feat: implement pausing functionality in CB

ref: N25B-350

src/control_backend/agents/communication/ri_communication_agent.py

@@ -1,14 +1,14 @@
 import asyncio
 import json
 
-from pydantic import ValidationError
 import zmq
 import zmq.asyncio as azmq
+from pydantic import ValidationError
 from zmq.asyncio import Context
 
 from control_backend.agents import BaseAgent
-from control_backend.core.agent_system import InternalMessage
 from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
+from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
 from control_backend.schemas.ri_message import PauseCommand
 

src/control_backend/agents/mock_agents/test_pause_ri.py

@@ -1,8 +1,12 @@
 import asyncio
 import json
 
+import zmq
+from zmq.asyncio import Context
+
 from control_backend.agents.base import BaseAgent
 from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
 
 
 class TestPauseAgent(BaseAgent):
@@ -10,8 +14,12 @@ class TestPauseAgent(BaseAgent):
         super().__init__(name)
         
     async def setup(self):
-        self.logger.debug("TestPauseAgent setup complete.")
+        context = Context.instance()
+        self.pub_socket = context.socket(zmq.PUB)
+        self.pub_socket.connect(settings.zmq_settings.internal_pub_address)
+
         self.add_behavior(self._pause_command_loop())
+        self.logger.debug("TestPauseAgent setup complete.")
     
     async def _pause_command_loop(self):
         print("Starting Pause command test loop.")
@@ -27,6 +35,14 @@ class TestPauseAgent(BaseAgent):
                 body=json.dumps(pause_command),
             )
             await self.send(message)
+
+            # User interrupt message 
+            data = {
+                "type": "pause",
+                "context": True,
+            }
+            await self.pub_socket.send_multipart([b"button_pressed", json.dumps(data).encode()])
+
             self.logger.info("Pausing robot actions.")
             await asyncio.sleep(15)  # Simulate delay between messages
 
@@ -40,5 +56,13 @@ class TestPauseAgent(BaseAgent):
                 body=json.dumps(pause_command),
             )
             await self.send(message)
+
+            # User interrupt message
+            data = {
+                "type": "pause",
+                "context": False,
+            }
+            await self.pub_socket.send_multipart([b"button_pressed", json.dumps(data).encode()])
+
             self.logger.info("Resuming robot actions.")
             await asyncio.sleep(15)  # Simulate delay between messages

src/control_backend/agents/perception/vad_agent.py

@@ -286,6 +286,7 @@ class VADAgent(BaseAgent):
             if msg.body == "PAUSE":
                 self.logger.info("Pausing VAD processing.")
                 self._paused.clear()
+                # If the robot needs to pick up speaking where it left off, do not set _reset_needed
                 self._reset_needed = True
             elif msg.body == "RESUME":
                 self.logger.info("Resuming VAD processing.")

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -6,7 +6,12 @@ from zmq.asyncio import Context
 from control_backend.agents import BaseAgent
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
-from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, SpeechCommand
+from control_backend.schemas.ri_message import (
+    GestureCommand,
+    PauseCommand,
+    RIEndpoint,
+    SpeechCommand,
+)
 
 
 class UserInterruptAgent(BaseAgent):
@@ -71,6 +76,12 @@ class UserInterruptAgent(BaseAgent):
                     "Forwarded button press (override) with context '%s' to BDIProgramManager.",
                     event_context,
                 )
+            elif event_type == "pause":
+                await self._send_pause_command(event_context)
+                if event_context:
+                    self.logger.info("Sent pause command.")
+                else:
+                    self.logger.info("Sent resume command.")
             else:
                 self.logger.warning(
                     "Received button press with unknown type '%s' (context: '%s').",
@@ -130,6 +141,38 @@ class UserInterruptAgent(BaseAgent):
             belief_id,
         )
 
+    async def _send_pause_command(self, pause : bool):
+        """
+        Send a pause command to the Robot Interface via the RI Communication Agent.
+        Send a pause command to the other internal agents; for now just VAD agent. 
+        """
+        cmd = PauseCommand(data=pause)
+        message = InternalMessage(
+            to=settings.agent_settings.ri_communication_name,
+            sender=self.name,
+            body=cmd.model_dump_json(),
+        )
+        await self.send(message)
+
+        if pause:
+            # Send pause to VAD agent
+            vad_message = InternalMessage(
+                to=settings.agent_settings.vad_name,
+                sender=self.name,
+                body="PAUSE",
+            )
+            await self.send(vad_message)
+            self.logger.info("Sent pause command to VAD Agent and RI Communication Agent.")
+        else:
+            # Send resume to VAD agent
+            vad_message = InternalMessage(
+                to=settings.agent_settings.vad_name,
+                sender=self.name,
+                body="RESUME",
+            )
+            await self.send(vad_message)
+            self.logger.info("Sent resume command to VAD Agent and RI Communication Agent.")
+
     async def setup(self):
         """
         Initialize the agent.

src/control_backend/main.py

@@ -39,11 +39,11 @@ from control_backend.agents.communication import RICommunicationAgent
 # LLM Agents
 from control_backend.agents.llm import LLMAgent
 
-# User Interrupt Agent
-from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
-
 # Other backend imports
 from control_backend.agents.mock_agents.test_pause_ri import TestPauseAgent
+
+# User Interrupt Agent
+from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
 from control_backend.api.v1.router import api_router
 from control_backend.core.config import settings
 from control_backend.logging import setup_logging