fix: fix test race condition

ref: N25B-301

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -45,7 +45,7 @@ class RobotSpeechAgent(BaseAgent):
         self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
 
-        await self.add_behavior(self._zmq_command_loop())
+        self.add_behavior(self._zmq_command_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -34,7 +34,7 @@ class BDICoreAgent(BaseAgent):
         await self._load_asl()
 
         # Start the BDI cycle loop
-        await self.add_behavior(self._bdi_loop())
+        self.add_behavior(self._bdi_loop())
         self._wake_bdi_loop.set()
         self.logger.debug("Setup complete.")
 

src/control_backend/agents/communication/ri_communication_agent.py

@@ -37,7 +37,7 @@ class RICommunicationAgent(BaseAgent):
 
         if await self._negotiate_connection():
             self.connected = True
-            await self.add_behavior(self._listen_loop())
+            self.add_behavior(self._listen_loop())
         else:
             self.logger.warning("Failed to negotiate connection during setup.")
 

src/control_backend/agents/perception/transcription_agent/transcription_agent.py

@@ -37,7 +37,7 @@ class TranscriptionAgent(BaseAgent):
         self.speech_recognizer.load_model()  # Warmup
 
         # Start background loop
-        await self.add_behavior(self._transcribing_loop())
+        self.add_behavior(self._transcribing_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 

src/control_backend/agents/perception/vad_agent.py

@@ -93,7 +93,7 @@ class VADAgent(BaseAgent):
         # Warmup/reset
         await self.reset_stream()
 
-        await self.add_behavior(self._streaming_loop())
+        self.add_behavior(self._streaming_loop())
 
         # Start agents dependent on the output audio fragments here
         transcriber = TranscriptionAgent(audio_out_address)

src/control_backend/core/agent_system.py

@@ -1,6 +1,7 @@
 import asyncio
 import logging
 from abc import ABC, abstractmethod
+from asyncio import Task
 from collections.abc import Coroutine
 
 import zmq
@@ -75,8 +76,8 @@ class BaseAgent(ABC):
         await self.setup()
 
         # Start processing inbox and ZMQ messages
-        await self.add_behavior(self._process_inbox())
-        await self.add_behavior(self._receive_internal_zmq_loop())
+        self.add_behavior(self._process_inbox())
+        self.add_behavior(self._receive_internal_zmq_loop())
 
     async def stop(self):
         """Stops the agent."""
@@ -128,7 +129,7 @@ class BaseAgent(ABC):
         """Override this to handle incoming messages."""
         raise NotImplementedError
 
-    async def add_behavior(self, coro: Coroutine):
+    def add_behavior(self, coro: Coroutine) -> Task:
         """
         Helper to add a behavior to the agent. To add asynchronous behavior to an agent, define
         an `async` function and add it to the task list by calling :func:`add_behavior`
@@ -138,3 +139,4 @@ class BaseAgent(ABC):
         task = asyncio.create_task(coro)
         self._tasks.add(task)
         task.add_done_callback(self._tasks.discard)
+        return task