feat: added endpoint userinterrupt to userinterrupt

ref: N25B-400

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -1,3 +1,4 @@
+import asyncio
 import json
 
 import zmq
@@ -30,6 +31,26 @@ class UserInterruptAgent(BaseAgent):
     def __init__(self, **kwargs):
         super().__init__(**kwargs)
         self.sub_socket = None
+        self.pub_socket = None
+
+    async def setup(self):
+        """
+        Initialize the agent.
+
+        Connects the internal ZMQ SUB socket and subscribes to the 'button_pressed' topic.
+        Starts the background behavior to receive the user interrupts.
+        """
+        context = Context.instance()
+
+        self.sub_socket = context.socket(zmq.SUB)
+        self.sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        self.sub_socket.subscribe("button_pressed")
+
+        self.pub_socket = context.socket(zmq.PUB)
+        self.pub_socket.connect(settings.zmq_settings.internal_pub_address)
+
+        self.add_behavior(self._receive_button_event())
+        self.add_behavior(self.test_sending_behaviour())
 
     async def _receive_button_event(self):
         """
@@ -78,6 +99,33 @@ class UserInterruptAgent(BaseAgent):
                     event_context,
                 )
 
+    async def test_sending_behaviour(self):
+        self.logger.info("Starting simple test sending behaviour...")
+
+        while True:
+            try:
+                test_data = {"type": "heartbeat", "status": "ok"}
+
+                await self._send_experiment_update(test_data)
+
+            except zmq.ZMQError as ze:
+                self.logger.error(f"ZMQ error: {ze}")
+            except Exception as e:
+                self.logger.error(f"Error: {e}")
+
+            await asyncio.sleep(2)
+
+    async def _send_experiment_update(self, data):
+        """
+        Sends an update to the 'experiment' topic.
+        The SSE endpoint will pick this up and push it to the UI.
+        """
+        if self.pub_socket:
+            topic = b"experiment"
+            body = json.dumps(data).encode("utf-8")
+            await self.pub_socket.send_multipart([topic, body])
+            self.logger.debug(f"Sent experiment update: {data}")
+
     async def _send_to_speech_agent(self, text_to_say: str):
         """
         method to send prioritized speech command to RobotSpeechAgent.
@@ -129,18 +177,3 @@ class UserInterruptAgent(BaseAgent):
             "Sent button_override belief with id '%s' to Program manager.",
             belief_id,
         )
-
-    async def setup(self):
-        """
-        Initialize the agent.
-
-        Connects the internal ZMQ SUB socket and subscribes to the 'button_pressed' topic.
-        Starts the background behavior to receive the user interrupts.
-        """
-        context = Context.instance()
-
-        self.sub_socket = context.socket(zmq.SUB)
-        self.sub_socket.connect(settings.zmq_settings.internal_sub_address)
-        self.sub_socket.subscribe("button_pressed")
-
-        self.add_behavior(self._receive_button_event())