Merge branch 'dev' into refactor/logging

src/control_backend/agents/ri_command_agent.py

@@ -1,5 +1,6 @@
 import json
 
+import spade.agent
 import zmq
 from spade.behaviour import CyclicBehaviour
 from zmq.asyncio import Context
@@ -29,6 +30,8 @@ class RICommandAgent(BaseAgent):
         self.bind = bind
 
     class SendCommandsBehaviour(CyclicBehaviour):
+        """Behaviour for sending commands received from the UI."""
+
         async def run(self):
             """
             Run the command publishing loop indefinetely.
@@ -45,7 +48,19 @@ class RICommandAgent(BaseAgent):
                 # Send to the robot.
                 await self.agent.pubsocket.send_json(message.model_dump())
             except Exception as e:
-                self.logger.error("Error processing message: %s", e)
+                self.agent.logger.error("Error processing message: %s", e)
+
+    class SendPythonCommandsBehaviour(CyclicBehaviour):
+        """Behaviour for sending commands received from other Python agents."""
+
+        async def run(self):
+            message: spade.agent.Message = await self.receive(timeout=0.1)
+            if message and message.to == self.agent.jid:
+                try:
+                    speech_command = SpeechCommand.model_validate_json(message.body)
+                    await self.agent.pubsocket.send_json(speech_command.model_dump())
+                except Exception as e:
+                    self.agent.logger.error("Error processing message: %s", e)
 
     async def setup(self):
         """
@@ -70,5 +85,6 @@ class RICommandAgent(BaseAgent):
         # Add behaviour to our agent
         commands_behaviour = self.SendCommandsBehaviour()
         self.add_behaviour(commands_behaviour)
+        self.add_behaviour(self.SendPythonCommandsBehaviour())
 
         self.logger.info("Finished setting up %s", self.jid)