str(inner) is "not foo"
+    # so we expect "(not foo) & bar"
+    assert str(outer) == "(not foo) & bar"
+
+    outer_right = AstBinaryOp(AstAtom("bar"), BinaryOperatorType.AND, inner)
+    assert str(outer_right) == "bar & (not foo)"
+
+
+def test_ast_logical_expression_negation():
+    expr = AstLogicalExpression(AstAtom("true"), negated=True)
+    assert str(expr) == "not true"
+
+    expr_neg_neg = ~expr
+    assert str(expr_neg_neg) == "true"
+    assert not expr_neg_neg.negated
+
+    # Invert a non-logical expression (wraps it)
+    term = AstAtom("true")
+    inverted = ~term
+    assert isinstance(inverted, AstLogicalExpression)
+    assert inverted.negated
+    assert str(inverted) == "not true"
+
+
+def test_ast_logical_expression_no_negation():
+    # _as_logical on already logical expression
+    expr = AstLogicalExpression(AstAtom("x"))
+    # Doing binary op will call _as_logical
+    op = AstBinaryOp(expr, BinaryOperatorType.AND, AstAtom("y"))
+    assert isinstance(op.left, AstLogicalExpression)
+    assert op.left is expr  # Should reuse instance
+
+
+def test_ast_operators():
+    t1 = AstAtom("a")
+    t2 = AstAtom("b")
+
+    assert str(t1 & t2) == "a & b"
+    assert str(t1 | t2) == "a | b"
+    assert str(t1 >= t2) == "a >= b"
+    assert str(t1 > t2) == "a > b"
+    assert str(t1 <= t2) == "a <= b"
+    assert str(t1 < t2) == "a < b"
+    assert str(t1 == t2) == "a == b"
+    assert str(t1 != t2) == r"a \== b"
+
+
+def test_coalesce_expr():
+    t = AstAtom("a")
+    assert str(t & "b") == 'a & "b"'
+    assert str(t & 1) == "a & 1"
+    assert str(t & 1.5) == "a & 1.5"
+
+    with pytest.raises(TypeError):
+        _coalesce_expr(None)
+
+
+def test_ast_statement():
+    stmt = AstStatement(StatementType.DO_ACTION, AstLiteral("action"))
+    assert str(stmt) == ".action"
+
+
+def test_ast_rule():
+    # Rule with condition
+    rule = AstRule(AstLiteral("head"), AstLiteral("body"))
+    assert str(rule) == "head :- body."
+
+    # Rule without condition
+    rule_simple = AstRule(AstLiteral("fact"))
+    assert str(rule_simple) == "fact."
+
+
+def test_ast_plan():
+    plan = AstPlan(
+        TriggerType.ADDED_GOAL,
+        AstLiteral("goal"),
+        [AstLiteral("context")],
+        [AstStatement(StatementType.DO_ACTION, AstLiteral("action"))],
+    )
+    output = str(plan)
+    # verify parts exist
+    assert "+!goal" in output
+    assert ":   context" in output
+    assert "<-  .action." in output
+
+
+def test_ast_plan_no_context():
+    plan = AstPlan(
+        TriggerType.ADDED_GOAL,
+        AstLiteral("goal"),
+        [],
+        [AstStatement(StatementType.DO_ACTION, AstLiteral("action"))],
+    )
+    output = str(plan)
+    assert "+!goal" in output
+    assert ":   " not in output
+    assert "<-  .action." in output
+
+
+def test_ast_program():
+    prog = AstProgram(
+        rules=[AstRule(AstLiteral("fact"))],
+        plans=[AstPlan(TriggerType.ADDED_BELIEF, AstLiteral("b"), [], [])],
+    )
+    output = str(prog)
+    assert "fact." in output
+    assert "+b" in output
diff --git a/test/unit/agents/bdi/test_agentspeak_generator.py b/test/unit/agents/bdi/test_agentspeak_generator.py
new file mode 100644
index 0000000..5a3a849
--- /dev/null
+++ b/test/unit/agents/bdi/test_agentspeak_generator.py
@@ -0,0 +1,187 @@
+import uuid
+
+import pytest
+
+from control_backend.agents.bdi.agentspeak_ast import AstProgram
+from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
+from control_backend.schemas.program import (
+    BasicNorm,
+    ConditionalNorm,
+    Gesture,
+    GestureAction,
+    Goal,
+    InferredBelief,
+    KeywordBelief,
+    LLMAction,
+    LogicalOperator,
+    Phase,
+    Plan,
+    Program,
+    SemanticBelief,
+    SpeechAction,
+    Trigger,
+)
+
+
+@pytest.fixture
+def generator():
+    return AgentSpeakGenerator()
+
+
+def test_generate_empty_program(generator):
+    prog = Program(phases=[])
+    code = generator.generate(prog)
+    assert 'phase("end").' in code
+    assert "!notify_cycle" in code
+
+
+def test_generate_basic_norm(generator):
+    norm = BasicNorm(id=uuid.uuid4(), name="n1", norm="be nice")
+    phase = Phase(id=uuid.uuid4(), norms=[norm], goals=[], triggers=[])
+    prog = Program(phases=[phase])
+
+    code = generator.generate(prog)
+    assert f'norm("be nice") :- phase("{phase.id}").' in code
+
+
+def test_generate_critical_norm(generator):
+    norm = BasicNorm(id=uuid.uuid4(), name="n1", norm="safety", critical=True)
+    phase = Phase(id=uuid.uuid4(), norms=[norm], goals=[], triggers=[])
+    prog = Program(phases=[phase])
+
+    code = generator.generate(prog)
+    assert f'critical_norm("safety") :- phase("{phase.id}").' in code
+
+
+def test_generate_conditional_norm(generator):
+    cond = KeywordBelief(id=uuid.uuid4(), name="k1", keyword="please")
+    norm = ConditionalNorm(id=uuid.uuid4(), name="n1", norm="help", condition=cond)
+    phase = Phase(id=uuid.uuid4(), norms=[norm], goals=[], triggers=[])
+    prog = Program(phases=[phase])
+
+    code = generator.generate(prog)
+    assert 'norm("help")' in code
+    assert 'keyword_said("please")' in code
+    assert f"force_norm_{generator._slugify_str(norm.norm)}" in code
+
+
+def test_generate_goal_and_plan(generator):
+    action = SpeechAction(id=uuid.uuid4(), name="s1", text="hello")
+    plan = Plan(id=uuid.uuid4(), name="p1", steps=[action])
+    # IMPORTANT: can_fail must be False for +achieved_ belief to be added
+    goal = Goal(id=uuid.uuid4(), name="g1", description="desc", plan=plan, can_fail=False)
+    phase = Phase(id=uuid.uuid4(), norms=[], goals=[goal], triggers=[])
+    prog = Program(phases=[phase])
+
+    code = generator.generate(prog)
+    # Check trigger for goal
+    goal_slug = generator._slugify_str(goal.name)
+    assert f"+!{goal_slug}" in code
+    assert f'phase("{phase.id}")' in code
+    assert '!say("hello")' in code
+
+    # Check success belief addition
+    assert f"+achieved_{goal_slug}" in code
+
+
+def test_generate_subgoal(generator):
+    subplan = Plan(id=uuid.uuid4(), name="p2", steps=[])
+    subgoal = Goal(id=uuid.uuid4(), name="sub1", description="sub", plan=subplan)
+
+    plan = Plan(id=uuid.uuid4(), name="p1", steps=[subgoal])
+    goal = Goal(id=uuid.uuid4(), name="g1", description="main", plan=plan)
+    phase = Phase(id=uuid.uuid4(), norms=[], goals=[goal], triggers=[])
+    prog = Program(phases=[phase])
+
+    code = generator.generate(prog)
+    subgoal_slug = generator._slugify_str(subgoal.name)
+    # Main goal calls subgoal
+    assert f"!{subgoal_slug}" in code
+    # Subgoal plan exists
+    assert f"+!{subgoal_slug}" in code
+
+
+def test_generate_trigger(generator):
+    cond = SemanticBelief(id=uuid.uuid4(), name="s1", description="desc")
+    plan = Plan(id=uuid.uuid4(), name="p1", steps=[])
+    trigger = Trigger(id=uuid.uuid4(), name="t1", condition=cond, plan=plan)
+    phase = Phase(id=uuid.uuid4(), norms=[], goals=[], triggers=[trigger])
+    prog = Program(phases=[phase])
+
+    code = generator.generate(prog)
+    # Trigger logic is added to check_triggers
+    assert f"{generator.slugify(cond)}" in code
+    assert f'notify_trigger_start("{generator.slugify(trigger)}")' in code
+    assert f'notify_trigger_end("{generator.slugify(trigger)}")' in code
+
+
+def test_phase_transition(generator):
+    phase1 = Phase(id=uuid.uuid4(), name="p1", norms=[], goals=[], triggers=[])
+    phase2 = Phase(id=uuid.uuid4(), name="p2", norms=[], goals=[], triggers=[])
+    prog = Program(phases=[phase1, phase2])
+
+    code = generator.generate(prog)
+    assert "transition_phase" in code
+    assert f'phase("{phase1.id}")' in code
+    assert f'phase("{phase2.id}")' in code
+    assert "force_transition_phase" in code
+
+
+def test_astify_gesture(generator):
+    gesture = Gesture(type="single", name="wave")
+    action = GestureAction(id=uuid.uuid4(), name="g1", gesture=gesture)
+    ast = generator._astify(action)
+    assert str(ast) == 'gesture("single", "wave")'
+
+
+def test_astify_llm_action(generator):
+    action = LLMAction(id=uuid.uuid4(), name="l1", goal="be funny")
+    ast = generator._astify(action)
+    assert str(ast) == 'reply_with_goal("be funny")'
+
+
+def test_astify_inferred_belief_and(generator):
+    left = KeywordBelief(id=uuid.uuid4(), name="k1", keyword="a")
+    right = KeywordBelief(id=uuid.uuid4(), name="k2", keyword="b")
+    inf = InferredBelief(
+        id=uuid.uuid4(), name="i1", operator=LogicalOperator.AND, left=left, right=right
+    )
+
+    ast = generator._astify(inf)
+    assert 'keyword_said("a") & keyword_said("b")' == str(ast)
+
+
+def test_astify_inferred_belief_or(generator):
+    left = KeywordBelief(id=uuid.uuid4(), name="k1", keyword="a")
+    right = KeywordBelief(id=uuid.uuid4(), name="k2", keyword="b")
+    inf = InferredBelief(
+        id=uuid.uuid4(), name="i1", operator=LogicalOperator.OR, left=left, right=right
+    )
+
+    ast = generator._astify(inf)
+    assert 'keyword_said("a") | keyword_said("b")' == str(ast)
+
+
+def test_astify_semantic_belief(generator):
+    sb = SemanticBelief(id=uuid.uuid4(), name="s1", description="desc")
+    ast = generator._astify(sb)
+    assert str(ast) == f"semantic_{generator._slugify_str(sb.name)}"
+
+
+def test_slugify_not_implemented(generator):
+    with pytest.raises(NotImplementedError):
+        generator.slugify("not a program element")
+
+
+def test_astify_not_implemented(generator):
+    with pytest.raises(NotImplementedError):
+        generator._astify("not a program element")
+
+
+def test_process_phase_transition_from_none(generator):
+    # Initialize AstProgram manually as we are bypassing generate()
+    generator._asp = AstProgram()
+    # Should safely return doing nothing
+    generator._add_phase_transition(None, None)
+
+    assert len(generator._asp.plans) == 0
diff --git a/test/unit/agents/bdi/test_bdi_core_agent.py b/test/unit/agents/bdi/test_bdi_core_agent.py
index 64f2ca7..152d901 100644
--- a/test/unit/agents/bdi/test_bdi_core_agent.py
+++ b/test/unit/agents/bdi/test_bdi_core_agent.py
@@ -57,11 +57,22 @@ async def test_handle_belief_collector_message(agent, mock_settings):
 
     await agent.handle_message(msg)
 
-    # Expect bdi_agent.call to be triggered to add belief
-    args = agent.bdi_agent.call.call_args.args
-    assert args[0] == agentspeak.Trigger.addition
-    assert args[1] == agentspeak.GoalType.belief
-    assert args[2] == agentspeak.Literal("user_said", (agentspeak.Literal("Hello"),))
+    # Check for the specific call we expect among all calls
+    # bdi_agent.call is called multiple times (for transition_phase, check_triggers)
+    # We want to confirm the belief addition call exists
+    found_call = False
+    for call in agent.bdi_agent.call.call_args_list:
+        args = call.args
+        if (
+            args[0] == agentspeak.Trigger.addition
+            and args[1] == agentspeak.GoalType.belief
+            and args[2].functor == "user_said"
+            and args[2].args[0].functor == "Hello"
+        ):
+            found_call = True
+            break
+
+    assert found_call, "Expected belief addition call not found in bdi_agent.call history"
 
 
 @pytest.mark.asyncio
@@ -77,11 +88,19 @@ async def test_handle_delete_belief_message(agent, mock_settings):
     )
     await agent.handle_message(msg)
 
-    # Expect bdi_agent.call to be triggered to remove belief
-    args = agent.bdi_agent.call.call_args.args
-    assert args[0] == agentspeak.Trigger.removal
-    assert args[1] == agentspeak.GoalType.belief
-    assert args[2] == agentspeak.Literal("user_said", (agentspeak.Literal("Hello"),))
+    found_call = False
+    for call in agent.bdi_agent.call.call_args_list:
+        args = call.args
+        if (
+            args[0] == agentspeak.Trigger.removal
+            and args[1] == agentspeak.GoalType.belief
+            and args[2].functor == "user_said"
+            and args[2].args[0].functor == "Hello"
+        ):
+            found_call = True
+            break
+
+    assert found_call
 
 
 @pytest.mark.asyncio
@@ -171,7 +190,11 @@ def test_remove_belief_success_wakes_loop(agent):
     agent._remove_belief("remove_me", ["x"])
 
     assert agent.bdi_agent.call.called
-    trigger, goaltype, literal, *_ = agent.bdi_agent.call.call_args.args
+
+    call_args = agent.bdi_agent.call.call_args.args
+    trigger = call_args[0]
+    goaltype = call_args[1]
+    literal = call_args[2]
 
     assert trigger == agentspeak.Trigger.removal
     assert goaltype == agentspeak.GoalType.belief
@@ -288,3 +311,216 @@ async def test_deadline_sleep_branch(agent):
 
     duration = time.time() - start_time
     assert duration >= 0.004  # loop slept until deadline
+
+
+@pytest.mark.asyncio
+async def test_handle_new_program(agent):
+    agent._load_asl = AsyncMock()
+    agent.add_behavior = MagicMock()
+    # Mock existing loop task so it can be cancelled
+    mock_task = MagicMock()
+    mock_task.cancel = MagicMock()
+    agent._bdi_loop_task = mock_task
+
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
+
+    msg = InternalMessage(to="bdi_agent", thread="new_program", body="path/to/asl.asl")
+
+    await agent.handle_message(msg)
+
+    mock_task.cancel.assert_called_once()
+    agent._load_asl.assert_awaited_once_with("path/to/asl.asl")
+    agent.add_behavior.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_user_interrupts(agent, mock_settings):
+    mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+    # force_phase_transition
+    agent._set_goal = MagicMock()
+    msg = InternalMessage(
+        to="bdi_agent",
+        sender=mock_settings.agent_settings.user_interrupt_name,
+        thread="force_phase_transition",
+        body="",
+    )
+    await agent.handle_message(msg)
+    agent._set_goal.assert_called_with("transition_phase")
+
+    # force_trigger
+    agent._force_trigger = MagicMock()
+    msg.thread = "force_trigger"
+    msg.body = "trigger_x"
+    await agent.handle_message(msg)
+    agent._force_trigger.assert_called_with("trigger_x")
+
+    # force_norm
+    agent._force_norm = MagicMock()
+    msg.thread = "force_norm"
+    msg.body = "norm_y"
+    await agent.handle_message(msg)
+    agent._force_norm.assert_called_with("norm_y")
+
+    # force_next_phase
+    agent._force_next_phase = MagicMock()
+    msg.thread = "force_next_phase"
+    msg.body = ""
+    await agent.handle_message(msg)
+    agent._force_next_phase.assert_called_once()
+
+    # unknown interrupt
+    agent.logger = MagicMock()
+    msg.thread = "unknown_thing"
+    await agent.handle_message(msg)
+    agent.logger.warning.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_custom_action_reply_with_goal(agent):
+    agent._send_to_llm = MagicMock(side_effect=agent.send)
+    agent._add_custom_actions()
+    action_fn = agent.actions.actions[(".reply_with_goal", 3)]
+
+    mock_term = MagicMock(args=["msg", "norms", "goal"])
+    gen = action_fn(agent, mock_term, MagicMock())
+    next(gen)
+    agent._send_to_llm.assert_called_with("msg", "norms", "goal")
+
+
+@pytest.mark.asyncio
+async def test_custom_action_notify_norms(agent):
+    agent._add_custom_actions()
+    action_fn = agent.actions.actions[(".notify_norms", 1)]
+
+    mock_term = MagicMock(args=["norms_list"])
+    gen = action_fn(agent, mock_term, MagicMock())
+    next(gen)
+
+    agent.send.assert_called()
+    msg = agent.send.call_args[0][0]
+    assert msg.thread == "active_norms_update"
+    assert msg.body == "norms_list"
+
+
+@pytest.mark.asyncio
+async def test_custom_action_say(agent):
+    agent._add_custom_actions()
+    action_fn = agent.actions.actions[(".say", 1)]
+
+    mock_term = MagicMock(args=["hello"])
+    gen = action_fn(agent, mock_term, MagicMock())
+    next(gen)
+
+    assert agent.send.call_count == 2
+    msgs = [c[0][0] for c in agent.send.call_args_list]
+    assert any(m.to == settings.agent_settings.robot_speech_name for m in msgs)
+    assert any(
+        m.to == settings.agent_settings.llm_name and m.thread == "assistant_message" for m in msgs
+    )
+
+
+@pytest.mark.asyncio
+async def test_custom_action_gesture(agent):
+    agent._add_custom_actions()
+    # Test single
+    action_fn = agent.actions.actions[(".gesture", 2)]
+    mock_term = MagicMock(args=["single", "wave"])
+    gen = action_fn(agent, mock_term, MagicMock())
+    next(gen)
+    msg = agent.send.call_args[0][0]
+    assert "actuate/gesture/single" in msg.body
+
+    # Test tag
+    mock_term.args = ["tag", "happy"]
+    gen = action_fn(agent, mock_term, MagicMock())
+    next(gen)
+    msg = agent.send.call_args[0][0]
+    assert "actuate/gesture/tag" in msg.body
+
+
+@pytest.mark.asyncio
+async def test_custom_action_notify_user_said(agent):
+    agent._add_custom_actions()
+    action_fn = agent.actions.actions[(".notify_user_said", 1)]
+    mock_term = MagicMock(args=["hello"])
+    gen = action_fn(agent, mock_term, MagicMock())
+    next(gen)
+    msg = agent.send.call_args[0][0]
+    assert msg.to == settings.agent_settings.llm_name
+    assert msg.thread == "user_message"
+
+
+@pytest.mark.asyncio
+async def test_custom_action_notify_trigger_start_end(agent):
+    agent._add_custom_actions()
+    # Start
+    action_fn = agent.actions.actions[(".notify_trigger_start", 1)]
+    gen = action_fn(agent, MagicMock(args=["t1"]), MagicMock())
+    next(gen)
+    assert agent.send.call_args[0][0].thread == "trigger_start"
+
+    # End
+    action_fn = agent.actions.actions[(".notify_trigger_end", 1)]
+    gen = action_fn(agent, MagicMock(args=["t1"]), MagicMock())
+    next(gen)
+    assert agent.send.call_args[0][0].thread == "trigger_end"
+
+
+@pytest.mark.asyncio
+async def test_custom_action_notify_goal_start(agent):
+    agent._add_custom_actions()
+    action_fn = agent.actions.actions[(".notify_goal_start", 1)]
+    gen = action_fn(agent, MagicMock(args=["g1"]), MagicMock())
+    next(gen)
+    assert agent.send.call_args[0][0].thread == "goal_start"
+
+
+@pytest.mark.asyncio
+async def test_custom_action_notify_transition_phase(agent):
+    agent._add_custom_actions()
+    action_fn = agent.actions.actions[(".notify_transition_phase", 2)]
+    gen = action_fn(agent, MagicMock(args=["old", "new"]), MagicMock())
+    next(gen)
+    msg = agent.send.call_args[0][0]
+    assert msg.thread == "transition_phase"
+    assert "old" in msg.body and "new" in msg.body
+
+
+def test_remove_belief_no_args(agent):
+    agent._wake_bdi_loop = MagicMock()
+    agent.bdi_agent.call.return_value = True
+    agent._remove_belief("fact", None)
+    assert agent.bdi_agent.call.called
+
+
+def test_set_goal_with_args(agent):
+    agent._wake_bdi_loop = MagicMock()
+    agent._set_goal("goal", ["arg1", "arg2"])
+    assert agent.bdi_agent.call.called
+
+
+def test_format_belief_string():
+    assert BDICoreAgent.format_belief_string("b") == "b"
+    assert BDICoreAgent.format_belief_string("b", ["a1", "a2"]) == "b(a1,a2)"
+
+
+def test_force_norm(agent):
+    agent._add_belief = MagicMock()
+    agent._force_norm("be_polite")
+    agent._add_belief.assert_called_with("force_be_polite")
+
+
+def test_force_trigger(agent):
+    agent._set_goal = MagicMock()
+    agent._force_trigger("trig")
+    agent._set_goal.assert_called_with("trig")
+
+
+def test_force_next_phase(agent):
+    agent._set_goal = MagicMock()
+    agent._force_next_phase()
+    agent._set_goal.assert_called_with("force_transition_phase")
diff --git a/test/unit/agents/bdi/test_bdi_program_manager.py b/test/unit/agents/bdi/test_bdi_program_manager.py
index 2bed2a7..540a172 100644
--- a/test/unit/agents/bdi/test_bdi_program_manager.py
+++ b/test/unit/agents/bdi/test_bdi_program_manager.py
@@ -1,13 +1,13 @@
 import asyncio
+import json
 import sys
 import uuid
-from unittest.mock import AsyncMock
+from unittest.mock import AsyncMock, MagicMock, mock_open, patch
 
 import pytest
 
 from control_backend.agents.bdi.bdi_program_manager import BDIProgramManager
 from control_backend.core.agent_system import InternalMessage
-from control_backend.schemas.belief_message import BeliefMessage
 from control_backend.schemas.program import BasicNorm, Goal, Phase, Plan, Program
 
 # Fix Windows Proactor loop for zmq
@@ -48,24 +48,26 @@ def make_valid_program_json(norm="N1", goal="G1") -> str:
     ).model_dump_json()
 
 
-@pytest.mark.skip(reason="Functionality being rebuilt.")
 @pytest.mark.asyncio
-async def test_send_to_bdi():
+async def test_create_agentspeak_and_send_to_bdi(mock_settings):
     manager = BDIProgramManager(name="program_manager_test")
     manager.send = AsyncMock()
 
     program = Program.model_validate_json(make_valid_program_json())
-    await manager._create_agentspeak_and_send_to_bdi(program)
+
+    with patch("builtins.open", mock_open()) as mock_file:
+        await manager._create_agentspeak_and_send_to_bdi(program)
+
+        # Check file writing
+        mock_file.assert_called_with("src/control_backend/agents/bdi/agentspeak.asl", "w")
+        handle = mock_file()
+        handle.write.assert_called()
 
     assert manager.send.await_count == 1
     msg: InternalMessage = manager.send.await_args[0][0]
-    assert msg.thread == "beliefs"
-
-    beliefs = BeliefMessage.model_validate_json(msg.body)
-    names = {b.name: b.arguments for b in beliefs.beliefs}
-
-    assert "norms" in names and names["norms"] == ["N1"]
-    assert "goals" in names and names["goals"] == ["G1"]
+    assert msg.thread == "new_program"
+    assert msg.to == mock_settings.agent_settings.bdi_core_name
+    assert msg.body == "src/control_backend/agents/bdi/agentspeak.asl"
 
 
 @pytest.mark.asyncio
@@ -81,6 +83,9 @@ async def test_receive_programs_valid_and_invalid():
     manager.sub_socket = sub
     manager._create_agentspeak_and_send_to_bdi = AsyncMock()
     manager._send_clear_llm_history = AsyncMock()
+    manager._send_program_to_user_interrupt = AsyncMock()
+    manager._send_beliefs_to_semantic_belief_extractor = AsyncMock()
+    manager._send_goals_to_semantic_belief_extractor = AsyncMock()
 
     try:
         # Will give StopAsyncIteration when the predefined `sub.recv_multipart` side-effects run out
@@ -94,10 +99,9 @@ async def test_receive_programs_valid_and_invalid():
     assert forwarded.phases[0].norms[0].name == "N1"
     assert forwarded.phases[0].goals[0].name == "G1"
 
-    # Verify history clear was triggered
-    assert (
-        manager._send_clear_llm_history.await_count == 2
-    )  # first sends program to UserInterrupt, then clears LLM
+    # Verify history clear was triggered exactly once (for the valid program)
+    # The invalid program loop `continue`s before calling _send_clear_llm_history
+    assert manager._send_clear_llm_history.await_count == 1
 
 
 @pytest.mark.asyncio
@@ -115,4 +119,179 @@ async def test_send_clear_llm_history(mock_settings):
 
     # Verify the content and recipient
     assert msg.body == "clear_history"
-    assert msg.to == "llm_agent"
+
+
+@pytest.mark.asyncio
+async def test_handle_message_transition_phase(mock_settings):
+    mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    # Setup state
+    prog = Program.model_validate_json(make_valid_program_json(norm="N1", goal="G1"))
+    manager._initialize_internal_state(prog)
+
+    # Test valid transition (to same phase for simplicity, or we need 2 phases)
+    # Let's create a program with 2 phases
+    phase2_id = uuid.uuid4()
+    phase2 = Phase(id=phase2_id, name="Phase 2", norms=[], goals=[], triggers=[])
+    prog.phases.append(phase2)
+    manager._initialize_internal_state(prog)
+
+    current_phase_id = str(prog.phases[0].id)
+    next_phase_id = str(phase2_id)
+
+    payload = json.dumps({"old": current_phase_id, "new": next_phase_id})
+    msg = InternalMessage(to="me", sender="bdi", body=payload, thread="transition_phase")
+
+    await manager.handle_message(msg)
+
+    assert str(manager._phase.id) == next_phase_id
+
+    # Allow background tasks to run (add_behavior)
+    await asyncio.sleep(0)
+
+    # Check notifications sent
+    # 1. beliefs to extractor
+    # 2. goals to extractor
+    # 3. notification to user interrupt
+
+    assert manager.send.await_count >= 3
+
+    # Verify user interrupt notification
+    calls = manager.send.await_args_list
+    ui_msgs = [
+        c[0][0] for c in calls if c[0][0].to == mock_settings.agent_settings.user_interrupt_name
+    ]
+    assert len(ui_msgs) > 0
+    assert ui_msgs[-1].body == next_phase_id
+
+
+@pytest.mark.asyncio
+async def test_handle_message_transition_phase_desync():
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.logger = MagicMock()
+
+    prog = Program.model_validate_json(make_valid_program_json())
+    manager._initialize_internal_state(prog)
+
+    current_phase_id = str(prog.phases[0].id)
+
+    # Request transition from WRONG old phase
+    payload = json.dumps({"old": "wrong_id", "new": "some_new_id"})
+    msg = InternalMessage(to="me", sender="bdi", body=payload, thread="transition_phase")
+
+    await manager.handle_message(msg)
+
+    # Should warn and do nothing
+    manager.logger.warning.assert_called_once()
+    assert "Phase transition desync detected" in manager.logger.warning.call_args[0][0]
+    assert str(manager._phase.id) == current_phase_id
+
+
+@pytest.mark.asyncio
+async def test_handle_message_transition_phase_end(mock_settings):
+    mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    prog = Program.model_validate_json(make_valid_program_json())
+    manager._initialize_internal_state(prog)
+    current_phase_id = str(prog.phases[0].id)
+
+    payload = json.dumps({"old": current_phase_id, "new": "end"})
+    msg = InternalMessage(to="me", sender="bdi", body=payload, thread="transition_phase")
+
+    await manager.handle_message(msg)
+
+    assert manager._phase is None
+
+    # Allow background tasks to run (add_behavior)
+    await asyncio.sleep(0)
+
+    # Verify notification to user interrupt
+    assert manager.send.await_count == 1
+    msg_sent = manager.send.await_args[0][0]
+    assert msg_sent.to == mock_settings.agent_settings.user_interrupt_name
+    assert msg_sent.body == "end"
+
+
+@pytest.mark.asyncio
+async def test_handle_message_achieve_goal(mock_settings):
+    mock_settings.agent_settings.text_belief_extractor_name = "text_belief_extractor_agent"
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    prog = Program.model_validate_json(make_valid_program_json(goal="TargetGoal"))
+    manager._initialize_internal_state(prog)
+
+    goal_id = str(prog.phases[0].goals[0].id)
+
+    msg = InternalMessage(to="me", sender="ui", body=goal_id, thread="achieve_goal")
+
+    await manager.handle_message(msg)
+
+    # Should send achieved goals to text extractor
+    assert manager.send.await_count == 1
+    msg_sent = manager.send.await_args[0][0]
+    assert msg_sent.to == mock_settings.agent_settings.text_belief_extractor_name
+    assert msg_sent.thread == "achieved_goals"
+
+    # Verify body
+    from control_backend.schemas.belief_list import GoalList
+
+    gl = GoalList.model_validate_json(msg_sent.body)
+    assert len(gl.goals) == 1
+    assert gl.goals[0].name == "TargetGoal"
+
+
+@pytest.mark.asyncio
+async def test_handle_message_achieve_goal_not_found():
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+    manager.logger = MagicMock()
+
+    prog = Program.model_validate_json(make_valid_program_json())
+    manager._initialize_internal_state(prog)
+
+    msg = InternalMessage(to="me", sender="ui", body="non_existent_id", thread="achieve_goal")
+
+    await manager.handle_message(msg)
+
+    manager.send.assert_not_called()
+    manager.logger.debug.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_setup(mock_settings):
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    manager.add_behavior = MagicMock(side_effect=close_coro)
+
+    mock_context = MagicMock()
+    mock_sub = MagicMock()
+    mock_context.socket.return_value = mock_sub
+
+    with patch(
+        "control_backend.agents.bdi.bdi_program_manager.Context.instance", return_value=mock_context
+    ):
+        # We also need to mock file writing in _create_agentspeak_and_send_to_bdi
+        with patch("builtins.open", new_callable=MagicMock):
+            await manager.setup()
+
+    # Check logic
+    # 1. Sends default empty program to BDI
+    assert manager.send.await_count == 1
+    assert manager.send.await_args[0][0].to == mock_settings.agent_settings.bdi_core_name
+
+    # 2. Connects SUB socket
+    mock_sub.connect.assert_called_with(mock_settings.zmq_settings.internal_sub_address)
+    mock_sub.subscribe.assert_called_with("program")
+
+    # 3. Adds behavior
+    manager.add_behavior.assert_called()
diff --git a/test/unit/agents/bdi/test_belief_collector.py b/test/unit/agents/bdi/test_belief_collector.py
deleted file mode 100644
index 69db269..0000000
--- a/test/unit/agents/bdi/test_belief_collector.py
+++ /dev/null
@@ -1,135 +0,0 @@
-import json
-from unittest.mock import AsyncMock
-
-import pytest
-
-from control_backend.agents.bdi import (
-    BDIBeliefCollectorAgent,
-)
-from control_backend.core.agent_system import InternalMessage
-from control_backend.core.config import settings
-from control_backend.schemas.belief_message import Belief
-
-
-@pytest.fixture
-def agent():
-    agent = BDIBeliefCollectorAgent("belief_collector_agent")
-    return agent
-
-
-def make_msg(body: dict, sender: str = "sender"):
-    return InternalMessage(to="collector", sender=sender, body=json.dumps(body))
-
-
-@pytest.mark.asyncio
-async def test_handle_message_routes_belief_text(agent, mocker):
-    """
-    Test that when a message is received, _handle_belief_text is called with that message.
-    """
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": [["hi"]]}}
-    spy = mocker.patch.object(agent, "_handle_belief_text", new_callable=AsyncMock)
-
-    await agent.handle_message(make_msg(payload))
-
-    spy.assert_awaited_once_with(payload, "sender")
-
-
-@pytest.mark.asyncio
-async def test_handle_message_routes_emotion(agent, mocker):
-    payload = {"type": "emotion_extraction_text"}
-    spy = mocker.patch.object(agent, "_handle_emo_text", new_callable=AsyncMock)
-
-    await agent.handle_message(make_msg(payload))
-
-    spy.assert_awaited_once_with(payload, "sender")
-
-
-@pytest.mark.asyncio
-async def test_handle_message_bad_json(agent, mocker):
-    agent._handle_belief_text = AsyncMock()
-    bad_msg = InternalMessage(to="collector", sender="sender", body="not json")
-
-    await agent.handle_message(bad_msg)
-
-    agent._handle_belief_text.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_handle_belief_text_sends_when_beliefs_exist(agent, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": ["hello"]}}
-    spy = mocker.patch.object(agent, "_send_beliefs_to_bdi", new_callable=AsyncMock)
-    expected = [Belief(name="user_said", arguments=["hello"])]
-
-    await agent._handle_belief_text(payload, "origin")
-
-    spy.assert_awaited_once_with(expected, origin="origin")
-
-
-@pytest.mark.asyncio
-async def test_handle_belief_text_no_send_when_empty(agent, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {}}
-    spy = mocker.patch.object(agent, "_send_beliefs_to_bdi", new_callable=AsyncMock)
-
-    await agent._handle_belief_text(payload, "origin")
-
-    spy.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_send_beliefs_to_bdi(agent):
-    agent.send = AsyncMock()
-    beliefs = [Belief(name="user_said", arguments=["hello", "world"])]
-
-    await agent._send_beliefs_to_bdi(beliefs, origin="origin")
-
-    agent.send.assert_awaited_once()
-    sent: InternalMessage = agent.send.call_args.args[0]
-    assert sent.to == settings.agent_settings.bdi_core_name
-    assert sent.thread == "beliefs"
-    assert json.loads(sent.body)["create"] == [belief.model_dump() for belief in beliefs]
-
-
-@pytest.mark.asyncio
-async def test_setup_executes(agent):
-    """Covers setup and asserts the agent has a name."""
-    await agent.setup()
-    assert agent.name == "belief_collector_agent"  # simple property assertion
-
-
-@pytest.mark.asyncio
-async def test_handle_message_unrecognized_type_executes(agent):
-    """Covers the else branch for unrecognized message type."""
-    payload = {"type": "unknown_type"}
-    msg = make_msg(payload, sender="tester")
-    # Wrap send to ensure nothing is sent
-    agent.send = AsyncMock()
-    await agent.handle_message(msg)
-    # Assert no messages were sent
-    agent.send.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_handle_emo_text_executes(agent):
-    """Covers the _handle_emo_text method."""
-    # The method does nothing, but we can assert it returns None
-    result = await agent._handle_emo_text({}, "origin")
-    assert result is None
-
-
-@pytest.mark.asyncio
-async def test_send_beliefs_to_bdi_empty_executes(agent):
-    """Covers early return when beliefs are empty."""
-    agent.send = AsyncMock()
-    await agent._send_beliefs_to_bdi({})
-    # Assert that nothing was sent
-    agent.send.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_handle_belief_text_invalid_returns_none(agent, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": "invalid-argument"}}
-
-    result = await agent._handle_belief_text(payload, "origin")
-
-    # The method itself returns None
-    assert result is None
diff --git a/test/unit/agents/bdi/test_text_belief_extractor.py b/test/unit/agents/bdi/test_text_belief_extractor.py
index 6782ba1..0d7dc00 100644
--- a/test/unit/agents/bdi/test_text_belief_extractor.py
+++ b/test/unit/agents/bdi/test_text_belief_extractor.py
@@ -14,6 +14,7 @@ from control_backend.schemas.belief_message import Belief as InternalBelief
 from control_backend.schemas.belief_message import BeliefMessage
 from control_backend.schemas.chat_history import ChatHistory, ChatMessage
 from control_backend.schemas.program import (
+    BaseGoal,  # Changed from Goal
     ConditionalNorm,
     KeywordBelief,
     LLMAction,
@@ -28,7 +29,8 @@ from control_backend.schemas.program import (
 @pytest.fixture
 def llm():
     llm = TextBeliefExtractorAgent.LLM(MagicMock(), 4)
-    llm._query_llm = AsyncMock()
+    # We must ensure _query_llm returns a dictionary so iterating it doesn't fail
+    llm._query_llm = AsyncMock(return_value={})
     return llm
 
 
@@ -374,3 +376,155 @@ async def test_llm_failure_handling(agent, llm, sample_program):
 
     assert len(belief_changes.true) == 0
     assert len(belief_changes.false) == 0
+
+
+def test_belief_state_bool():
+    # Empty
+    bs = BeliefState()
+    assert not bs
+
+    # True set
+    bs_true = BeliefState(true={InternalBelief(name="a", arguments=None)})
+    assert bs_true
+
+    # False set
+    bs_false = BeliefState(false={InternalBelief(name="a", arguments=None)})
+    assert bs_false
+
+
+@pytest.mark.asyncio
+async def test_handle_beliefs_message_validation_error(agent, mock_settings):
+    # Invalid JSON
+    mock_settings.agent_settings.bdi_program_manager_name = "bdi_program_manager_agent"
+    msg = InternalMessage(
+        to="me",
+        sender=mock_settings.agent_settings.bdi_program_manager_name,
+        thread="beliefs",
+        body="invalid json",
+    )
+    # Should log warning and return
+    agent.logger = MagicMock()
+    await agent.handle_message(msg)
+    agent.logger.warning.assert_called()
+
+    # Invalid Model
+    msg.body = json.dumps({"beliefs": [{"invalid": "obj"}]})
+    await agent.handle_message(msg)
+    agent.logger.warning.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_goals_message_validation_error(agent, mock_settings):
+    mock_settings.agent_settings.bdi_program_manager_name = "bdi_program_manager_agent"
+    msg = InternalMessage(
+        to="me",
+        sender=mock_settings.agent_settings.bdi_program_manager_name,
+        thread="goals",
+        body="invalid json",
+    )
+    agent.logger = MagicMock()
+    await agent.handle_message(msg)
+    agent.logger.warning.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_goal_achieved_message_validation_error(agent, mock_settings):
+    mock_settings.agent_settings.bdi_program_manager_name = "bdi_program_manager_agent"
+    msg = InternalMessage(
+        to="me",
+        sender=mock_settings.agent_settings.bdi_program_manager_name,
+        thread="achieved_goals",
+        body="invalid json",
+    )
+    agent.logger = MagicMock()
+    await agent.handle_message(msg)
+    agent.logger.warning.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_goal_inferrer_infer_from_conversation(agent, llm):
+    # Setup goals
+    # Use BaseGoal object as typically received by the extractor
+    g1 = BaseGoal(id=uuid.uuid4(), name="g1", description="desc", can_fail=True)
+
+    # Use real GoalAchievementInferrer
+    from control_backend.agents.bdi.text_belief_extractor_agent import GoalAchievementInferrer
+
+    inferrer = GoalAchievementInferrer(llm)
+    inferrer.goals = {g1}
+
+    # Mock LLM response
+    llm._query_llm.return_value = True
+
+    completions = await inferrer.infer_from_conversation(ChatHistory(messages=[]))
+    assert completions
+    # slugify uses slugify library, hard to predict exact string without it,
+    # but we can check values
+    assert list(completions.values())[0] is True
+
+
+def test_apply_conversation_message_limit(agent):
+    with patch("control_backend.agents.bdi.text_belief_extractor_agent.settings") as mock_s:
+        mock_s.behaviour_settings.conversation_history_length_limit = 2
+        agent.conversation.messages = []
+
+        agent._apply_conversation_message(ChatMessage(role="user", content="1"))
+        agent._apply_conversation_message(ChatMessage(role="assistant", content="2"))
+        agent._apply_conversation_message(ChatMessage(role="user", content="3"))
+
+        assert len(agent.conversation.messages) == 2
+        assert agent.conversation.messages[0].content == "2"
+        assert agent.conversation.messages[1].content == "3"
+
+
+@pytest.mark.asyncio
+async def test_handle_program_manager_reset(agent):
+    with patch("control_backend.agents.bdi.text_belief_extractor_agent.settings") as mock_s:
+        mock_s.agent_settings.bdi_program_manager_name = "pm"
+        agent.conversation.messages = [ChatMessage(role="user", content="hi")]
+        agent.belief_inferrer.available_beliefs = [
+            SemanticBelief(id=uuid.uuid4(), name="b", description="d")
+        ]
+
+        msg = InternalMessage(to="me", sender="pm", thread="conversation_history", body="reset")
+        await agent.handle_message(msg)
+
+        assert len(agent.conversation.messages) == 0
+        assert len(agent.belief_inferrer.available_beliefs) == 0
+
+
+def test_split_into_chunks():
+    from control_backend.agents.bdi.text_belief_extractor_agent import SemanticBeliefInferrer
+
+    items = [1, 2, 3, 4, 5]
+    chunks = SemanticBeliefInferrer._split_into_chunks(items, 2)
+    assert len(chunks) == 2
+    assert len(chunks[0]) + len(chunks[1]) == 5
+
+
+@pytest.mark.asyncio
+async def test_infer_beliefs_call(agent, llm):
+    from control_backend.agents.bdi.text_belief_extractor_agent import SemanticBeliefInferrer
+
+    inferrer = SemanticBeliefInferrer(llm)
+    sb = SemanticBelief(id=uuid.uuid4(), name="is_happy", description="User is happy")
+
+    llm.query = AsyncMock(return_value={"is_happy": True})
+
+    res = await inferrer._infer_beliefs(ChatHistory(messages=[]), [sb])
+    assert res == {"is_happy": True}
+    llm.query.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_infer_goal_call(agent, llm):
+    from control_backend.agents.bdi.text_belief_extractor_agent import GoalAchievementInferrer
+
+    inferrer = GoalAchievementInferrer(llm)
+    goal = BaseGoal(id=uuid.uuid4(), name="g1", description="d")
+
+    llm.query = AsyncMock(return_value=True)
+
+    res = await inferrer._infer_goal(ChatHistory(messages=[]), goal)
+    assert res is True
+    llm.query.assert_called_once()
diff --git a/test/unit/agents/communication/test_ri_communication_agent.py b/test/unit/agents/communication/test_ri_communication_agent.py
index 06d8766..a678907 100644
--- a/test/unit/agents/communication/test_ri_communication_agent.py
+++ b/test/unit/agents/communication/test_ri_communication_agent.py
@@ -4,6 +4,8 @@ from unittest.mock import ANY, AsyncMock, MagicMock, patch
 import pytest
 
 from control_backend.agents.communication.ri_communication_agent import RICommunicationAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.schemas.ri_message import PauseCommand, RIEndpoint
 
 
 def speech_agent_path():
@@ -53,7 +55,11 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
         MockGesture.return_value.start = AsyncMock()
         agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
 
-        agent.add_behavior = MagicMock()
+        def close_coro(coro):
+            coro.close()
+            return MagicMock()
+
+        agent.add_behavior = MagicMock(side_effect=close_coro)
 
         await agent.setup()
 
@@ -83,7 +89,11 @@ async def test_setup_binds_when_requested(zmq_context):
 
     agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=True)
 
-    agent.add_behavior = MagicMock()
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
 
     with (
         patch(speech_agent_path(), autospec=True) as MockSpeech,
@@ -151,6 +161,7 @@ async def test_handle_negotiation_response_updates_req_socket(zmq_context):
 @pytest.mark.asyncio
 async def test_handle_disconnection_publishes_and_reconnects():
     pub_socket = AsyncMock()
+    pub_socket.close = MagicMock()
     agent = RICommunicationAgent("ri_comm")
     agent.pub_socket = pub_socket
     agent.connected = True
@@ -233,6 +244,25 @@ async def test_handle_negotiation_response_unhandled_id():
     )
 
 
+@pytest.mark.asyncio
+async def test_handle_negotiation_response_audio(zmq_context):
+    agent = RICommunicationAgent("ri_comm")
+
+    with patch(
+        "control_backend.agents.communication.ri_communication_agent.VADAgent", autospec=True
+    ) as MockVAD:
+        MockVAD.return_value.start = AsyncMock()
+
+        await agent._handle_negotiation_response(
+            {"data": [{"id": "audio", "port": 7000, "bind": False}]}
+        )
+
+        MockVAD.assert_called_once_with(
+            audio_in_address="tcp://localhost:7000", audio_in_bind=False
+        )
+        MockVAD.return_value.start.assert_awaited_once()
+
+
 @pytest.mark.asyncio
 async def test_stop_closes_sockets():
     req = MagicMock()
@@ -323,6 +353,7 @@ async def test_listen_loop_generic_exception():
 @pytest.mark.asyncio
 async def test_handle_disconnection_timeout(monkeypatch):
     pub = AsyncMock()
+    pub.close = MagicMock()
     pub.send_multipart = AsyncMock(side_effect=TimeoutError)
 
     agent = RICommunicationAgent("ri_comm")
@@ -365,3 +396,38 @@ async def test_negotiate_req_socket_none_causes_retry(zmq_context):
     result = await agent._negotiate_connection(max_retries=1)
 
     assert result is False
+
+
+@pytest.mark.asyncio
+async def test_handle_message_pause_command(zmq_context):
+    """Test handle_message with a valid PauseCommand."""
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = AsyncMock()
+    agent.logger = MagicMock()
+
+    agent._req_socket.recv_json.return_value = {"status": "ok"}
+
+    pause_cmd = PauseCommand(data=True)
+    msg = InternalMessage(to="ri_comm", sender="user_int", body=pause_cmd.model_dump_json())
+
+    await agent.handle_message(msg)
+
+    agent._req_socket.send_json.assert_awaited_once()
+    args = agent._req_socket.send_json.await_args[0][0]
+    assert args["endpoint"] == RIEndpoint.PAUSE.value
+    assert args["data"] is True
+
+
+@pytest.mark.asyncio
+async def test_handle_message_invalid_pause_command(zmq_context):
+    """Test handle_message with invalid JSON."""
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = AsyncMock()
+    agent.logger = MagicMock()
+
+    msg = InternalMessage(to="ri_comm", sender="user_int", body="invalid json")
+
+    await agent.handle_message(msg)
+
+    agent.logger.warning.assert_called_with("Incorrect message format for PauseCommand.")
+    agent._req_socket.send_json.assert_not_called()
diff --git a/test/unit/agents/llm/test_llm_agent.py b/test/unit/agents/llm/test_llm_agent.py
index 5fc07f2..a1cc297 100644
--- a/test/unit/agents/llm/test_llm_agent.py
+++ b/test/unit/agents/llm/test_llm_agent.py
@@ -58,17 +58,20 @@ async def test_llm_processing_success(mock_httpx_client, mock_settings):
         to="llm_agent",
         sender=mock_settings.agent_settings.bdi_core_name,
         body=prompt.model_dump_json(),
+        thread="prompt_message",  # REQUIRED: thread must match handle_message logic
     )
 
     await agent.handle_message(msg)
 
     # Verification
     # "Hello world." constitutes one sentence/chunk based on punctuation split
-    # The agent should call send once with the full sentence
+    # The agent should call send once with the full sentence, PLUS once more for full reply
     assert agent.send.called
-    args = agent.send.call_args_list[0][0][0]
-    assert args.to == mock_settings.agent_settings.bdi_core_name
-    assert "Hello world." in args.body
+
+    # Check args. We expect at least one call sending "Hello world."
+    calls = agent.send.call_args_list
+    bodies = [c[0][0].body for c in calls]
+    assert any("Hello world." in b for b in bodies)
 
 
 @pytest.mark.asyncio
@@ -80,18 +83,23 @@ async def test_llm_processing_errors(mock_httpx_client, mock_settings):
         to="llm",
         sender=mock_settings.agent_settings.bdi_core_name,
         body=prompt.model_dump_json(),
+        thread="prompt_message",
     )
 
-    # HTTP Error
+    # HTTP Error: stream method RAISES exception immediately
     mock_httpx_client.stream = MagicMock(side_effect=httpx.HTTPError("Fail"))
+
     await agent.handle_message(msg)
-    assert "LLM service unavailable." in agent.send.call_args[0][0].body
+
+    # Check that error message was sent
+    assert agent.send.called
+    assert "LLM service unavailable." in agent.send.call_args_list[0][0][0].body
 
     # General Exception
     agent.send.reset_mock()
     mock_httpx_client.stream = MagicMock(side_effect=Exception("Boom"))
     await agent.handle_message(msg)
-    assert "Error processing the request." in agent.send.call_args[0][0].body
+    assert "Error processing the request." in agent.send.call_args_list[0][0][0].body
 
 
 @pytest.mark.asyncio
@@ -113,16 +121,19 @@ async def test_llm_json_error(mock_httpx_client, mock_settings):
 
     agent = LLMAgent("llm_agent")
     agent.send = AsyncMock()
+    # Ensure logger is mocked
+    agent.logger = MagicMock()
 
-    with patch.object(agent.logger, "error") as log:
-        prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
-        msg = InternalMessage(
-            to="llm",
-            sender=mock_settings.agent_settings.bdi_core_name,
-            body=prompt.model_dump_json(),
-        )
-        await agent.handle_message(msg)
-        log.assert_called()  # Should log JSONDecodeError
+    prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
+    msg = InternalMessage(
+        to="llm",
+        sender=mock_settings.agent_settings.bdi_core_name,
+        body=prompt.model_dump_json(),
+        thread="prompt_message",
+    )
+    await agent.handle_message(msg)
+
+    agent.logger.error.assert_called()  # Should log JSONDecodeError
 
 
 def test_llm_instructions():
@@ -157,6 +168,7 @@ async def test_handle_message_validation_error_branch_no_send(mock_httpx_client,
         to="llm_agent",
         sender=mock_settings.agent_settings.bdi_core_name,
         body=invalid_json,
+        thread="prompt_message",
     )
 
     await agent.handle_message(msg)
@@ -285,3 +297,28 @@ async def test_clear_history_command(mock_settings):
     )
     await agent.handle_message(msg)
     assert len(agent.history) == 0
+
+
+@pytest.mark.asyncio
+async def test_handle_assistant_and_user_messages(mock_settings):
+    agent = LLMAgent("llm_agent")
+
+    # Assistant message
+    msg_ast = InternalMessage(
+        to="llm_agent",
+        sender=mock_settings.agent_settings.bdi_core_name,
+        thread="assistant_message",
+        body="I said this",
+    )
+    await agent.handle_message(msg_ast)
+    assert agent.history[-1] == {"role": "assistant", "content": "I said this"}
+
+    # User message
+    msg_usr = InternalMessage(
+        to="llm_agent",
+        sender=mock_settings.agent_settings.bdi_core_name,
+        thread="user_message",
+        body="User said this",
+    )
+    await agent.handle_message(msg_usr)
+    assert agent.history[-1] == {"role": "user", "content": "User said this"}
diff --git a/test/unit/agents/perception/transcription_agent/test_transcription_agent.py b/test/unit/agents/perception/transcription_agent/test_transcription_agent.py
index ccdaa7f..57875ca 100644
--- a/test/unit/agents/perception/transcription_agent/test_transcription_agent.py
+++ b/test/unit/agents/perception/transcription_agent/test_transcription_agent.py
@@ -36,7 +36,12 @@ async def test_transcription_agent_flow(mock_zmq_context):
         agent.send = AsyncMock()
 
         agent._running = True
-        agent.add_behavior = AsyncMock()
+
+        def close_coro(coro):
+            coro.close()
+            return MagicMock()
+
+        agent.add_behavior = MagicMock(side_effect=close_coro)
 
         await agent.setup()
 
@@ -143,7 +148,12 @@ async def test_transcription_loop_continues_after_error(mock_zmq_context):
         agent = TranscriptionAgent("tcp://in")
         agent._running = True  # ← REQUIRED to enter the loop
         agent.send = AsyncMock()  # should never be called
-        agent.add_behavior = AsyncMock()  # match other tests
+
+        def close_coro(coro):
+            coro.close()
+            return MagicMock()
+
+        agent.add_behavior = MagicMock(side_effect=close_coro)  # match other tests
 
         await agent.setup()
 
@@ -180,7 +190,12 @@ async def test_transcription_continue_branch_when_empty(mock_zmq_context):
         # Make loop runnable
         agent._running = True
         agent.send = AsyncMock()
-        agent.add_behavior = AsyncMock()
+
+        def close_coro(coro):
+            coro.close()
+            return MagicMock()
+
+        agent.add_behavior = MagicMock(side_effect=close_coro)
 
         await agent.setup()
 
diff --git a/test/unit/agents/perception/vad_agent/test_vad_agent.py b/test/unit/agents/perception/vad_agent/test_vad_agent.py
new file mode 100644
index 0000000..fe65545
--- /dev/null
+++ b/test/unit/agents/perception/vad_agent/test_vad_agent.py
@@ -0,0 +1,153 @@
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import pytest
+
+from control_backend.agents.perception.vad_agent import VADAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.schemas.program_status import PROGRAM_STATUS, ProgramStatus
+
+
+@pytest.fixture(autouse=True)
+def mock_zmq():
+    with patch("zmq.asyncio.Context") as mock:
+        mock.instance.return_value = MagicMock()
+        yield mock
+
+
+@pytest.fixture
+def agent():
+    return VADAgent("tcp://localhost:5555", False)
+
+
+@pytest.mark.asyncio
+async def test_handle_message_pause(agent):
+    agent._paused = MagicMock()
+    # It starts set (not paused)
+
+    msg = InternalMessage(to="vad", sender="user_interrupt_agent", body="PAUSE")
+
+    # We need to mock settings to match sender name
+    with patch("control_backend.agents.perception.vad_agent.settings") as mock_settings:
+        mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+
+        await agent.handle_message(msg)
+
+        agent._paused.clear.assert_called_once()
+        assert agent._reset_needed is True
+
+
+@pytest.mark.asyncio
+async def test_handle_message_resume(agent):
+    agent._paused = MagicMock()
+    msg = InternalMessage(to="vad", sender="user_interrupt_agent", body="RESUME")
+
+    with patch("control_backend.agents.perception.vad_agent.settings") as mock_settings:
+        mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+
+        await agent.handle_message(msg)
+
+        agent._paused.set.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_unknown_command(agent):
+    agent._paused = MagicMock()
+    msg = InternalMessage(to="vad", sender="user_interrupt_agent", body="UNKNOWN")
+
+    with patch("control_backend.agents.perception.vad_agent.settings") as mock_settings:
+        mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+        agent.logger = MagicMock()
+
+        await agent.handle_message(msg)
+
+        agent.logger.warning.assert_called()
+        agent._paused.clear.assert_not_called()
+        agent._paused.set.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_unknown_sender(agent):
+    agent._paused = MagicMock()
+    msg = InternalMessage(to="vad", sender="other_agent", body="PAUSE")
+
+    with patch("control_backend.agents.perception.vad_agent.settings") as mock_settings:
+        mock_settings.agent_settings.user_interrupt_name = "user_interrupt_agent"
+
+        await agent.handle_message(msg)
+
+        agent._paused.clear.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_status_loop_waits_for_running(agent):
+    agent._running = True
+    agent.program_sub_socket = AsyncMock()
+    agent.program_sub_socket.close = MagicMock()
+    agent._reset_stream = AsyncMock()
+
+    # Sequence of messages:
+    # 1. Wrong topic
+    # 2. Right topic, wrong status (STARTING)
+    # 3. Right topic, RUNNING -> Should break loop
+
+    agent.program_sub_socket.recv_multipart.side_effect = [
+        (b"wrong_topic", b"whatever"),
+        (PROGRAM_STATUS, ProgramStatus.STARTING.value),
+        (PROGRAM_STATUS, ProgramStatus.RUNNING.value),
+    ]
+
+    await agent._status_loop()
+
+    assert agent._reset_stream.await_count == 1
+    agent.program_sub_socket.close.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_setup_success(agent, mock_zmq):
+    def close_coro(coro):
+        coro.close()
+        return MagicMock()
+
+    agent.add_behavior = MagicMock(side_effect=close_coro)
+
+    mock_context = mock_zmq.instance.return_value
+    mock_sub = MagicMock()
+    mock_pub = MagicMock()
+
+    # We expect multiple socket calls:
+    # 1. audio_in (SUB)
+    # 2. audio_out (PUB)
+    # 3. program_sub (SUB)
+    mock_context.socket.side_effect = [mock_sub, mock_pub, mock_sub]
+
+    with patch("control_backend.agents.perception.vad_agent.torch.hub.load") as mock_load:
+        mock_load.return_value = (MagicMock(), None)
+
+        with patch("control_backend.agents.perception.vad_agent.TranscriptionAgent") as MockTrans:
+            mock_trans_instance = MockTrans.return_value
+            mock_trans_instance.start = AsyncMock()
+
+            await agent.setup()
+
+            mock_trans_instance.start.assert_awaited_once()
+
+    assert agent.add_behavior.call_count == 2  # streaming_loop + status_loop
+    assert agent.audio_in_socket is not None
+    assert agent.audio_out_socket is not None
+    assert agent.program_sub_socket is not None
+
+
+@pytest.mark.asyncio
+async def test_reset_stream(agent):
+    mock_poller = MagicMock()
+    agent.audio_in_poller = mock_poller
+
+    # poll(1) returns not None twice, then None
+    mock_poller.poll = AsyncMock(side_effect=[b"data", b"data", None])
+
+    agent._ready = MagicMock()
+
+    await agent._reset_stream()
+
+    assert mock_poller.poll.await_count == 3
+    agent._ready.set.assert_called_once()
diff --git a/test/unit/agents/perception/vad_agent/test_vad_streaming.py b/test/unit/agents/perception/vad_agent/test_vad_streaming.py
index 166919f..349fab2 100644
--- a/test/unit/agents/perception/vad_agent/test_vad_streaming.py
+++ b/test/unit/agents/perception/vad_agent/test_vad_streaming.py
@@ -5,6 +5,7 @@ import pytest
 import zmq
 
 from control_backend.agents.perception.vad_agent import VADAgent
+from control_backend.core.config import settings
 
 
 # We don't want to use real ZMQ in unit tests, for example because it can give errors when sockets
@@ -135,6 +136,54 @@ async def test_no_data(audio_out_socket, vad_agent):
     assert len(vad_agent.audio_buffer) == 0
 
 
+@pytest.mark.asyncio
+async def test_streaming_loop_reset_needed(audio_out_socket, vad_agent):
+    """Test that _reset_needed branch works as expected."""
+    vad_agent._reset_needed = True
+    vad_agent._ready.set()
+    vad_agent._paused.set()
+    vad_agent._running = True
+    vad_agent.audio_buffer = np.array([1.0], dtype=np.float32)
+    vad_agent.i_since_speech = 0
+
+    # Mock _reset_stream to stop the loop by setting _running=False
+    async def mock_reset():
+        vad_agent._running = False
+
+    vad_agent._reset_stream = mock_reset
+
+    # Needs a poller to avoid AssertionError
+    vad_agent.audio_in_poller = AsyncMock()
+    vad_agent.audio_in_poller.poll.return_value = None
+
+    await vad_agent._streaming_loop()
+
+    assert vad_agent._reset_needed is False
+    assert len(vad_agent.audio_buffer) == 0
+    assert vad_agent.i_since_speech == settings.behaviour_settings.vad_initial_since_speech
+
+
+@pytest.mark.asyncio
+async def test_streaming_loop_no_data_clears_buffer(audio_out_socket, vad_agent):
+    """Test that if poll returns None, buffer is cleared if not empty."""
+    vad_agent.audio_buffer = np.array([1.0], dtype=np.float32)
+    vad_agent._ready.set()
+    vad_agent._paused.set()
+    vad_agent._running = True
+
+    class MockPoller:
+        async def poll(self, timeout_ms=None):
+            vad_agent._running = False  # stop after one poll
+            return None
+
+    vad_agent.audio_in_poller = MockPoller()
+
+    await vad_agent._streaming_loop()
+
+    assert len(vad_agent.audio_buffer) == 0
+    assert vad_agent.i_since_speech == settings.behaviour_settings.vad_initial_since_speech
+
+
 @pytest.mark.asyncio
 async def test_vad_model_load_failure_stops_agent(vad_agent):
     """
diff --git a/test/unit/agents/test_base.py b/test/unit/agents/test_base.py
new file mode 100644
index 0000000..0579ada
--- /dev/null
+++ b/test/unit/agents/test_base.py
@@ -0,0 +1,24 @@
+import logging
+
+from control_backend.agents.base import BaseAgent
+
+
+class MyAgent(BaseAgent):
+    async def setup(self):
+        pass
+
+    async def handle_message(self, msg):
+        pass
+
+
+def test_base_agent_logger_init():
+    # When defining a subclass, __init_subclass__ runs
+    # The BaseAgent in agents/base.py sets the logger
+    assert hasattr(MyAgent, "logger")
+    assert isinstance(MyAgent.logger, logging.Logger)
+    # The logger name depends on the package.
+    # Since this test file is running as a module, __package__ might be None or the test package.
+    # In 'src/control_backend/agents/base.py', it uses __package__ of base.py which is
+    #  'control_backend.agents'.
+    # So logger name should be control_backend.agents.MyAgent
+    assert MyAgent.logger.name == "control_backend.agents.MyAgent"
diff --git a/test/unit/agents/user_interrupt/test_user_interrupt.py b/test/unit/agents/user_interrupt/test_user_interrupt.py
index 7e3e700..7c38a05 100644
--- a/test/unit/agents/user_interrupt/test_user_interrupt.py
+++ b/test/unit/agents/user_interrupt/test_user_interrupt.py
@@ -7,6 +7,15 @@ import pytest
 from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
+from control_backend.schemas.program import (
+    ConditionalNorm,
+    Goal,
+    KeywordBelief,
+    Phase,
+    Plan,
+    Program,
+    Trigger,
+)
 from control_backend.schemas.ri_message import RIEndpoint
 
 
@@ -16,6 +25,7 @@ def agent():
     agent.send = AsyncMock()
     agent.logger = MagicMock()
     agent.sub_socket = AsyncMock()
+    agent.pub_socket = AsyncMock()
     return agent
 
 
@@ -49,21 +59,18 @@ async def test_send_to_gesture_agent(agent):
 
 
 @pytest.mark.asyncio
-async def test_send_to_program_manager(agent):
+async def test_send_to_bdi_belief(agent):
     """Verify belief update format."""
-    context_str = "2"
+    context_str = "some_goal"
 
-    await agent._send_to_program_manager(context_str)
+    await agent._send_to_bdi_belief(context_str)
 
-    agent.send.assert_awaited_once()
-    sent_msg: InternalMessage = agent.send.call_args.args[0]
+    assert agent.send.await_count == 1
+    sent_msg = agent.send.call_args.args[0]
 
-    assert sent_msg.to == settings.agent_settings.bdi_program_manager_name
-    assert sent_msg.thread == "belief_override_id"
-
-    body = json.loads(sent_msg.body)
-
-    assert body["belief"] == context_str
+    assert sent_msg.to == settings.agent_settings.bdi_core_name
+    assert sent_msg.thread == "beliefs"
+    assert "achieved_some_goal" in sent_msg.body
 
 
 @pytest.mark.asyncio
@@ -77,6 +84,10 @@ async def test_receive_loop_routing_success(agent):
     # Prepare JSON payloads as bytes
     payload_speech = json.dumps({"type": "speech", "context": "Hello Speech"}).encode()
     payload_gesture = json.dumps({"type": "gesture", "context": "Hello Gesture"}).encode()
+    # override calls _send_to_bdi (for trigger/norm) OR _send_to_bdi_belief (for goal).
+
+    # To test routing, we need to populate the maps
+    agent._goal_map["Hello Override"] = "some_goal_slug"
     payload_override = json.dumps({"type": "override", "context": "Hello Override"}).encode()
 
     agent.sub_socket.recv_multipart.side_effect = [
@@ -88,7 +99,7 @@ async def test_receive_loop_routing_success(agent):
 
     agent._send_to_speech_agent = AsyncMock()
     agent._send_to_gesture_agent = AsyncMock()
-    agent._send_to_program_manager = AsyncMock()
+    agent._send_to_bdi_belief = AsyncMock()
 
     try:
         await agent._receive_button_event()
@@ -103,12 +114,12 @@ async def test_receive_loop_routing_success(agent):
     # Gesture
     agent._send_to_gesture_agent.assert_awaited_once_with("Hello Gesture")
 
-    # Override
-    agent._send_to_program_manager.assert_awaited_once_with("Hello Override")
+    # Override (since we mapped it to a goal)
+    agent._send_to_bdi_belief.assert_awaited_once_with("some_goal_slug")
 
     assert agent._send_to_speech_agent.await_count == 1
     assert agent._send_to_gesture_agent.await_count == 1
-    assert agent._send_to_program_manager.await_count == 1
+    assert agent._send_to_bdi_belief.await_count == 1
 
 
 @pytest.mark.asyncio
@@ -125,7 +136,6 @@ async def test_receive_loop_unknown_type(agent):
 
     agent._send_to_speech_agent = AsyncMock()
     agent._send_to_gesture_agent = AsyncMock()
-    agent._send_to_belief_collector = AsyncMock()
 
     try:
         await agent._receive_button_event()
@@ -137,10 +147,165 @@ async def test_receive_loop_unknown_type(agent):
     # Ensure no handlers were called
     agent._send_to_speech_agent.assert_not_called()
     agent._send_to_gesture_agent.assert_not_called()
-    agent._send_to_belief_collector.assert_not_called()
 
-    agent.logger.warning.assert_called_with(
-        "Received button press with unknown type '%s' (context: '%s').",
-        "unknown_thing",
-        "some_data",
-    )
+    agent.logger.warning.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_create_mapping(agent):
+    # Create a program with a trigger, goal, and conditional norm
+    import uuid
+
+    trigger_id = uuid.uuid4()
+    goal_id = uuid.uuid4()
+    norm_id = uuid.uuid4()
+
+    cond = KeywordBelief(id=uuid.uuid4(), name="k1", keyword="key")
+    plan = Plan(id=uuid.uuid4(), name="p1", steps=[])
+
+    trigger = Trigger(id=trigger_id, name="my_trigger", condition=cond, plan=plan)
+    goal = Goal(id=goal_id, name="my_goal", description="desc", plan=plan)
+
+    cn = ConditionalNorm(id=norm_id, name="my_norm", norm="be polite", condition=cond)
+
+    phase = Phase(id=uuid.uuid4(), name="phase1", norms=[cn], goals=[goal], triggers=[trigger])
+    prog = Program(phases=[phase])
+
+    # Call create_mapping via handle_message
+    msg = InternalMessage(to="me", thread="new_program", body=prog.model_dump_json())
+    await agent.handle_message(msg)
+
+    # Check maps
+    assert str(trigger_id) in agent._trigger_map
+    assert agent._trigger_map[str(trigger_id)] == "trigger_my_trigger"
+
+    assert str(goal_id) in agent._goal_map
+    assert agent._goal_map[str(goal_id)] == "my_goal"
+
+    assert str(norm_id) in agent._cond_norm_map
+    assert agent._cond_norm_map[str(norm_id)] == "norm_be_polite"
+
+
+@pytest.mark.asyncio
+async def test_create_mapping_invalid_json(agent):
+    # Pass invalid json to handle_message thread "new_program"
+    msg = InternalMessage(to="me", thread="new_program", body="invalid json")
+    await agent.handle_message(msg)
+
+    # Should log error and maps should remain empty or cleared
+    agent.logger.error.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_trigger_start(agent):
+    # Setup reverse map manually
+    agent._trigger_reverse_map["trigger_slug"] = "ui_id_123"
+
+    msg = InternalMessage(to="me", thread="trigger_start", body="trigger_slug")
+    await agent.handle_message(msg)
+
+    agent.pub_socket.send_multipart.assert_awaited_once()
+    args = agent.pub_socket.send_multipart.call_args[0][0]
+    assert args[0] == b"experiment"
+    payload = json.loads(args[1])
+    assert payload["type"] == "trigger_update"
+    assert payload["id"] == "ui_id_123"
+    assert payload["achieved"] is True
+
+
+@pytest.mark.asyncio
+async def test_handle_message_trigger_end(agent):
+    agent._trigger_reverse_map["trigger_slug"] = "ui_id_123"
+
+    msg = InternalMessage(to="me", thread="trigger_end", body="trigger_slug")
+    await agent.handle_message(msg)
+
+    agent.pub_socket.send_multipart.assert_awaited_once()
+    payload = json.loads(agent.pub_socket.send_multipart.call_args[0][0][1])
+    assert payload["type"] == "trigger_update"
+    assert payload["achieved"] is False
+
+
+@pytest.mark.asyncio
+async def test_handle_message_transition_phase(agent):
+    msg = InternalMessage(to="me", thread="transition_phase", body="phase_id_123")
+    await agent.handle_message(msg)
+
+    agent.pub_socket.send_multipart.assert_awaited_once()
+    payload = json.loads(agent.pub_socket.send_multipart.call_args[0][0][1])
+    assert payload["type"] == "phase_update"
+    assert payload["id"] == "phase_id_123"
+
+
+@pytest.mark.asyncio
+async def test_handle_message_goal_start(agent):
+    agent._goal_reverse_map["goal_slug"] = "goal_id_123"
+
+    msg = InternalMessage(to="me", thread="goal_start", body="goal_slug")
+    await agent.handle_message(msg)
+
+    agent.pub_socket.send_multipart.assert_awaited_once()
+    payload = json.loads(agent.pub_socket.send_multipart.call_args[0][0][1])
+    assert payload["type"] == "goal_update"
+    assert payload["id"] == "goal_id_123"
+    assert payload["active"] is True
+
+
+@pytest.mark.asyncio
+async def test_handle_message_active_norms_update(agent):
+    agent._cond_norm_reverse_map["norm_active"] = "id_1"
+    agent._cond_norm_reverse_map["norm_inactive"] = "id_2"
+
+    # Body is like: "('norm_active', 'other')"
+    # The split logic handles quotes etc.
+    msg = InternalMessage(to="me", thread="active_norms_update", body="'norm_active', 'other'")
+    await agent.handle_message(msg)
+
+    agent.pub_socket.send_multipart.assert_awaited_once()
+    payload = json.loads(agent.pub_socket.send_multipart.call_args[0][0][1])
+    assert payload["type"] == "cond_norms_state_update"
+    norms = {n["id"]: n["active"] for n in payload["norms"]}
+    assert norms["id_1"] is True
+    assert norms["id_2"] is False
+
+
+@pytest.mark.asyncio
+async def test_send_experiment_control(agent):
+    # Test next_phase
+    await agent._send_experiment_control_to_bdi_core("next_phase")
+    agent.send.assert_awaited()
+    msg = agent.send.call_args[0][0]
+    assert msg.thread == "force_next_phase"
+
+    # Test reset_phase
+    await agent._send_experiment_control_to_bdi_core("reset_phase")
+    msg = agent.send.call_args[0][0]
+    assert msg.thread == "reset_current_phase"
+
+    # Test reset_experiment
+    await agent._send_experiment_control_to_bdi_core("reset_experiment")
+    msg = agent.send.call_args[0][0]
+    assert msg.thread == "reset_experiment"
+
+
+@pytest.mark.asyncio
+async def test_send_pause_command(agent):
+    await agent._send_pause_command("true")
+    # Sends to RI and VAD
+    assert agent.send.await_count == 2
+    msgs = [call.args[0] for call in agent.send.call_args_list]
+
+    ri_msg = next(m for m in msgs if m.to == settings.agent_settings.ri_communication_name)
+    assert json.loads(ri_msg.body)["endpoint"] == ""  # PAUSE endpoint
+    assert json.loads(ri_msg.body)["data"] is True
+
+    vad_msg = next(m for m in msgs if m.to == settings.agent_settings.vad_name)
+    assert vad_msg.body == "PAUSE"
+
+    agent.send.reset_mock()
+    await agent._send_pause_command("false")
+    assert agent.send.await_count == 2
+    vad_msg = next(
+        m for m in agent.send.call_args_list if m.args[0].to == settings.agent_settings.vad_name
+    ).args[0]
+    assert vad_msg.body == "RESUME"
diff --git a/test/unit/api/v1/endpoints/test_user_interact.py b/test/unit/api/v1/endpoints/test_user_interact.py
new file mode 100644
index 0000000..ddb9932
--- /dev/null
+++ b/test/unit/api/v1/endpoints/test_user_interact.py
@@ -0,0 +1,96 @@
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.endpoints import user_interact
+
+
+@pytest.fixture
+def app():
+    app = FastAPI()
+    app.include_router(user_interact.router)
+    return app
+
+
+@pytest.fixture
+def client(app):
+    return TestClient(app)
+
+
+@pytest.mark.asyncio
+async def test_receive_button_event(client):
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    payload = {"type": "speech", "context": "hello"}
+    response = client.post("/button_pressed", json=payload)
+
+    assert response.status_code == 202
+    assert response.json() == {"status": "Event received"}
+
+    mock_pub_socket.send_multipart.assert_awaited_once()
+    args = mock_pub_socket.send_multipart.call_args[0][0]
+    assert args[0] == b"button_pressed"
+    assert "speech" in args[1].decode()
+
+
+@pytest.mark.asyncio
+async def test_receive_button_event_invalid_payload(client):
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    # Missing context
+    payload = {"type": "speech"}
+    response = client.post("/button_pressed", json=payload)
+
+    assert response.status_code == 422
+    mock_pub_socket.send_multipart.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_experiment_stream_direct_call():
+    """
+    Directly calling the endpoint function to test the streaming logic
+    without dealing with TestClient streaming limitations.
+    """
+    mock_socket = AsyncMock()
+    # 1. recv data
+    # 2. recv timeout
+    # 3. disconnect (request.is_disconnected returns True)
+    mock_socket.recv_multipart.side_effect = [
+        (b"topic", b"message1"),
+        TimeoutError(),
+        (b"topic", b"message2"),  # Should not be reached if disconnect checks work
+    ]
+    mock_socket.close = MagicMock()
+    mock_socket.connect = MagicMock()
+    mock_socket.subscribe = MagicMock()
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_socket
+
+    with patch(
+        "control_backend.api.v1.endpoints.user_interact.Context.instance", return_value=mock_context
+    ):
+        mock_request = AsyncMock()
+        # is_disconnected sequence:
+        # 1. False (before first recv) -> reads message1
+        # 2. False (before second recv) -> triggers TimeoutError, continues
+        # 3. True (before third recv) -> break loop
+        mock_request.is_disconnected.side_effect = [False, False, True]
+
+        response = await user_interact.experiment_stream(mock_request)
+
+        lines = []
+        # Consume the generator
+        async for line in response.body_iterator:
+            lines.append(line)
+
+        assert "data: message1\n\n" in lines
+        assert len(lines) == 1
+
+        mock_socket.connect.assert_called()
+        mock_socket.subscribe.assert_called_with(b"experiment")
+        mock_socket.close.assert_called()
diff --git a/test/unit/test_main_sockets.py b/test/unit/test_main_sockets.py
new file mode 100644
index 0000000..662147a
--- /dev/null
+++ b/test/unit/test_main_sockets.py
@@ -0,0 +1,40 @@
+from unittest.mock import MagicMock, patch
+
+import zmq
+
+from control_backend.main import setup_sockets
+
+
+def test_setup_sockets_proxy():
+    mock_context = MagicMock()
+    mock_pub = MagicMock()
+    mock_sub = MagicMock()
+
+    mock_context.socket.side_effect = [mock_pub, mock_sub]
+
+    with patch("zmq.asyncio.Context.instance", return_value=mock_context):
+        with patch("zmq.proxy") as mock_proxy:
+            setup_sockets()
+
+            mock_pub.bind.assert_called()
+            mock_sub.bind.assert_called()
+            mock_proxy.assert_called_with(mock_sub, mock_pub)
+
+            # Check cleanup
+            mock_pub.close.assert_called()
+            mock_sub.close.assert_called()
+
+
+def test_setup_sockets_proxy_error():
+    mock_context = MagicMock()
+    mock_pub = MagicMock()
+    mock_sub = MagicMock()
+    mock_context.socket.side_effect = [mock_pub, mock_sub]
+
+    with patch("zmq.asyncio.Context.instance", return_value=mock_context):
+        with patch("zmq.proxy", side_effect=zmq.ZMQError):
+            with patch("control_backend.main.logger") as mock_logger:
+                setup_sockets()
+                mock_logger.warning.assert_called()
+                mock_pub.close.assert_called()
+                mock_sub.close.assert_called()