From b785493b97a54fadd118ab3444eb748b3e711bd5 Mon Sep 17 00:00:00 2001
From: Twirre Meulenbelt <43213592+TwirreM@users.noreply.github.com>
Date: Wed, 12 Nov 2025 11:47:59 +0100
Subject: [PATCH] fix: messages are None when no message is received

ref: N25B-265
---
 src/control_backend/agents/bdi/behaviours/belief_setter.py    | 4 +++-
 .../agents/bdi/behaviours/receive_llm_resp_behaviour.py       | 4 +++-
 .../agents/bdi/behaviours/text_belief_extractor.py            | 4 ++--
 .../agents/belief_collector/behaviours/continuous_collect.py  | 4 +++-
 src/control_backend/agents/llm/llm.py                         | 4 +++-
 src/control_backend/agents/ri_command_agent.py                | 4 +++-
 6 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/src/control_backend/agents/bdi/behaviours/belief_setter.py b/src/control_backend/agents/bdi/behaviours/belief_setter.py
index 195fb76..ba68b69 100644
--- a/src/control_backend/agents/bdi/behaviours/belief_setter.py
+++ b/src/control_backend/agents/bdi/behaviours/belief_setter.py
@@ -17,7 +17,9 @@ class BeliefSetterBehaviour(CyclicBehaviour):
 
     async def run(self):
         """Polls for messages and processes them."""
-        msg = await self.receive()
+        msg = await self.receive(timeout=1)
+        if not msg:
+            return
         self.agent.logger.debug(
             "Received message from %s with thread '%s' and body: %s",
             msg.sender,
diff --git a/src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py b/src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py
index a891eca..5d68494 100644
--- a/src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py
+++ b/src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py
@@ -11,7 +11,9 @@ class ReceiveLLMResponseBehaviour(CyclicBehaviour):
     """
 
     async def run(self):
-        msg = await self.receive()
+        msg = await self.receive(timeout=1)
+        if not msg:
+            return
 
         sender = msg.sender.node
         match sender:
diff --git a/src/control_backend/agents/bdi/behaviours/text_belief_extractor.py b/src/control_backend/agents/bdi/behaviours/text_belief_extractor.py
index 8a8273e..ca6bcae 100644
--- a/src/control_backend/agents/bdi/behaviours/text_belief_extractor.py
+++ b/src/control_backend/agents/bdi/behaviours/text_belief_extractor.py
@@ -38,8 +38,8 @@ class BeliefFromText(CyclicBehaviour):
     beliefs = {"mood": ["X"], "car": ["Y"]}
 
     async def run(self):
-        msg = await self.receive()
-        if msg is None:
+        msg = await self.receive(timeout=1)
+        if not msg:
             return
 
         sender = msg.sender.node
diff --git a/src/control_backend/agents/belief_collector/behaviours/continuous_collect.py b/src/control_backend/agents/belief_collector/behaviours/continuous_collect.py
index 4dc62e8..c9bf4c9 100644
--- a/src/control_backend/agents/belief_collector/behaviours/continuous_collect.py
+++ b/src/control_backend/agents/belief_collector/behaviours/continuous_collect.py
@@ -14,7 +14,9 @@ class ContinuousBeliefCollector(CyclicBehaviour):
     """
 
     async def run(self):
-        msg = await self.receive()
+        msg = await self.receive(timeout=1)
+        if not msg:
+            return
         await self._process_message(msg)
 
     async def _process_message(self, msg: Message):
diff --git a/src/control_backend/agents/llm/llm.py b/src/control_backend/agents/llm/llm.py
index 4aec46b..e115509 100644
--- a/src/control_backend/agents/llm/llm.py
+++ b/src/control_backend/agents/llm/llm.py
@@ -30,7 +30,9 @@ class LLMAgent(BaseAgent):
             Receives SPADE messages and processes only those originating from the
             configured BDI agent.
             """
-            msg = await self.receive()
+            msg = await self.receive(timeout=1)
+            if not msg:
+                return
 
             sender = msg.sender.node
             self.agent.logger.debug(
diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/ri_command_agent.py
index ac561ed..e467ff5 100644
--- a/src/control_backend/agents/ri_command_agent.py
+++ b/src/control_backend/agents/ri_command_agent.py
@@ -54,7 +54,9 @@ class RICommandAgent(BaseAgent):
         """Behaviour for sending commands received from other Python agents."""
 
         async def run(self):
-            message: spade.agent.Message = await self.receive(timeout=0.1)
+            message: spade.agent.Message = await self.receive(timeout=1)
+            if not message:
+                return
             if message and message.to == self.agent.jid:
                 try:
                     speech_command = SpeechCommand.model_validate_json(message.body)