chore: fixed sending stuff to ui

Docs for environment variables, parameterize some constants

See merge request ics/sp/2025/n25b/pepperplus-cb!38

.env.example

@@ -0,0 +1,20 @@
+# Example .env file. To use, make a copy, call it ".env" (i.e. removing the ".example" suffix), then you edit values.
+
+# The hostname of the Robot Interface. Change if the Control Backend and Robot Interface are running on different computers.
+RI_HOST="localhost"
+
+# URL for the local LLM API. Must be an API that implements the OpenAI Chat Completions API, but most do.
+LLM_SETTINGS__LOCAL_LLM_URL="http://localhost:1234/v1/chat/completions"
+
+# Name of the local LLM model to use.
+LLM_SETTINGS__LOCAL_LLM_MODEL="gpt-oss"
+
+# Number of non-speech chunks to wait before speech ended. A chunk is approximately 31 ms. Increasing this number allows longer pauses in speech, but also increases response time.
+BEHAVIOUR_SETTINGS__VAD_NON_SPEECH_PATIENCE_CHUNKS=3
+
+# Timeout in milliseconds for socket polling. Increase this number if network latency/jitter is high, often the case when using Wi-Fi. Perhaps 500 ms. A symptom of this issue is transcriptions getting cut off.
+BEHAVIOUR_SETTINGS__SOCKET_POLLER_TIMEOUT_MS=100
+
+
+
+# For an exhaustive list of options, see the control_backend.core.config module in the docs.

.gitlab/merge_request_templates/default.md

@@ -0,0 +1,9 @@
+%{first_multiline_commit_description}
+
+To verify:
+
+- [ ] Style checks pass
+- [ ] Pipeline (tests) pass
+- [ ] Documentation is up to date
+- [ ] Tests are up to date (new code is covered)
+- [ ] ...

.logging_config.yaml

@@ -3,6 +3,7 @@ version: 1
 custom_levels:
   OBSERVATION: 25
   ACTION: 26
+  LLM: 9
 
 formatters:
   # Console output
@@ -26,7 +27,7 @@ handlers:
     stream: ext://sys.stdout
   ui:
     class: zmq.log.handlers.PUBHandler
-    level: DEBUG
+    level: LLM
     formatter: json_experiment
 
 # Level of external libraries
@@ -36,5 +37,5 @@ root:
 
 loggers:
   control_backend:
-    level: DEBUG
+    level: LLM
     handlers: [ui]

README.md

@@ -27,6 +27,7 @@ This + part might differ based on what model you choose.
 copy the model name in the module loaded and replace local_llm_modelL. In settings.
 
 
+
 ## Running
 To run the project (development server), execute the following command (while inside the root repository):
 
@@ -34,6 +35,14 @@ To run the project (development server), execute the following command (while in
 uv run fastapi dev src/control_backend/main.py
 ```
 
+### Environment Variables
+
+You can use environment variables to change settings. Make a copy of the [`.env.example`](.env.example) file, name it `.env` and put it in the root directory. The file itself describes how to do the configuration.
+
+For an exhaustive list of environment options, see the `control_backend.core.config` module in the docs.
+
+
+
 ## Testing
 Testing happens automatically when opening a merge request to any branch. If you want to manually run the test suite, you can do so by running the following for unit tests:
 

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -12,33 +12,39 @@ from control_backend.schemas.ri_message import GestureCommand, RIEndpoint
 class RobotGestureAgent(BaseAgent):
     """
     This agent acts as a bridge between the control backend and the Robot Interface (RI).
-    It receives speech commands from other agents or from the UI,
+    It receives gesture commands from other agents or from the UI,
     and forwards them to the robot via a ZMQ PUB socket.
 
     :ivar subsocket: ZMQ SUB socket for receiving external commands (e.g., from UI).
     :ivar pubsocket: ZMQ PUB socket for sending commands to the Robot Interface.
     :ivar address: Address to bind/connect the PUB socket.
     :ivar bind: Whether to bind or connect the PUB socket.
-    :ivar gesture_data: A list of strings for available gestures
+    :ivar gesture_tags: A list of strings for available gesture tags
+    :ivar gesture_basic: A list of strings for 10 basisc gestures
+    :ivar gesture_single: A list of strings for all available gestures
     """
 
     subsocket: azmq.Socket
+    repsocket: azmq.Socket
     pubsocket: azmq.Socket
     address = ""
     bind = False
-    gesture_data = []
+    gesture_tags = []
+    gesture_basic = []
+    gesture_single = []
 
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_command_address,
+        address: str,
         bind=False,
-        gesture_data=None,
+        gesture_tags=None,
+        gesture_basic=None,
+        gesture_single=None,
     ):
-        if gesture_data is None:
+        self.gesture_tags = gesture_tags or []
-            self.gesture_data = []
+        self.gesture_basic = gesture_basic or []
-        else:
+        self.gesture_single = gesture_single or []
-            self.gesture_data = gesture_data
         super().__init__(name)
         self.address = address
         self.bind = bind
@@ -56,9 +62,8 @@ class RobotGestureAgent(BaseAgent):
         context = azmq.Context.instance()
 
         # To the robot
-
         self.pubsocket = context.socket(zmq.PUB)
-        if self.bind:  # TODO: Should this ever be the case?
+        if self.bind:
             self.pubsocket.bind(self.address)
         else:
             self.pubsocket.connect(self.address)
@@ -69,6 +74,10 @@ class RobotGestureAgent(BaseAgent):
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"send_gestures")
 
+        # REP socket for replying to gesture requests
+        self.repsocket = context.socket(zmq.REP)
+        self.repsocket.bind(settings.zmq_settings.internal_gesture_rep_adress)
+
         self.add_behavior(self._zmq_command_loop())
         self.add_behavior(self._fetch_gestures_loop())
 
@@ -92,13 +101,19 @@ class RobotGestureAgent(BaseAgent):
         try:
             gesture_command = GestureCommand.model_validate_json(msg.body)
             if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
-                if gesture_command.data not in self.availableTags():
+                if gesture_command.data not in self.gesture_tags:
                     self.logger.warning(
                         "Received gesture tag '%s' which is not in available tags. Early returning",
                         gesture_command.data,
                     )
                     return
-
+            elif gesture_command.endpoint == RIEndpoint.GESTURE_SINGLE:
+                if gesture_command.data not in self.gesture_single:
+                    self.logger.warning(
+                        "Received gesture '%s' which is not in available gestures. Early returning",
+                        gesture_command.data,
+                    )
+                    return
             await self.pubsocket.send_json(gesture_command.model_dump())
         except Exception:
             self.logger.exception("Error processing internal message.")
@@ -120,7 +135,7 @@ class RobotGestureAgent(BaseAgent):
                 body = json.loads(body)
                 gesture_command = GestureCommand.model_validate(body)
                 if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
-                    if gesture_command.data not in self.availableTags():
+                    if gesture_command.data not in (self.gesture_tags or self.gesture_single):
                         self.logger.warning(
                             "Received gesture tag '%s' which is not in available tags.\
                             Early returning",
@@ -133,163 +148,39 @@ class RobotGestureAgent(BaseAgent):
 
     async def _fetch_gestures_loop(self):
         """
-        Loop to handle fetching gestures received via ZMQ (e.g., from the UI).
+        REP socket handler for gesture queries.
-
+        Supports:
-        Listens on the 'send_gestures' topic, and returns a list on the get_gestures topic.
+        - tags
+        - basic_gestures
+        - single_gestures
         """
         while self._running:
             try:
-                topic, body = await self.subsocket.recv_multipart()
+                req = await self.repsocket.recv_json()
 
-                # Don't process commands here
+                req_type = req.get("type")
-                if topic != b"send_gestures":
+                amount = req.get("count")
+
+                if req_type == "tags":
+                    data = self.gesture_tags
+                    key = "tags"
+
+                elif req_type == "basic":
+                    data = self.gesture_basic
+                    key = "basic_gestures"
+
+                elif req_type == "single":
+                    data = self.gesture_single
+                    key = "single_gestures"
+
+                else:
+                    await self.repsocket.send_json({})
                     continue
 
-                try:
+                if amount:
-                    body = json.loads(body)
+                    data = data[:amount]
-                except json.JSONDecodeError:
-                    body = None
 
-                # We could have the body be the nummer of gestures you want to fetch or something.
+                await self.repsocket.send_json({key: data})
-                amount = None
-                if isinstance(body, int):
-                    amount = body
-
-                tags = self.availableTags()[:amount] if amount else self.availableTags()
-                response = json.dumps({"tags": tags}).encode()
-
-                await self.pubsocket.send_multipart(
-                    [
-                        b"get_gestures",
-                        response,
-                    ]
-                )
 
             except Exception:
-                self.logger.exception("Error fetching gesture tags.")
+                self.logger.exception("Error fetching gestures.")
-
-    def availableTags(self):
-        """
-        Returns the available gesture tags.
-
-        :return: List of available gesture tags.
-        """
-        return [
-            "above",
-            "affirmative",
-            "afford",
-            "agitated",
-            "all",
-            "allright",
-            "alright",
-            "any",
-            "assuage",
-            "assuage",
-            "attemper",
-            "back",
-            "bashful",
-            "beg",
-            "beseech",
-            "blank",
-            "body language",
-            "bored",
-            "bow",
-            "but",
-            "call",
-            "calm",
-            "choose",
-            "choice",
-            "cloud",
-            "cogitate",
-            "cool",
-            "crazy",
-            "disappointed",
-            "down",
-            "earth",
-            "empty",
-            "embarrassed",
-            "enthusiastic",
-            "entire",
-            "estimate",
-            "except",
-            "exalted",
-            "excited",
-            "explain",
-            "far",
-            "field",
-            "floor",
-            "forlorn",
-            "friendly",
-            "front",
-            "frustrated",
-            "gentle",
-            "gift",
-            "give",
-            "ground",
-            "happy",
-            "hello",
-            "her",
-            "here",
-            "hey",
-            "hi",
-            "him",
-            "hopeless",
-            "hysterical",
-            "I",
-            "implore",
-            "indicate",
-            "joyful",
-            "me",
-            "meditate",
-            "modest",
-            "negative",
-            "nervous",
-            "no",
-            "not know",
-            "nothing",
-            "offer",
-            "ok",
-            "once upon a time",
-            "oppose",
-            "or",
-            "pacify",
-            "pick",
-            "placate",
-            "please",
-            "present",
-            "proffer",
-            "quiet",
-            "reason",
-            "refute",
-            "reject",
-            "rousing",
-            "sad",
-            "select",
-            "shamefaced",
-            "show",
-            "show sky",
-            "sky",
-            "soothe",
-            "sun",
-            "supplicate",
-            "tablet",
-            "tall",
-            "them",
-            "there",
-            "think",
-            "timid",
-            "top",
-            "unless",
-            "up",
-            "upstairs",
-            "void",
-            "warm",
-            "winner",
-            "yeah",
-            "yes",
-            "yoo-hoo",
-            "you",
-            "your",
-            "zero",
-            "zestful",
-        ]

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -29,7 +29,7 @@ class RobotSpeechAgent(BaseAgent):
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_command_address,
+        address: str,
         bind=False,
     ):
         super().__init__(name)

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -60,24 +60,41 @@ class BDIProgramManager(BaseAgent):
         await self.send(message)
         self.logger.debug("Sent new norms and goals to the BDI agent.")
 
+    async def _send_clear_llm_history(self):
+        """
+        Clear the LLM Agent's conversation history.
+
+        Sends an empty history to the LLM Agent to reset its state.
+        """
+        message = InternalMessage(
+            to=settings.agent_settings.llm_name,
+            sender=self.name,
+            body="clear_history",
+            threads="clear history message",
+        )
+        await self.send(message)
+        self.logger.debug("Sent message to LLM agent to clear history.")
+
     async def _receive_programs(self):
         """
         Continuous loop that receives program updates from the HTTP endpoint.
 
         It listens to the ``program`` topic on the internal ZMQ SUB socket.
         When a program is received, it is validated and forwarded to BDI via :meth:`_send_to_bdi`.
+        Additionally, the LLM history is cleared via :meth:`_send_clear_llm_history`.
         """
         while True:
             topic, body = await self.sub_socket.recv_multipart()
 
             try:
                 program = Program.model_validate_json(body)
+                await self._send_to_bdi(program)
+                await self._send_clear_llm_history()
+
             except ValidationError:
                 self.logger.exception("Received an invalid program.")
                 continue
 
-            await self._send_to_bdi(program)
-
     async def setup(self):
         """
         Initialize the agent.

src/control_backend/agents/communication/ri_communication_agent.py

@@ -10,6 +10,7 @@ from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAge
 from control_backend.core.config import settings
 
 from ..actuation.robot_speech_agent import RobotSpeechAgent
+from ..perception import VADAgent
 
 
 class RICommunicationAgent(BaseAgent):
@@ -37,7 +38,7 @@ class RICommunicationAgent(BaseAgent):
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_command_address,
+        address=settings.zmq_settings.ri_communication_address,
         bind=False,
     ):
         super().__init__(name)
@@ -167,7 +168,7 @@ class RICommunicationAgent(BaseAgent):
             bind = port_data["bind"]
 
             if not bind:
-                addr = f"tcp://localhost:{port}"
+                addr = f"tcp://{settings.ri_host}:{port}"
             else:
                 addr = f"tcp://*:{port}"
 
@@ -180,7 +181,9 @@ class RICommunicationAgent(BaseAgent):
                         else:
                             self._req_socket.bind(addr)
                 case "actuation":
-                    gesture_data = port_data.get("gestures", [])
+                    gesture_tags = port_data.get("gestures", [])
+                    gesture_single = port_data.get("single_gestures", [])
+                    gesture_basic = port_data.get("basic_gestures", [])
                     robot_speech_agent = RobotSpeechAgent(
                         settings.agent_settings.robot_speech_name,
                         address=addr,
@@ -190,11 +193,16 @@ class RICommunicationAgent(BaseAgent):
                         settings.agent_settings.robot_gesture_name,
                         address=addr,
                         bind=bind,
-                        gesture_data=gesture_data,
+                        gesture_tags=gesture_tags,
+                        gesture_basic=gesture_basic,
+                        gesture_single=gesture_single,
                     )
                     await robot_speech_agent.start()
                     await asyncio.sleep(0.1)  # Small delay
                     await robot_gesture_agent.start()
+                case "audio":
+                    vad_agent = VADAgent(audio_in_address=addr, audio_in_bind=bind)
+                    await vad_agent.start()
                 case _:
                     self.logger.warning("Unhandled negotiation id: %s", id)
 

src/control_backend/agents/llm/llm_agent.py

@@ -52,6 +52,10 @@ class LLMAgent(BaseAgent):
                 await self._process_bdi_message(prompt_message)
             except ValidationError:
                 self.logger.debug("Prompt message from BDI core is invalid.")
+        elif msg.sender == settings.agent_settings.bdi_program_manager_name:
+            if msg.body == "clear_history":
+                self.logger.debug("Clearing conversation history.")
+                self.history.clear()
         else:
             self.logger.debug("Message ignored (not from BDI core.")
 
@@ -125,7 +129,7 @@ class LLMAgent(BaseAgent):
                 full_message += token
                 current_chunk += token
 
-                self.logger.info(
+                self.logger.llm(
                     "Received token: %s",
                     full_message,
                     extra={"reference": message_id},  # Used in the UI to update old logs

src/control_backend/agents/perception/vad_agent.py

@@ -8,6 +8,7 @@ import zmq.asyncio as azmq
 from control_backend.agents import BaseAgent
 from control_backend.core.config import settings
 
+from ...schemas.program_status import PROGRAM_STATUS, ProgramStatus
 from .transcription_agent.transcription_agent import TranscriptionAgent
 
 
@@ -61,6 +62,7 @@ class VADAgent(BaseAgent):
     :ivar audio_in_address: Address of the input audio stream.
     :ivar audio_in_bind: Whether to bind or connect to the input address.
     :ivar audio_out_socket: ZMQ PUB socket for sending speech fragments.
+    :ivar program_sub_socket: ZMQ SUB socket for receiving program status updates.
     """
 
     def __init__(self, audio_in_address: str, audio_in_bind: bool):
@@ -79,6 +81,8 @@ class VADAgent(BaseAgent):
         self.audio_out_socket: azmq.Socket | None = None
         self.audio_in_poller: SocketPoller | None = None
 
+        self.program_sub_socket: azmq.Socket | None = None
+
         self.audio_buffer = np.array([], dtype=np.float32)
         self.i_since_speech = settings.behaviour_settings.vad_initial_since_speech
         self._ready = asyncio.Event()
@@ -90,20 +94,25 @@ class VADAgent(BaseAgent):
 
         1. Connects audio input socket.
         2. Binds audio output socket (random port).
-        3. Loads VAD model from Torch Hub.
+        3. Connects to program communication socket.
-        4. Starts the streaming loop.
+        4. Loads VAD model from Torch Hub.
-        5. Instantiates and starts the :class:`TranscriptionAgent` with the output address.
+        5. Starts the streaming loop.
+        6. Instantiates and starts the :class:`TranscriptionAgent` with the output address.
         """
         self.logger.info("Setting up %s", self.name)
 
         self._connect_audio_in_socket()
 
-        audio_out_port = self._connect_audio_out_socket()
+        audio_out_address = self._connect_audio_out_socket()
-        if audio_out_port is None:
+        if audio_out_address is None:
             self.logger.error("Could not bind output socket, stopping.")
             await self.stop()
             return
-        audio_out_address = f"tcp://localhost:{audio_out_port}"
+
+        # Connect to internal communication socket
+        self.program_sub_socket = azmq.Context.instance().socket(zmq.SUB)
+        self.program_sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        self.program_sub_socket.subscribe(PROGRAM_STATUS)
 
         # Initialize VAD model
         try:
@@ -117,10 +126,8 @@ class VADAgent(BaseAgent):
             await self.stop()
             return
 
-        # Warmup/reset
-        await self.reset_stream()
-
         self.add_behavior(self._streaming_loop())
+        self.add_behavior(self._status_loop())
 
         # Start agents dependent on the output audio fragments here
         transcriber = TranscriptionAgent(audio_out_address)
@@ -153,19 +160,20 @@ class VADAgent(BaseAgent):
             self.audio_in_socket.connect(self.audio_in_address)
         self.audio_in_poller = SocketPoller[bytes](self.audio_in_socket)
 
-    def _connect_audio_out_socket(self) -> int | None:
+    def _connect_audio_out_socket(self) -> str | None:
         """
-        Returns the port bound, or None if binding failed.
+        Returns the address that was bound to, or None if binding failed.
         """
         try:
             self.audio_out_socket = azmq.Context.instance().socket(zmq.PUB)
-            return self.audio_out_socket.bind_to_random_port("tcp://localhost", max_tries=100)
+            self.audio_out_socket.bind(settings.zmq_settings.vad_pub_address)
+            return settings.zmq_settings.vad_pub_address
         except zmq.ZMQBindError:
             self.logger.error("Failed to bind an audio output socket after 100 tries.")
             self.audio_out_socket = None
             return None
 
-    async def reset_stream(self):
+    async def _reset_stream(self):
         """
         Clears the ZeroMQ queue and sets ready state.
         """
@@ -176,6 +184,23 @@ class VADAgent(BaseAgent):
         self.logger.info(f"Discarded {discarded} audio packets before starting.")
         self._ready.set()
 
+    async def _status_loop(self):
+        """Loop for checking program status. Only start listening if program is RUNNING."""
+        while self._running:
+            topic, body = await self.program_sub_socket.recv_multipart()
+
+            if topic != PROGRAM_STATUS:
+                continue
+            if body != ProgramStatus.RUNNING.value:
+                continue
+
+            # Program is now running, we can start our stream
+            await self._reset_stream()
+
+            # We don't care about further status updates
+            self.program_sub_socket.close()
+            break
+
     async def _streaming_loop(self):
         """
         Main loop for processing audio stream.

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -0,0 +1,146 @@
+import json
+
+import zmq
+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
+
+
+class UserInterruptAgent(BaseAgent):
+    """
+    User Interrupt Agent.
+
+    This agent receives button_pressed events from the external HTTP API
+    (via ZMQ) and uses the associated context to trigger one of the following actions:
+
+    - Send a prioritized message to the `RobotSpeechAgent`
+    - Send a prioritized gesture to the `RobotGestureAgent`
+    - Send a belief override to the `BDIProgramManager`in order to activate a
+        trigger/conditional norm or complete a goal.
+
+    Prioritized actions clear the current RI queue before inserting the new item,
+    ensuring they are executed immediately after Pepper's current action has been fulfilled.
+
+    :ivar sub_socket: The ZMQ SUB socket used to receive user intterupts.
+    """
+
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self.sub_socket = None
+
+    async def _receive_button_event(self):
+        """
+        The behaviour of the UserInterruptAgent.
+        Continuous loop that receives button_pressed events from the button_pressed HTTP endpoint.
+        These events contain a type and a context.
+
+        These are the different types and contexts:
+        - type: "speech", context: string that the robot has to say.
+        - type: "gesture", context: single gesture name that the robot has to perform.
+        - type: "override", context: belief_id that overrides the goal/trigger/conditional norm.
+        """
+        while True:
+            topic, body = await self.sub_socket.recv_multipart()
+
+            try:
+                event_data = json.loads(body)
+                event_type = event_data.get("type")  # e.g., "speech", "gesture"
+                event_context = event_data.get("context")  # e.g., "Hello, I am Pepper!"
+            except json.JSONDecodeError:
+                self.logger.error("Received invalid JSON payload on topic %s", topic)
+                continue
+
+            if event_type == "speech":
+                await self._send_to_speech_agent(event_context)
+                self.logger.info(
+                    "Forwarded button press (speech) with context '%s' to RobotSpeechAgent.",
+                    event_context,
+                )
+            elif event_type == "gesture":
+                await self._send_to_gesture_agent(event_context)
+                self.logger.info(
+                    "Forwarded button press (gesture) with context '%s' to RobotGestureAgent.",
+                    event_context,
+                )
+            elif event_type == "override":
+                await self._send_to_program_manager(event_context)
+                self.logger.info(
+                    "Forwarded button press (override) with context '%s' to BDIProgramManager.",
+                    event_context,
+                )
+            else:
+                self.logger.warning(
+                    "Received button press with unknown type '%s' (context: '%s').",
+                    event_type,
+                    event_context,
+                )
+
+    async def _send_to_speech_agent(self, text_to_say: str):
+        """
+        method to send prioritized speech command to RobotSpeechAgent.
+
+        :param text_to_say: The string that the robot has to say.
+        """
+        cmd = SpeechCommand(data=text_to_say, is_priority=True)
+        out_msg = InternalMessage(
+            to=settings.agent_settings.robot_speech_name,
+            sender=self.name,
+            body=cmd.model_dump_json(),
+        )
+        await self.send(out_msg)
+
+    async def _send_to_gesture_agent(self, single_gesture_name: str):
+        """
+        method to send prioritized gesture command to RobotGestureAgent.
+
+        :param single_gesture_name: The gesture tag that the robot has to perform.
+        """
+        # the endpoint is set to always be GESTURE_SINGLE for user interrupts
+        cmd = GestureCommand(
+            endpoint=RIEndpoint.GESTURE_SINGLE, data=single_gesture_name, is_priority=True
+        )
+        out_msg = InternalMessage(
+            to=settings.agent_settings.robot_gesture_name,
+            sender=self.name,
+            body=cmd.model_dump_json(),
+        )
+        await self.send(out_msg)
+
+    async def _send_to_program_manager(self, belief_id: str):
+        """
+        Send a button_override belief to the BDIProgramManager.
+
+        :param belief_id: The belief_id that overrides the goal/trigger/conditional norm.
+        this id can belong to a basic belief or an inferred belief.
+        See also: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-27/UI-components
+        """
+        data = {"belief": belief_id}
+        message = InternalMessage(
+            to=settings.agent_settings.bdi_program_manager_name,
+            sender=self.name,
+            body=json.dumps(data),
+            thread="belief_override_id",
+        )
+        await self.send(message)
+        self.logger.info(
+            "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())

src/control_backend/api/v1/endpoints/button_pressed.py

@@ -0,0 +1,31 @@
+import logging
+
+from fastapi import APIRouter, Request
+
+from control_backend.schemas.events import ButtonPressedEvent
+
+logger = logging.getLogger(__name__)
+router = APIRouter()
+
+
+@router.post("/button_pressed", status_code=202)
+async def receive_button_event(event: ButtonPressedEvent, request: Request):
+    """
+    Endpoint to handle external button press events.
+
+    Validates the event payload and publishes it to the internal 'button_pressed' topic.
+    Subscribers (in this case user_interrupt_agent) will pick this up to trigger
+    specific behaviors or state changes.
+
+    :param event: The parsed ButtonPressedEvent object.
+    :param request: The FastAPI request object.
+    """
+    logger.debug("Received button event: %s | %s", event.type, event.context)
+
+    topic = b"button_pressed"
+    body = event.model_dump_json().encode()
+
+    pub_socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, body])
+
+    return {"status": "Event received"}

src/control_backend/api/v1/endpoints/robot.py

@@ -3,9 +3,8 @@ import json
 import logging
 
 import zmq.asyncio
-from fastapi import APIRouter, HTTPException, Request
+from fastapi import APIRouter, Request
 from fastapi.responses import StreamingResponse
-from pydantic import ValidationError
 from zmq.asyncio import Context, Socket
 
 from control_backend.core.config import settings
@@ -16,38 +15,44 @@ logger = logging.getLogger(__name__)
 router = APIRouter()
 
 
-@router.post("/command", status_code=202)
+@router.post("/command/speech", status_code=202)
-async def receive_command(command: SpeechCommand, request: Request):
+async def receive_command_speech(command: SpeechCommand, request: Request):
     """
     Send a direct speech command to the robot.
 
     Publishes the command to the internal 'command' topic. The
     :class:`~control_backend.agents.actuation.robot_speech_agent.RobotSpeechAgent`
-    or
+    will forward this to the robot.
+
+    :param command: The speech command payload.
+    :param request: The FastAPI request object.
+    """
+    topic = b"command"
+
+    pub_socket: Socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
+
+    return {"status": "Speech command received"}
+
+
+@router.post("/command/gesture", status_code=202)
+async def receive_command_gesture(command: GestureCommand, request: Request):
+    """
+    Send a direct gesture command to the robot.
+
+    Publishes the command to the internal 'command' topic. The
     :class:`~control_backend.agents.actuation.robot_speech_agent.RobotGestureAgent`
     will forward this to the robot.
 
     :param command: The speech command payload.
     :param request: The FastAPI request object.
     """
-    # Validate and retrieve data.
-    validated = None
-    valid_commands = (GestureCommand, SpeechCommand)
-    for command_model in valid_commands:
-        try:
-            validated = command_model.model_validate(command)
-        except ValidationError:
-            continue
-
-    if validated is None:
-        raise HTTPException(status_code=422, detail="Payload is not valid for command models")
-
     topic = b"command"
 
     pub_socket: Socket = request.app.state.endpoints_pub_socket
-    await pub_socket.send_multipart([topic, validated.model_dump_json().encode()])
+    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
 
-    return {"status": "Command received"}
+    return {"status": "Gesture command received"}
 
 
 @router.get("/ping_check")
@@ -58,31 +63,28 @@ async def ping(request: Request):
     pass
 
 
-@router.get("/get_available_gesture_tags")
+@router.get("/commands/gesture/tags")
-async def get_available_gesture_tags(request: Request):
+async def get_available_gesture_tags(request: Request, count=0):
     """
     Endpoint to retrieve the available gesture tags for the robot.
 
     :param request: The FastAPI request object.
     :return: A list of available gesture tags.
     """
-    sub_socket = Context.instance().socket(zmq.SUB)
+    req_socket = Context.instance().socket(zmq.REQ)
-    sub_socket.connect(settings.zmq_settings.internal_sub_address)
+    req_socket.connect(settings.zmq_settings.internal_gesture_rep_adress)
-    sub_socket.setsockopt(zmq.SUBSCRIBE, b"get_gestures")
 
-    pub_socket: Socket = request.app.state.endpoints_pub_socket
+    # Check to see if we've got any count given in the query parameter
-    topic = b"send_gestures"
+    amount = count or None
-
-    # TODO: Implement a way to get a certain ammount from the UI, rather than everything.
-    amount = None
     timeout = 5  # seconds
 
-    await pub_socket.send_multipart([topic, amount.to_bytes(4, "big") if amount else b""])
+    await req_socket.send_json({"type": "tags", "count": amount})
+
     try:
-        _, body = await asyncio.wait_for(sub_socket.recv_multipart(), timeout=timeout)
+        body = await asyncio.wait_for(req_socket.recv(), timeout=timeout)
     except TimeoutError:
-        body = b"tags: []"
+        body = '{"tags": []}'
-        logger.debug("got timeout error fetching gestures")
+        logger.debug("Got timeout error fetching gestures.")
 
     # Handle empty response and JSON decode errors
     available_tags = []
@@ -93,8 +95,75 @@ async def get_available_gesture_tags(request: Request):
             logger.error(f"Failed to parse gesture tags JSON: {e}, body: {body}")
             # Return empty list on JSON error
             available_tags = []
+    return {"available_gestures": available_tags}
 
-    return {"available_gesture_tags": available_tags}
+
+@router.get("/commands/gesture/single")
+async def get_available_gestures(request: Request, count=0):
+    """
+    Endpoint to retrieve the available gestures for the robot.
+
+    :param request: The FastAPI request object.
+    :return: A list of available gestures.
+    """
+    req_socket = Context.instance().socket(zmq.REQ)
+    req_socket.connect(settings.zmq_settings.internal_gesture_rep_adress)
+
+    # Check to see if we've got any count given in the query parameter
+    amount = count or None
+    timeout = 5  # seconds
+
+    await req_socket.send_json({"type": "single", "count": amount})
+    try:
+        body = await asyncio.wait_for(req_socket.recv(), timeout=timeout)
+    except TimeoutError:
+        body = '{"tags": []}'
+        logger.debug("Got timeout error fetching gestures.")
+
+    # Handle empty response and JSON decode errors
+    available_tags = []
+    if body:
+        try:
+            available_tags = json.loads(body).get("single_gestures", [])
+        except json.JSONDecodeError as e:
+            logger.error(f"Failed to parse gesture tags JSON: {e}, body: {body}")
+            # Return empty list on JSON error
+            available_tags = []
+    return {"available_gestures": available_tags}
+
+
+@router.get("/commands/gesture/basic")
+async def get_available_basic_gestures(request: Request, count=0):
+    """
+    Endpoint to retrieve the available gesture tags for the robot.
+
+    :param request: The FastAPI request object.
+    :return: A list of 10 available gestures.
+    """
+    req_socket = Context.instance().socket(zmq.REQ)
+    req_socket.connect(settings.zmq_settings.internal_gesture_rep_adress)
+
+    # Check to see if we've got any count given in the query parameter
+    amount = count or None
+    timeout = 5  # seconds
+
+    await req_socket.send_json({"type": "basic", "count": amount})
+    try:
+        body = await asyncio.wait_for(req_socket.recv(), timeout=timeout)
+    except TimeoutError:
+        body = '{"tags": []}'
+        logger.debug("Got timeout error fetching gestures.")
+
+    # Handle empty response and JSON decode errors
+    available_tags = []
+    if body:
+        try:
+            available_tags = json.loads(body).get("basic_gestures", [])
+        except json.JSONDecodeError as e:
+            logger.error(f"Failed to parse gesture tags JSON: {e}, body: {body}")
+            # Return empty list on JSON error
+            available_tags = []
+    return {"available_gestures": available_tags}
 
 
 @router.get("/ping_stream")

src/control_backend/api/v1/router.py

@@ -1,6 +1,6 @@
 from fastapi.routing import APIRouter
 
-from control_backend.api.v1.endpoints import logs, message, program, robot, sse
+from control_backend.api.v1.endpoints import button_pressed, logs, message, program, robot, sse
 
 api_router = APIRouter()
 
@@ -13,3 +13,5 @@ api_router.include_router(robot.router, prefix="/robot", tags=["Pings", "Command
 api_router.include_router(logs.router, tags=["Logs"])
 
 api_router.include_router(program.router, tags=["Program"])
+
+api_router.include_router(button_pressed.router, tags=["Button Pressed Events"])

src/control_backend/core/config.py

@@ -1,3 +1,12 @@
+"""
+An exhaustive overview of configurable options. All of these can be set using environment variables
+by nesting with double underscores (__). Start from the ``Settings`` class.
+
+For example, ``settings.ri_host`` becomes ``RI_HOST``, and
+``settings.zmq_settings.ri_communication_address`` becomes
+``ZMQ_SETTINGS__RI_COMMUNICATION_ADDRESS``.
+"""
+
 from pydantic import BaseModel
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
@@ -8,16 +17,17 @@ class ZMQSettings(BaseModel):
 
     :ivar internal_pub_address: Address for the internal PUB socket.
     :ivar internal_sub_address: Address for the internal SUB socket.
-    :ivar ri_command_address: Address for sending commands to the Robot Interface.
+    :ivar ri_communication_address: Address for the endpoint that the Robot Interface connects to.
-    :ivar ri_communication_address: Address for receiving communication from the Robot Interface.
+    :ivar vad_pub_address: Address that the VAD agent binds to and publishes audio segments to.
-    :ivar vad_agent_address: Address for the Voice Activity Detection (VAD) agent.
     """
 
+    # ATTENTION: When adding/removing settings, make sure to update the .env.example file
+
     internal_pub_address: str = "tcp://localhost:5560"
     internal_sub_address: str = "tcp://localhost:5561"
-    ri_command_address: str = "tcp://localhost:0000"
     ri_communication_address: str = "tcp://*:5555"
-    vad_agent_address: str = "tcp://localhost:5558"
+    internal_gesture_rep_adress: str = "tcp://localhost:7788"
+    vad_pub_address: str = "inproc://vad_stream"
 
 
 class AgentSettings(BaseModel):
@@ -36,6 +46,8 @@ class AgentSettings(BaseModel):
     :ivar robot_speech_name: Name of the Robot Speech Agent.
     """
 
+    # ATTENTION: When adding/removing settings, make sure to update the .env.example file
+
     # agent names
     bdi_core_name: str = "bdi_core_agent"
     bdi_belief_collector_name: str = "belief_collector_agent"
@@ -48,6 +60,7 @@ class AgentSettings(BaseModel):
     ri_communication_name: str = "ri_communication_agent"
     robot_speech_name: str = "robot_speech_agent"
     robot_gesture_name: str = "robot_gesture_agent"
+    user_interrupt_name: str = "user_interrupt_agent"
 
 
 class BehaviourSettings(BaseModel):
@@ -66,6 +79,8 @@ class BehaviourSettings(BaseModel):
     :ivar transcription_token_buffer: Buffer for transcription tokens.
     """
 
+    # ATTENTION: When adding/removing settings, make sure to update the .env.example file
+
     sleep_s: float = 1.0
     comm_setup_max_retries: int = 5
     socket_poller_timeout_ms: int = 100
@@ -90,6 +105,8 @@ class LLMSettings(BaseModel):
     :ivar local_llm_model: Name of the local LLM model to use.
     """
 
+    # ATTENTION: When adding/removing settings, make sure to update the .env.example file
+
     local_llm_url: str = "http://localhost:1234/v1/chat/completions"
     local_llm_model: str = "gpt-oss"
 
@@ -103,6 +120,8 @@ class VADSettings(BaseModel):
     :ivar sample_rate_hz: Sample rate in Hz for the VAD model.
     """
 
+    # ATTENTION: When adding/removing settings, make sure to update the .env.example file
+
     repo_or_dir: str = "snakers4/silero-vad"
     model_name: str = "silero_vad"
     sample_rate_hz: int = 16000
@@ -116,6 +135,8 @@ class SpeechModelSettings(BaseModel):
     :ivar openai_model_name: Model name for OpenAI-based speech recognition.
     """
 
+    # ATTENTION: When adding/removing settings, make sure to update the .env.example file
+
     # model identifiers for speech recognition
     mlx_model_name: str = "mlx-community/whisper-small.en-mlx"
     openai_model_name: str = "small.en"
@@ -127,6 +148,7 @@ class Settings(BaseSettings):
 
     :ivar app_title: Title of the application.
     :ivar ui_url: URL of the frontend UI.
+    :ivar ri_host: The hostname of the Robot Interface.
     :ivar zmq_settings: ZMQ configuration.
     :ivar agent_settings: Agent name configuration.
     :ivar behaviour_settings: Behavior configuration.
@@ -139,6 +161,8 @@ class Settings(BaseSettings):
 
     ui_url: str = "http://localhost:5173"
 
+    ri_host: str = "localhost"
+
     zmq_settings: ZMQSettings = ZMQSettings()
 
     agent_settings: AgentSettings = AgentSettings()

src/control_backend/logging/setup_logging.py

@@ -4,6 +4,7 @@ import os
 
 import yaml
 import zmq
+from zmq.log.handlers import PUBHandler
 
 from control_backend.core.config import settings
 
@@ -51,15 +52,27 @@ def setup_logging(path: str = ".logging_config.yaml") -> None:
                 logging.warning(f"Could not load logging configuration: {e}")
                 config = {}
 
-            if "custom_levels" in config:
+            custom_levels = config.get("custom_levels", {}) or {}
-                for level_name, level_num in config["custom_levels"].items():
+            for level_name, level_num in custom_levels.items():
-                    add_logging_level(level_name, level_num)
+                add_logging_level(level_name, level_num)
 
             if config.get("handlers") is not None and config.get("handlers").get("ui"):
                 pub_socket = zmq.Context.instance().socket(zmq.PUB)
                 pub_socket.connect(settings.zmq_settings.internal_pub_address)
                 config["handlers"]["ui"]["interface_or_socket"] = pub_socket
+
             logging.config.dictConfig(config)
 
+            # Patch ZMQ PUBHandler to know about custom levels
+            if custom_levels:
+                for logger_name in ("control_backend",):
+                    logger = logging.getLogger(logger_name)
+                    for handler in logger.handlers:
+                        if isinstance(handler, PUBHandler):
+                            # Use the INFO formatter as the default template
+                            default_fmt = handler.formatters[logging.INFO]
+                            for level_num in custom_levels.values():
+                                handler.setFormatter(default_fmt, level=level_num)
+
     else:
         logging.warning("Logging config file not found. Using default logging configuration.")

src/control_backend/main.py

@@ -39,13 +39,14 @@ from control_backend.agents.communication import RICommunicationAgent
 # LLM Agents
 from control_backend.agents.llm import LLMAgent
 
-# Perceive agents
+# User Interrupt Agent
-from control_backend.agents.perception import VADAgent
+from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
 
 # Other backend imports
 from control_backend.api.v1.router import api_router
 from control_backend.core.config import settings
 from control_backend.logging import setup_logging
+from control_backend.schemas.program_status import PROGRAM_STATUS, ProgramStatus
 
 logger = logging.getLogger(__name__)
 
@@ -95,6 +96,8 @@ async def lifespan(app: FastAPI):
     endpoints_pub_socket.connect(settings.zmq_settings.internal_pub_address)
     app.state.endpoints_pub_socket = endpoints_pub_socket
 
+    await endpoints_pub_socket.send_multipart([PROGRAM_STATUS, ProgramStatus.STARTING.value])
+
     # --- Initialize Agents ---
     logger.info("Initializing and starting agents.")
 
@@ -132,46 +135,44 @@ async def lifespan(app: FastAPI):
                 "name": settings.agent_settings.text_belief_extractor_name,
             },
         ),
-        "VADAgent": (
-            VADAgent,
-            {"audio_in_address": settings.zmq_settings.vad_agent_address, "audio_in_bind": False},
-        ),
         "ProgramManagerAgent": (
             BDIProgramManager,
             {
                 "name": settings.agent_settings.bdi_program_manager_name,
             },
         ),
+        "UserInterruptAgent": (
+            UserInterruptAgent,
+            {
+                "name": settings.agent_settings.user_interrupt_name,
+            },
+        ),
     }
 
     agents = []
 
-    vad_agent = None
-
     for name, (agent_class, kwargs) in agents_to_start.items():
         try:
             logger.debug("Starting agent: %s", name)
             agent_instance = agent_class(**kwargs)
             await agent_instance.start()
-            if isinstance(agent_instance, VADAgent):
-                vad_agent = agent_instance
             agents.append(agent_instance)
             logger.info("Agent '%s' started successfully.", name)
         except Exception as e:
             logger.error("Failed to start agent '%s': %s", name, e, exc_info=True)
             raise
 
-    assert vad_agent is not None
-    await vad_agent.reset_stream()
-
     logger.info("Application startup complete.")
 
+    await endpoints_pub_socket.send_multipart([PROGRAM_STATUS, ProgramStatus.RUNNING.value])
+
     yield
 
     # --- APPLICATION SHUTDOWN ---
     logger.info("%s is shutting down.", app.title)
 
-    # Potential shutdown logic goes here
+    await endpoints_pub_socket.send_multipart([PROGRAM_STATUS, ProgramStatus.STOPPING.value])
+    # Additional shutdown logic goes here
 
     logger.info("Application shutdown complete.")
 

src/control_backend/schemas/events.py

@@ -0,0 +1,6 @@
+from pydantic import BaseModel
+
+
+class ButtonPressedEvent(BaseModel):
+    type: str
+    context: str

src/control_backend/schemas/program_status.py

@@ -0,0 +1,16 @@
+from enum import Enum
+
+PROGRAM_STATUS = b"internal/program_status"
+"""A topic key for the program status."""
+
+
+class ProgramStatus(Enum):
+    """
+    Used in internal communication, to tell agents what the status of the program is.
+
+    For example, the VAD agent only starts listening when the program is RUNNING.
+    """
+
+    STARTING = b"starting"
+    RUNNING = b"running"
+    STOPPING = b"stopping"

src/control_backend/schemas/ri_message.py

@@ -12,6 +12,7 @@ class RIEndpoint(str, Enum):
     SPEECH = "actuate/speech"
     GESTURE_SINGLE = "actuate/gesture/single"
     GESTURE_TAG = "actuate/gesture/tag"
+    GESTURE_BASIC = "actuate/gesture/single"
     PING = "ping"
     NEGOTIATE_PORTS = "negotiate/ports"
 
@@ -38,6 +39,7 @@ class SpeechCommand(RIMessage):
 
     endpoint: RIEndpoint = RIEndpoint(RIEndpoint.SPEECH)
     data: str
+    is_priority: bool = False
 
 
 class GestureCommand(RIMessage):
@@ -52,13 +54,11 @@ class GestureCommand(RIMessage):
         RIEndpoint.GESTURE_SINGLE, RIEndpoint.GESTURE_TAG
     ]
     data: str
+    is_priority: bool = False
 
     @model_validator(mode="after")
     def check_endpoint(self):
-        allowed = {
+        allowed = {RIEndpoint.GESTURE_SINGLE, RIEndpoint.GESTURE_TAG}
-            RIEndpoint.GESTURE_SINGLE,
-            RIEndpoint.GESTURE_TAG,
-        }
         if self.endpoint not in allowed:
-            raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
+            raise ValueError("endpoint must be GESTURE_SINGLE, GESTURE_TAG or GESTURE_BASIC")
         return self

test/integration/agents/perception/vad_agent/test_vad_agent.py

@@ -5,6 +5,7 @@ import pytest
 import zmq
 
 from control_backend.agents.perception.vad_agent import VADAgent
+from control_backend.schemas.program_status import PROGRAM_STATUS, ProgramStatus
 
 
 @pytest.fixture
@@ -43,14 +44,12 @@ async def test_normal_setup(per_transcription_agent):
         coro.close()
 
     per_vad_agent.add_behavior = swallow_background_task
-    per_vad_agent.reset_stream = AsyncMock()
 
     await per_vad_agent.setup()
 
     per_transcription_agent.assert_called_once()
     per_transcription_agent.return_value.start.assert_called_once()
     per_vad_agent._streaming_loop.assert_called_once()
-    per_vad_agent.reset_stream.assert_called_once()
     assert per_vad_agent.audio_in_socket is not None
     assert per_vad_agent.audio_out_socket is not None
 
@@ -92,7 +91,7 @@ def test_out_socket_creation(zmq_context):
     assert per_vad_agent.audio_out_socket is not None
 
     zmq_context.return_value.socket.assert_called_once_with(zmq.PUB)
-    zmq_context.return_value.socket.return_value.bind_to_random_port.assert_called_once()
+    zmq_context.return_value.socket.return_value.bind.assert_called_once_with("inproc://vad_stream")
 
 
 @pytest.mark.asyncio
@@ -103,7 +102,7 @@ async def test_out_socket_creation_failure(zmq_context):
     zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = zmq.ZMQBindError
     per_vad_agent = VADAgent("tcp://localhost:12345", False)
     per_vad_agent.stop = AsyncMock()
-    per_vad_agent.reset_stream = AsyncMock()
+    per_vad_agent._reset_stream = AsyncMock()
     per_vad_agent._streaming_loop = AsyncMock()
     per_vad_agent._connect_audio_out_socket = MagicMock(return_value=None)
 
@@ -124,7 +123,7 @@ async def test_stop(zmq_context, per_transcription_agent):
     Test that when the VAD agent is stopped, the sockets are closed correctly.
     """
     per_vad_agent = VADAgent("tcp://localhost:12345", False)
-    per_vad_agent.reset_stream = AsyncMock()
+    per_vad_agent._reset_stream = AsyncMock()
     per_vad_agent._streaming_loop = AsyncMock()
 
     async def swallow_background_task(coro):
@@ -142,3 +141,66 @@ async def test_stop(zmq_context, per_transcription_agent):
     assert zmq_context.return_value.socket.return_value.close.call_count == 2
     assert per_vad_agent.audio_in_socket is None
     assert per_vad_agent.audio_out_socket is None
+
+
+@pytest.mark.asyncio
+async def test_application_startup_complete(zmq_context):
+    """Check that it resets the stream when the program finishes startup."""
+    vad_agent = VADAgent("tcp://localhost:12345", False)
+    vad_agent._running = True
+    vad_agent._reset_stream = AsyncMock()
+    vad_agent.program_sub_socket = AsyncMock()
+    vad_agent.program_sub_socket.recv_multipart.side_effect = [
+        (PROGRAM_STATUS, ProgramStatus.RUNNING.value),
+    ]
+
+    await vad_agent._status_loop()
+
+    vad_agent._reset_stream.assert_called_once()
+    vad_agent.program_sub_socket.close.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_application_other_status(zmq_context):
+    """
+    Check that it does nothing when the internal communication message is a status update, but not
+    running.
+    """
+    vad_agent = VADAgent("tcp://localhost:12345", False)
+    vad_agent._running = True
+    vad_agent._reset_stream = AsyncMock()
+    vad_agent.program_sub_socket = AsyncMock()
+
+    vad_agent.program_sub_socket.recv_multipart.side_effect = [
+        (PROGRAM_STATUS, ProgramStatus.STARTING.value),
+        (PROGRAM_STATUS, ProgramStatus.STOPPING.value),
+    ]
+    try:
+        # Raises StopAsyncIteration the third time it calls `program_sub_socket.recv_multipart`
+        await vad_agent._status_loop()
+    except StopAsyncIteration:
+        pass
+
+    vad_agent._reset_stream.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_application_message_other(zmq_context):
+    """
+    Check that it does nothing when there's an internal communication message that is not a status
+    update.
+    """
+    vad_agent = VADAgent("tcp://localhost:12345", False)
+    vad_agent._running = True
+    vad_agent._reset_stream = AsyncMock()
+    vad_agent.program_sub_socket = AsyncMock()
+
+    vad_agent.program_sub_socket.recv_multipart.side_effect = [(b"internal/other", b"Whatever")]
+
+    try:
+        # Raises StopAsyncIteration the second time it calls `program_sub_socket.recv_multipart`
+        await vad_agent._status_loop()
+    except StopAsyncIteration:
+        pass
+
+    vad_agent._reset_stream.assert_not_called()

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -11,7 +11,6 @@ from control_backend.schemas.ri_message import RIEndpoint
 
 @pytest.fixture
 def zmq_context(mocker):
-    """Mock the ZMQ context."""
     mock_context = mocker.patch(
         "control_backend.agents.actuation.robot_gesture_agent.azmq.Context.instance"
     )
@@ -21,61 +20,54 @@ def zmq_context(mocker):
 
 @pytest.mark.asyncio
 async def test_setup_bind(zmq_context, mocker):
-    """Setup binds and subscribes to internal commands."""
     fake_socket = zmq_context.return_value.socket.return_value
     agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=True)
 
     settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+    settings.zmq_settings.internal_gesture_rep_adress = "tcp://internal:5557"
 
     agent.add_behavior = MagicMock()
 
     await agent.setup()
 
-    # Check PUB socket binding
     fake_socket.bind.assert_any_call("tcp://localhost:5556")
-
-    # Check SUB socket connection and subscriptions
     fake_socket.connect.assert_any_call("tcp://internal:1234")
     fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
     fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"send_gestures")
-
+    assert agent.add_behavior.call_count == 2
-    # Check behavior was added
-    agent.add_behavior.assert_called()  # Twice, even.
 
 
 @pytest.mark.asyncio
 async def test_setup_connect(zmq_context, mocker):
-    """Setup connects when bind=False."""
     fake_socket = zmq_context.return_value.socket.return_value
     agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=False)
 
     settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
     settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+    settings.zmq_settings.internal_gesture_rep_adress = "tcp://internal:5557"
 
     agent.add_behavior = MagicMock()
 
     await agent.setup()
 
-    # Check PUB socket connection (not binding)
     fake_socket.connect.assert_any_call("tcp://localhost:5556")
     fake_socket.connect.assert_any_call("tcp://internal:1234")
-
+    fake_socket.bind.assert_called()
-    # Check behavior was added
+    assert agent.add_behavior.call_count == 2
-    agent.add_behavior.assert_called()  # Twice, actually.
 
 
 @pytest.mark.asyncio
-async def test_handle_message_sends_valid_gesture_command():
+async def test_handle_message_valid_gesture_tag():
-    """Internal message with valid gesture tag is forwarded to robot pub socket."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.pubsocket = pubsocket
 
-    payload = {
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
-        "endpoint": RIEndpoint.GESTURE_TAG,
-        "data": "hello",  # "hello" is in availableTags
-    }
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
 
     await agent.handle_message(msg)
@@ -84,13 +76,16 @@ async def test_handle_message_sends_valid_gesture_command():
 
 
 @pytest.mark.asyncio
-async def test_handle_message_sends_non_gesture_command():
+async def test_handle_message_invalid_gesture_tag():
-    """Internal message with non-gesture endpoint is not handled by this agent."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.pubsocket = pubsocket
 
-    payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "nope"}
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
 
     await agent.handle_message(msg)
@@ -99,50 +94,38 @@ async def test_handle_message_sends_non_gesture_command():
 
 
 @pytest.mark.asyncio
-async def test_handle_message_rejects_invalid_gesture_tag():
+async def test_handle_message_invalid_payload_logged():
-    """Internal message with invalid gesture tag is not forwarded."""
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.pubsocket = pubsocket
+    agent.logger = MagicMock()
 
-    # Use a tag that's not in availableTags
+    msg = InternalMessage(to="robot", sender="tester", body="not json")
-    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
-    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
 
     await agent.handle_message(msg)
 
     pubsocket.send_json.assert_not_awaited()
+    agent.logger.exception.assert_called_once()
 
 
 @pytest.mark.asyncio
-async def test_handle_message_invalid_payload():
+async def test_zmq_command_loop_valid_gesture():
-    """Invalid payload is caught and does not send."""
-    pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture")
-    agent.pubsocket = pubsocket
-
-    msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
-
-    await agent.handle_message(msg)
-
-    pubsocket.send_json.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_zmq_command_loop_valid_gesture_payload():
-    """UI command with valid gesture tag is read from SUB and published."""
-    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
     fake_socket = AsyncMock()
 
     async def recv_once():
-        # stop after first iteration
         agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
+        return b"command", json.dumps(
+            {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
+        ).encode()
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -153,64 +136,23 @@ async def test_zmq_command_loop_valid_gesture_payload():
 
 
 @pytest.mark.asyncio
-async def test_zmq_command_loop_valid_non_gesture_payload():
+async def test_zmq_command_loop_invalid_tag():
-    """UI command with non-gesture endpoint is not handled by this agent."""
-    command = {"endpoint": "some_other_endpoint", "data": "anything"}
     fake_socket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
+        return b"command", json.dumps(
+            {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid"}
+        ).encode()
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
-    agent.subsocket = fake_socket
+        "robot_gesture",
-    agent.pubsocket = fake_socket
+        address="",
-    agent._running = True
+        gesture_tags=["hello"],
-
+    )
-    await agent._zmq_command_loop()
-
-    fake_socket.send_json.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_zmq_command_loop_invalid_gesture_tag():
-    """UI command with invalid gesture tag is not forwarded."""
-    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
-    fake_socket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        return (b"command", json.dumps(command).encode("utf-8"))
-
-    fake_socket.recv_multipart = recv_once
-    fake_socket.send_json = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture")
-    agent.subsocket = fake_socket
-    agent.pubsocket = fake_socket
-    agent._running = True
-
-    await agent._zmq_command_loop()
-
-    fake_socket.send_json.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_zmq_command_loop_invalid_json():
-    """Invalid JSON is ignored without sending."""
-    fake_socket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        return (b"command", b"{not_json}")
-
-    fake_socket.recv_multipart = recv_once
-    fake_socket.send_json = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -222,17 +164,16 @@ async def test_zmq_command_loop_invalid_json():
 
 @pytest.mark.asyncio
 async def test_zmq_command_loop_ignores_send_gestures_topic():
-    """send_gestures topic is ignored in command loop."""
     fake_socket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return (b"send_gestures", b"{}")
+        return b"send_gestures", b"{}"
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -243,150 +184,68 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_loop_without_amount():
+async def test_fetch_gestures_tags():
-    """Fetch gestures request without amount returns all tags."""
+    fake_repsocket = AsyncMock()
-    fake_socket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return (b"send_gestures", b"{}")
+        return {"type": "tags"}
 
-    fake_socket.recv_multipart = recv_once
+    fake_repsocket.recv_json = recv_once
-    fake_socket.send_multipart = AsyncMock()
+    fake_repsocket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
-    agent.subsocket = fake_socket
+        "robot_gesture",
-    agent.pubsocket = fake_socket
+        address="",
+        gesture_tags=["hello", "yes", "no"],
+    )
+    agent.repsocket = fake_repsocket
     agent._running = True
 
     await agent._fetch_gestures_loop()
 
-    fake_socket.send_multipart.assert_awaited_once()
+    fake_repsocket.send_json.assert_awaited_once_with({"tags": ["hello", "yes", "no"]})
-
-    # Check the response contains all tags
-    args, kwargs = fake_socket.send_multipart.call_args
-    assert args[0][0] == b"get_gestures"
-    response = json.loads(args[0][1])
-    assert "tags" in response
-    assert len(response["tags"]) > 0
-    # Check it includes some expected tags
-    assert "hello" in response["tags"]
-    assert "yes" in response["tags"]
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_loop_with_amount():
+async def test_fetch_gestures_basic():
-    """Fetch gestures request with amount returns limited tags."""
+    fake_repsocket = AsyncMock()
-    fake_socket = AsyncMock()
-    amount = 5
 
     async def recv_once():
         agent._running = False
-        return (b"send_gestures", json.dumps(amount).encode())
+        return {"type": "basic"}
 
-    fake_socket.recv_multipart = recv_once
+    fake_repsocket.recv_json = recv_once
-    fake_socket.send_multipart = AsyncMock()
+    fake_repsocket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent(
-    agent.subsocket = fake_socket
+        "robot_gesture",
-    agent.pubsocket = fake_socket
+        address="",
+        gesture_basic=["wave", "point"],
+    )
+    agent.repsocket = fake_repsocket
     agent._running = True
 
     await agent._fetch_gestures_loop()
 
-    fake_socket.send_multipart.assert_awaited_once()
+    fake_repsocket.send_json.assert_awaited_once_with({"basic_gestures": ["wave", "point"]})
-
-    args, kwargs = fake_socket.send_multipart.call_args
-    assert args[0][0] == b"get_gestures"
-    response = json.loads(args[0][1])
-    assert "tags" in response
-    assert len(response["tags"]) == amount
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_loop_ignores_command_topic():
+async def test_fetch_gestures_unknown_type():
-    """Command topic is ignored in fetch gestures loop."""
+    fake_repsocket = AsyncMock()
-    fake_socket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return (b"command", b"{}")
+        return {"type": "unknown"}
 
-    fake_socket.recv_multipart = recv_once
+    fake_repsocket.recv_json = recv_once
-    fake_socket.send_multipart = AsyncMock()
+    fake_repsocket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture")
+    agent = RobotGestureAgent("robot_gesture", address="")
-    agent.subsocket = fake_socket
+    agent.repsocket = fake_repsocket
-    agent.pubsocket = fake_socket
     agent._running = True
 
     await agent._fetch_gestures_loop()
 
-    fake_socket.send_multipart.assert_not_awaited()
+    fake_repsocket.send_json.assert_awaited_once_with({})
-
-
-@pytest.mark.asyncio
-async def test_fetch_gestures_loop_invalid_request():
-    """Invalid request body is handled gracefully."""
-    fake_socket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        # Send a non-integer, non-JSON body
-        return (b"send_gestures", b"not_json")
-
-    fake_socket.recv_multipart = recv_once
-    fake_socket.send_multipart = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture")
-    agent.subsocket = fake_socket
-    agent.pubsocket = fake_socket
-    agent._running = True
-
-    await agent._fetch_gestures_loop()
-
-    # Should still send a response (all tags)
-    fake_socket.send_multipart.assert_awaited_once()
-
-
-def test_available_tags():
-    """Test that availableTags returns the expected list."""
-    agent = RobotGestureAgent("robot_gesture")
-
-    tags = agent.availableTags()
-
-    assert isinstance(tags, list)
-    assert len(tags) > 0
-    # Check some expected tags are present
-    assert "hello" in tags
-    assert "yes" in tags
-    assert "no" in tags
-    # Check a non-existent tag is not present
-    assert "invalid_tag_not_in_list" not in tags
-
-
-@pytest.mark.asyncio
-async def test_stop_closes_sockets():
-    """Stop method closes both sockets."""
-    pubsocket = MagicMock()
-    subsocket = MagicMock()
-    agent = RobotGestureAgent("robot_gesture")
-    agent.pubsocket = pubsocket
-    agent.subsocket = subsocket
-
-    await agent.stop()
-
-    pubsocket.close.assert_called_once()
-    subsocket.close.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_initialization_with_custom_gesture_data():
-    """Agent can be initialized with custom gesture data."""
-    custom_gestures = ["custom1", "custom2", "custom3"]
-    agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures)
-
-    # Note: The current implementation doesn't use the gesture_data parameter
-    # in availableTags(). This test documents that behavior.
-    # If you update the agent to use gesture_data, update this test accordingly.
-    assert agent.gesture_data == custom_gestures

test/unit/agents/actuation/test_robot_speech_agent.py

@@ -8,6 +8,11 @@ from control_backend.agents.actuation.robot_speech_agent import RobotSpeechAgent
 from control_backend.core.agent_system import InternalMessage
 
 
+def mock_speech_agent():
+    agent = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=False)
+    return agent
+
+
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
@@ -56,10 +61,10 @@ async def test_setup_connect(zmq_context, mocker):
 async def test_handle_message_sends_command():
     """Internal message is forwarded to robot pub socket as JSON."""
     pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
 
-    payload = {"endpoint": "actuate/speech", "data": "hello"}
+    payload = {"endpoint": "actuate/speech", "data": "hello", "is_priority": False}
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
 
     await agent.handle_message(msg)
@@ -70,7 +75,7 @@ async def test_handle_message_sends_command():
 @pytest.mark.asyncio
 async def test_zmq_command_loop_valid_payload(zmq_context):
     """UI command is read from SUB and published."""
-    command = {"endpoint": "actuate/speech", "data": "hello"}
+    command = {"endpoint": "actuate/speech", "data": "hello", "is_priority": False}
     fake_socket = AsyncMock()
 
     async def recv_once():
@@ -80,7 +85,7 @@ async def test_zmq_command_loop_valid_payload(zmq_context):
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -101,7 +106,7 @@ async def test_zmq_command_loop_invalid_json():
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -115,7 +120,7 @@ async def test_zmq_command_loop_invalid_json():
 async def test_handle_message_invalid_payload():
     """Invalid payload is caught and does not send."""
     pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
 
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
@@ -129,7 +134,7 @@ async def test_handle_message_invalid_payload():
 async def test_stop_closes_sockets():
     pubsocket = MagicMock()
     subsocket = MagicMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
     agent.subsocket = subsocket
 

test/unit/agents/bdi/test_bdi_core_agent.py

@@ -1,4 +1,6 @@
+import asyncio
 import json
+import time
 from unittest.mock import AsyncMock, MagicMock, mock_open, patch
 
 import agentspeak
@@ -77,11 +79,6 @@ async def test_incorrect_belief_collector_message(agent, mock_settings):
     agent.bdi_agent.call.assert_not_called()  # did not set belief
 
 
-@pytest.mark.asyncio
-async def test():
-    pass
-
-
 @pytest.mark.asyncio
 async def test_handle_llm_response(agent):
     """Test that LLM responses are forwarded to the Robot Speech Agent"""
@@ -124,3 +121,148 @@ async def test_custom_actions(agent):
     next(gen)  # Execute
 
     agent._send_to_llm.assert_called_with("Hello", "Norm", "Goal")
+
+
+def test_add_belief_sets_event(agent):
+    """Test that a belief triggers wake event and call()"""
+    agent._wake_bdi_loop = MagicMock()
+
+    belief = Belief(name="test_belief", arguments=["a", "b"])
+    agent._apply_beliefs([belief])
+
+    assert agent.bdi_agent.call.called
+    agent._wake_bdi_loop.set.assert_called()
+
+
+def test_apply_beliefs_empty_returns(agent):
+    """Line: if not beliefs: return"""
+    agent._wake_bdi_loop = MagicMock()
+    agent._apply_beliefs([])
+    agent.bdi_agent.call.assert_not_called()
+    agent._wake_bdi_loop.set.assert_not_called()
+
+
+def test_remove_belief_success_wakes_loop(agent):
+    """Line: if result: wake set"""
+    agent._wake_bdi_loop = MagicMock()
+    agent.bdi_agent.call.return_value = True
+
+    agent._remove_belief("remove_me", ["x"])
+
+    assert agent.bdi_agent.call.called
+    trigger, goaltype, literal, *_ = agent.bdi_agent.call.call_args.args
+
+    assert trigger == agentspeak.Trigger.removal
+    assert goaltype == agentspeak.GoalType.belief
+    assert literal.functor == "remove_me"
+    assert literal.args[0].functor == "x"
+
+    agent._wake_bdi_loop.set.assert_called()
+
+
+def test_remove_belief_failure_does_not_wake(agent):
+    """Line: else result is False"""
+    agent._wake_bdi_loop = MagicMock()
+    agent.bdi_agent.call.return_value = False
+
+    agent._remove_belief("not_there", ["y"])
+
+    assert agent.bdi_agent.call.called  # removal was attempted
+    agent._wake_bdi_loop.set.assert_not_called()
+
+
+def test_remove_all_with_name_wakes_loop(agent):
+    """Cover _remove_all_with_name() removed counter + wake"""
+    agent._wake_bdi_loop = MagicMock()
+
+    fake_literal = agentspeak.Literal("delete_me", (agentspeak.Literal("arg1"),))
+    fake_key = ("delete_me", 1)
+    agent.bdi_agent.beliefs = {fake_key: {fake_literal}}
+
+    agent._remove_all_with_name("delete_me")
+
+    assert agent.bdi_agent.call.called
+    agent._wake_bdi_loop.set.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_bdi_step_true_branch_hits_line_67(agent):
+    """Force step() to return True once so line 67 is actually executed"""
+    # counter that isn't tied to MagicMock.call_count ordering
+    counter = {"i": 0}
+
+    def fake_step():
+        counter["i"] += 1
+        return counter["i"] == 1  # True only first time
+
+    # Important: wrap fake_step into another mock so `.called` still exists
+    agent.bdi_agent.step = MagicMock(side_effect=fake_step)
+    agent.bdi_agent.shortest_deadline = MagicMock(return_value=None)
+
+    agent._running = True
+    agent._wake_bdi_loop = asyncio.Event()
+    agent._wake_bdi_loop.set()
+
+    task = asyncio.create_task(agent._bdi_loop())
+    await asyncio.sleep(0.01)
+    task.cancel()
+    try:
+        await task
+    except asyncio.CancelledError:
+        pass
+
+    assert agent.bdi_agent.step.called
+    assert counter["i"] >= 1  # proves True branch ran
+
+
+def test_replace_belief_calls_remove_all(agent):
+    """Cover: if belief.replace: self._remove_all_with_name()"""
+    agent._remove_all_with_name = MagicMock()
+    agent._wake_bdi_loop = MagicMock()
+
+    belief = Belief(name="user_said", arguments=["Hello"], replace=True)
+    agent._apply_beliefs([belief])
+
+    agent._remove_all_with_name.assert_called_with("user_said")
+
+
+@pytest.mark.asyncio
+async def test_send_to_llm_creates_prompt_and_sends(agent):
+    """Cover entire _send_to_llm() including message send and logger.info"""
+    agent.bdi_agent = MagicMock()  # ensure mocked BDI does not interfere
+    agent._wake_bdi_loop = MagicMock()
+
+    await agent._send_to_llm("hello world", "n1\nn2", "g1")
+
+    # send() was called
+    assert agent.send.called
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    # Message routing values correct
+    assert sent_msg.to == settings.agent_settings.llm_name
+    assert "hello world" in sent_msg.body
+
+    # JSON contains split norms/goals
+    body = json.loads(sent_msg.body)
+    assert body["norms"] == ["n1", "n2"]
+    assert body["goals"] == ["g1"]
+
+
+@pytest.mark.asyncio
+async def test_deadline_sleep_branch(agent):
+    """Specifically assert the if deadline: sleep → maybe_more_work=True branch"""
+    future_deadline = time.time() + 0.005
+    agent.bdi_agent.step.return_value = False
+    agent.bdi_agent.shortest_deadline.return_value = future_deadline
+
+    start_time = time.time()
+    agent._running = True
+    agent._wake_bdi_loop = asyncio.Event()
+    agent._wake_bdi_loop.set()
+
+    task = asyncio.create_task(agent._bdi_loop())
+    await asyncio.sleep(0.01)
+    task.cancel()
+
+    duration = time.time() - start_time
+    assert duration >= 0.004  # loop slept until deadline

test/unit/agents/bdi/test_bdi_program_manager.py

@@ -0,0 +1,99 @@
+import asyncio
+import json
+import sys
+from unittest.mock import AsyncMock
+
+import pytest
+
+from control_backend.agents.bdi.bdi_program_manager import BDIProgramManager
+from control_backend.core.agent_system import InternalMessage
+from control_backend.schemas.belief_message import BeliefMessage
+from control_backend.schemas.program import Program
+
+# Fix Windows Proactor loop for zmq
+if sys.platform.startswith("win"):
+    asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())
+
+
+def make_valid_program_json(norm="N1", goal="G1"):
+    return json.dumps(
+        {
+            "phases": [
+                {
+                    "id": "phase1",
+                    "label": "Phase 1",
+                    "triggers": [],
+                    "norms": [{"id": "n1", "label": "Norm 1", "norm": norm}],
+                    "goals": [
+                        {"id": "g1", "label": "Goal 1", "description": goal, "achieved": False}
+                    ],
+                }
+            ]
+        }
+    )
+
+
+@pytest.mark.asyncio
+async def test_send_to_bdi():
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    program = Program.model_validate_json(make_valid_program_json())
+    await manager._send_to_bdi(program)
+
+    assert manager.send.await_count == 1
+    msg: InternalMessage = manager.send.await_args[0][0]
+    assert msg.thread == "beliefs"
+
+    beliefs = BeliefMessage.model_validate_json(msg.body)
+    names = {b.name: b.arguments for b in beliefs.beliefs}
+
+    assert "norms" in names and names["norms"] == ["N1"]
+    assert "goals" in names and names["goals"] == ["G1"]
+
+
+@pytest.mark.asyncio
+async def test_receive_programs_valid_and_invalid():
+    sub = AsyncMock()
+    sub.recv_multipart.side_effect = [
+        (b"program", b"{bad json"),
+        (b"program", make_valid_program_json().encode()),
+    ]
+
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.sub_socket = sub
+    manager._send_to_bdi = AsyncMock()
+    manager._send_clear_llm_history = AsyncMock()
+
+    try:
+        # Will give StopAsyncIteration when the predefined `sub.recv_multipart` side-effects run out
+        await manager._receive_programs()
+    except StopAsyncIteration:
+        pass
+
+    # Only valid Program should have triggered _send_to_bdi
+    assert manager._send_to_bdi.await_count == 1
+    forwarded: Program = manager._send_to_bdi.await_args[0][0]
+    assert forwarded.phases[0].norms[0].norm == "N1"
+    assert forwarded.phases[0].goals[0].description == "G1"
+
+    # Verify history clear was triggered
+    assert manager._send_clear_llm_history.await_count == 1
+
+
+@pytest.mark.asyncio
+async def test_send_clear_llm_history(mock_settings):
+    # Ensure the mock returns a string for the agent name (just like in your LLM tests)
+    mock_settings.agent_settings.llm_agent_name = "llm_agent"
+
+    manager = BDIProgramManager(name="program_manager_test")
+    manager.send = AsyncMock()
+
+    await manager._send_clear_llm_history()
+
+    assert manager.send.await_count == 1
+    msg: InternalMessage = manager.send.await_args[0][0]
+
+    # Verify the content and recipient
+    assert msg.body == "clear_history"
+    assert msg.to == "llm_agent"

test/unit/agents/bdi/test_belief_collector.py

@@ -87,3 +87,49 @@ async def test_send_beliefs_to_bdi(agent):
     assert sent.to == settings.agent_settings.bdi_core_name
     assert sent.thread == "beliefs"
     assert json.loads(sent.body)["beliefs"] == [belief.model_dump() for belief in beliefs]
+
+
+@pytest.mark.asyncio
+async def test_setup_executes(agent):
+    """Covers setup and asserts the agent has a name."""
+    await agent.setup()
+    assert agent.name == "belief_collector_agent"  # simple property assertion
+
+
+@pytest.mark.asyncio
+async def test_handle_message_unrecognized_type_executes(agent):
+    """Covers the else branch for unrecognized message type."""
+    payload = {"type": "unknown_type"}
+    msg = make_msg(payload, sender="tester")
+    # Wrap send to ensure nothing is sent
+    agent.send = AsyncMock()
+    await agent.handle_message(msg)
+    # Assert no messages were sent
+    agent.send.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_emo_text_executes(agent):
+    """Covers the _handle_emo_text method."""
+    # The method does nothing, but we can assert it returns None
+    result = await agent._handle_emo_text({}, "origin")
+    assert result is None
+
+
+@pytest.mark.asyncio
+async def test_send_beliefs_to_bdi_empty_executes(agent):
+    """Covers early return when beliefs are empty."""
+    agent.send = AsyncMock()
+    await agent._send_beliefs_to_bdi({})
+    # Assert that nothing was sent
+    agent.send.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_belief_text_invalid_returns_none(agent, mocker):
+    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": "invalid-argument"}}
+
+    result = await agent._handle_belief_text(payload, "origin")
+
+    # The method itself returns None
+    assert result is None

test/unit/agents/bdi/test_text_extractor.py

@@ -56,3 +56,10 @@ async def test_process_transcription_demo(agent, mock_settings):
     assert sent.thread == "beliefs"
     parsed = json.loads(sent.body)
     assert parsed["beliefs"]["user_said"] == [transcription]
+
+
+@pytest.mark.asyncio
+async def test_setup_initializes_beliefs(agent):
+    """Covers the setup method and ensures beliefs are initialized."""
+    await agent.setup()
+    assert agent.beliefs == {"mood": ["X"], "car": ["Y"]}

test/unit/agents/communication/test_ri_communication_agent.py

@@ -61,15 +61,18 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
     fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
     MockSpeech.return_value.start.assert_awaited_once()
     MockGesture.return_value.start.assert_awaited_once()
+
     MockSpeech.assert_called_once_with(ANY, address="tcp://localhost:5556", bind=False)
     MockGesture.assert_called_once_with(
         ANY,
         address="tcp://localhost:5556",
         bind=False,
-        gesture_data=[],
+        gesture_tags=[],
+        gesture_basic=[],
+        gesture_single=[],
     )
-    agent.add_behavior.assert_called_once()
 
+    agent.add_behavior.assert_called_once()
     assert agent.connected is True
 
 
@@ -354,3 +357,13 @@ async def test_listen_loop_ping_sends_internal(zmq_context):
     await agent._listen_loop()
 
     pub_socket.send_multipart.assert_awaited()
+
+
+@pytest.mark.asyncio
+async def test_negotiate_req_socket_none_causes_retry(zmq_context):
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = None
+
+    result = await agent._negotiate_connection(max_retries=1)
+
+    assert result is False

test/unit/agents/llm/test_llm_agent.py

@@ -49,6 +49,9 @@ async def test_llm_processing_success(mock_httpx_client, mock_settings):
     agent = LLMAgent("llm_agent")
     agent.send = AsyncMock()  # Mock the send method to verify replies
 
+    mock_logger = MagicMock()
+    agent.logger = mock_logger
+
     # Simulate receiving a message from BDI
     prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
     msg = InternalMessage(
@@ -134,3 +137,151 @@ def test_llm_instructions():
     text_def = instr_def.build_developer_instruction()
     assert "Norms to follow" in text_def
     assert "Goals to reach" in text_def
+
+
+@pytest.mark.asyncio
+async def test_handle_message_validation_error_branch_no_send(mock_httpx_client, mock_settings):
+    """
+    Covers the ValidationError branch:
+        except ValidationError:
+            self.logger.debug("Prompt message from BDI core is invalid.")
+    Assert: no message is sent.
+    """
+    agent = LLMAgent("llm_agent")
+    agent.send = AsyncMock()
+
+    # Invalid JSON that triggers ValidationError in LLMPromptMessage
+    invalid_json = '{"text": "Hi", "wrong_field": 123}'  # field not in schema
+
+    msg = InternalMessage(
+        to="llm_agent",
+        sender=mock_settings.agent_settings.bdi_core_name,
+        body=invalid_json,
+    )
+
+    await agent.handle_message(msg)
+
+    # Should not send any reply
+    agent.send.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_ignored_sender_branch_no_send(mock_httpx_client, mock_settings):
+    """
+    Covers the else branch for messages not from BDI core:
+        else:
+            self.logger.debug("Message ignored (not from BDI core.")
+    Assert: no message is sent.
+    """
+    agent = LLMAgent("llm_agent")
+    agent.send = AsyncMock()
+
+    msg = InternalMessage(
+        to="llm_agent",
+        sender="some_other_agent",  # Not BDI core
+        body='{"text": "Hi"}',
+    )
+
+    await agent.handle_message(msg)
+
+    # Should not send any reply
+    agent.send.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_query_llm_yields_final_tail_chunk(mock_settings):
+    """
+    Covers the branch: if current_chunk: yield current_chunk
+    Ensure that the last partial chunk is emitted.
+    """
+    agent = LLMAgent("llm_agent")
+    agent.send = AsyncMock()
+
+    agent.logger = MagicMock()
+    agent.logger.llm = MagicMock()
+
+    # Patch _stream_query_llm to yield tokens that do NOT end with punctuation
+    async def fake_stream(messages):
+        yield "Hello"
+        yield " world"  # No punctuation to trigger the normal chunking
+
+    agent._stream_query_llm = fake_stream
+
+    prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
+
+    # Collect chunks yielded
+    chunks = []
+    async for chunk in agent._query_llm(prompt.text, prompt.norms, prompt.goals):
+        chunks.append(chunk)
+
+    # The final chunk should be yielded
+    assert chunks[-1] == "Hello world"
+    assert any("Hello" in c for c in chunks)
+
+
+@pytest.mark.asyncio
+async def test_stream_query_llm_skips_non_data_lines(mock_httpx_client, mock_settings):
+    """
+    Covers: if not line or not line.startswith("data: "): continue
+    Feed lines that are empty or do not start with 'data:' and check they are skipped.
+    """
+    # Mock response
+    mock_response = MagicMock()
+    mock_response.raise_for_status = MagicMock()
+
+    lines = [
+        "",  # empty line
+        "not data",  # invalid prefix
+        'data: {"choices": [{"delta": {"content": "Hi"}}]}',
+        "data: [DONE]",
+    ]
+
+    async def aiter_lines_gen():
+        for line in lines:
+            yield line
+
+    mock_response.aiter_lines.side_effect = aiter_lines_gen
+
+    # Proper async context manager for stream
+    mock_stream_context = MagicMock()
+    mock_stream_context.__aenter__ = AsyncMock(return_value=mock_response)
+    mock_stream_context.__aexit__ = AsyncMock(return_value=None)
+
+    # Make stream return the async context manager
+    mock_httpx_client.stream = MagicMock(return_value=mock_stream_context)
+
+    agent = LLMAgent("llm_agent")
+    agent.send = AsyncMock()
+
+    # Patch settings for local LLM URL
+    with patch("control_backend.agents.llm.llm_agent.settings") as mock_sett:
+        mock_sett.llm_settings.local_llm_url = "http://localhost"
+        mock_sett.llm_settings.local_llm_model = "test-model"
+
+        # Collect tokens
+        tokens = []
+        async for token in agent._stream_query_llm([]):
+            tokens.append(token)
+
+    # Only the valid 'data:' line should yield content
+    assert tokens == ["Hi"]
+
+
+@pytest.mark.asyncio
+async def test_clear_history_command(mock_settings):
+    """Test that the 'clear_history' message clears the agent's memory."""
+    # setup LLM to have some history
+    mock_settings.agent_settings.bdi_program_manager_name = "bdi_program_manager_agent"
+    agent = LLMAgent("llm_agent")
+    agent.history = [
+        {"role": "user", "content": "Old conversation context"},
+        {"role": "assistant", "content": "Old response"},
+    ]
+    assert len(agent.history) == 2
+    msg = InternalMessage(
+        to="llm_agent",
+        sender=mock_settings.agent_settings.bdi_program_manager_name,
+        body="clear_history",
+    )
+    await agent.handle_message(msg)
+    assert len(agent.history) == 0

test/unit/agents/perception/transcription_agent/test_transcription_agent.py

@@ -120,3 +120,83 @@ def test_mlx_recognizer():
                     mlx_mock.transcribe.return_value = {"text": "Hi"}
                     res = rec.recognize_speech(np.zeros(10))
                     assert res == "Hi"
+
+
+@pytest.mark.asyncio
+async def test_transcription_loop_continues_after_error(mock_zmq_context):
+    mock_sub = MagicMock()
+    mock_sub.recv = AsyncMock()
+    mock_zmq_context.instance.return_value.socket.return_value = mock_sub
+
+    fake_audio = np.zeros(16000, dtype=np.float32).tobytes()
+
+    mock_sub.recv.side_effect = [
+        fake_audio,  # first iteration → recognizer fails
+        asyncio.CancelledError(),  # second iteration → stop loop
+    ]
+
+    with patch.object(SpeechRecognizer, "best_type") as mock_best:
+        mock_recognizer = MagicMock()
+        mock_recognizer.recognize_speech.side_effect = RuntimeError("fail")
+        mock_best.return_value = mock_recognizer
+
+        agent = TranscriptionAgent("tcp://in")
+        agent._running = True  # ← REQUIRED to enter the loop
+        agent.send = AsyncMock()  # should never be called
+        agent.add_behavior = AsyncMock()  # match other tests
+
+        await agent.setup()
+
+        try:
+            await agent._transcribing_loop()
+        except asyncio.CancelledError:
+            pass
+
+        # recognizer failed, so we should never send anything
+        agent.send.assert_not_called()
+
+        # recv must have been called twice (audio then CancelledError)
+        assert mock_sub.recv.call_count == 2
+
+
+@pytest.mark.asyncio
+async def test_transcription_continue_branch_when_empty(mock_zmq_context):
+    mock_sub = MagicMock()
+    mock_sub.recv = AsyncMock()
+    mock_zmq_context.instance.return_value.socket.return_value = mock_sub
+
+    # First recv → audio chunk
+    # Second recv → Cancel loop → stop iteration
+    fake_audio = np.zeros(16000, dtype=np.float32).tobytes()
+    mock_sub.recv.side_effect = [fake_audio, asyncio.CancelledError()]
+
+    with patch.object(SpeechRecognizer, "best_type") as mock_best:
+        mock_recognizer = MagicMock()
+        mock_recognizer.recognize_speech.return_value = ""  # <— triggers the continue branch
+        mock_best.return_value = mock_recognizer
+
+        agent = TranscriptionAgent("tcp://in")
+
+        # Make loop runnable
+        agent._running = True
+        agent.send = AsyncMock()
+        agent.add_behavior = AsyncMock()
+
+        await agent.setup()
+
+        # Execute loop manually
+        try:
+            await agent._transcribing_loop()
+        except asyncio.CancelledError:
+            pass
+
+        # → Because of "continue", NO sending should occur
+        agent.send.assert_not_called()
+
+        # → Continue was hit, so we must have read exactly 2 times:
+        #    - first audio
+        #    - second CancelledError
+        assert mock_sub.recv.call_count == 2
+
+        # → recognizer was called once (first iteration)
+        assert mock_recognizer.recognize_speech.call_count == 1

test/unit/agents/perception/vad_agent/test_vad_streaming.py

@@ -1,11 +1,21 @@
-from unittest.mock import AsyncMock, MagicMock
+from unittest.mock import AsyncMock, MagicMock, patch
 
 import numpy as np
 import pytest
+import zmq
 
 from control_backend.agents.perception.vad_agent import VADAgent
 
 
+# We don't want to use real ZMQ in unit tests, for example because it can give errors when sockets
+# aren't closed properly.
+@pytest.fixture(autouse=True)
+def mock_zmq():
+    with patch("zmq.asyncio.Context") as mock:
+        mock.instance.return_value = MagicMock()
+        yield mock
+
+
 @pytest.fixture
 def audio_out_socket():
     return AsyncMock()
@@ -123,3 +133,42 @@ async def test_no_data(audio_out_socket, vad_agent):
 
     audio_out_socket.send.assert_not_called()
     assert len(vad_agent.audio_buffer) == 0
+
+
+@pytest.mark.asyncio
+async def test_vad_model_load_failure_stops_agent(vad_agent):
+    """
+    Test that if loading the VAD model raises an Exception, it is caught,
+    the agent logs an exception, stops itself, and setup returns.
+    """
+    # Patch torch.hub.load to raise an exception
+    with patch(
+        "control_backend.agents.perception.vad_agent.torch.hub.load",
+        side_effect=Exception("model fail"),
+    ):
+        # Patch stop to an AsyncMock so we can check it was awaited
+        vad_agent.stop = AsyncMock()
+
+        await vad_agent.setup()
+
+        # Assert stop was called
+        vad_agent.stop.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_audio_out_bind_failure_sets_none_and_logs(vad_agent, caplog):
+    """
+    Test that if binding the output socket raises ZMQBindError,
+    audio_out_socket is set to None, None is returned, and an error is logged.
+    """
+    mock_socket = MagicMock()
+    mock_socket.bind.side_effect = zmq.ZMQBindError()
+    with patch("control_backend.agents.perception.vad_agent.azmq.Context.instance") as mock_ctx:
+        mock_ctx.return_value.socket.return_value = mock_socket
+
+        with caplog.at_level("ERROR"):
+            port = vad_agent._connect_audio_out_socket()
+
+        assert port is None
+        assert vad_agent.audio_out_socket is None
+        assert caplog.text is not None

test/unit/agents/user_interrupt/test_user_interrupt.py

@@ -0,0 +1,146 @@
+import asyncio
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+
+from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import RIEndpoint
+
+
+@pytest.fixture
+def agent():
+    agent = UserInterruptAgent(name="user_interrupt_agent")
+    agent.send = AsyncMock()
+    agent.logger = MagicMock()
+    agent.sub_socket = AsyncMock()
+    return agent
+
+
+@pytest.mark.asyncio
+async def test_send_to_speech_agent(agent):
+    """Verify speech command format."""
+    await agent._send_to_speech_agent("Hello World")
+
+    agent.send.assert_awaited_once()
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    assert sent_msg.to == settings.agent_settings.robot_speech_name
+    body = json.loads(sent_msg.body)
+    assert body["data"] == "Hello World"
+    assert body["is_priority"] is True
+
+
+@pytest.mark.asyncio
+async def test_send_to_gesture_agent(agent):
+    """Verify gesture command format."""
+    await agent._send_to_gesture_agent("wave_hand")
+
+    agent.send.assert_awaited_once()
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    assert sent_msg.to == settings.agent_settings.robot_gesture_name
+    body = json.loads(sent_msg.body)
+    assert body["data"] == "wave_hand"
+    assert body["is_priority"] is True
+    assert body["endpoint"] == RIEndpoint.GESTURE_SINGLE.value
+
+
+@pytest.mark.asyncio
+async def test_send_to_program_manager(agent):
+    """Verify belief update format."""
+    context_str = "2"
+
+    await agent._send_to_program_manager(context_str)
+
+    agent.send.assert_awaited_once()
+    sent_msg: InternalMessage = agent.send.call_args.args[0]
+
+    assert sent_msg.to == settings.agent_settings.bdi_program_manager_name
+    assert sent_msg.thread == "belief_override_id"
+
+    body = json.loads(sent_msg.body)
+
+    assert body["belief"] == context_str
+
+
+@pytest.mark.asyncio
+async def test_receive_loop_routing_success(agent):
+    """
+    Test that the loop correctly:
+    1. Receives 'button_pressed' topic from ZMQ
+    2. Parses the JSON payload to find 'type' and 'context'
+    3. Calls the correct handler method based on 'type'
+    """
+    # Prepare JSON payloads as bytes
+    payload_speech = json.dumps({"type": "speech", "context": "Hello Speech"}).encode()
+    payload_gesture = json.dumps({"type": "gesture", "context": "Hello Gesture"}).encode()
+    payload_override = json.dumps({"type": "override", "context": "Hello Override"}).encode()
+
+    agent.sub_socket.recv_multipart.side_effect = [
+        (b"button_pressed", payload_speech),
+        (b"button_pressed", payload_gesture),
+        (b"button_pressed", payload_override),
+        asyncio.CancelledError,  # Stop the infinite loop
+    ]
+
+    agent._send_to_speech_agent = AsyncMock()
+    agent._send_to_gesture_agent = AsyncMock()
+    agent._send_to_program_manager = AsyncMock()
+
+    try:
+        await agent._receive_button_event()
+    except asyncio.CancelledError:
+        pass
+
+    await asyncio.sleep(0)
+
+    # Speech
+    agent._send_to_speech_agent.assert_awaited_once_with("Hello Speech")
+
+    # Gesture
+    agent._send_to_gesture_agent.assert_awaited_once_with("Hello Gesture")
+
+    # Override
+    agent._send_to_program_manager.assert_awaited_once_with("Hello Override")
+
+    assert agent._send_to_speech_agent.await_count == 1
+    assert agent._send_to_gesture_agent.await_count == 1
+    assert agent._send_to_program_manager.await_count == 1
+
+
+@pytest.mark.asyncio
+async def test_receive_loop_unknown_type(agent):
+    """Test that unknown 'type' values in the JSON log a warning and do not crash."""
+
+    # Prepare a payload with an unknown type
+    payload_unknown = json.dumps({"type": "unknown_thing", "context": "some_data"}).encode()
+
+    agent.sub_socket.recv_multipart.side_effect = [
+        (b"button_pressed", payload_unknown),
+        asyncio.CancelledError,
+    ]
+
+    agent._send_to_speech_agent = AsyncMock()
+    agent._send_to_gesture_agent = AsyncMock()
+    agent._send_to_belief_collector = AsyncMock()
+
+    try:
+        await agent._receive_button_event()
+    except asyncio.CancelledError:
+        pass
+
+    await asyncio.sleep(0)
+
+    # Ensure no handlers were called
+    agent._send_to_speech_agent.assert_not_called()
+    agent._send_to_gesture_agent.assert_not_called()
+    agent._send_to_belief_collector.assert_not_called()
+
+    agent.logger.warning.assert_called_with(
+        "Received button press with unknown type '%s' (context: '%s').",
+        "unknown_thing",
+        "some_data",
+    )

test/unit/api/v1/endpoints/test_logs_endpoint.py

@@ -0,0 +1,63 @@
+from unittest.mock import patch
+
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+from starlette.responses import StreamingResponse
+
+from control_backend.api.v1.endpoints import logs
+
+
+@pytest.fixture
+def client():
+    """TestClient with logs router included."""
+    app = FastAPI()
+    app.include_router(logs.router)
+    return TestClient(app)
+
+
+@pytest.mark.asyncio
+async def test_log_stream_endpoint_lines(client):
+    """Call /logs/stream with a mocked ZMQ socket to cover all lines."""
+
+    # Dummy socket to mock ZMQ behavior
+    class DummySocket:
+        def __init__(self):
+            self.subscribed = []
+            self.connected = False
+            self.recv_count = 0
+
+        def subscribe(self, topic):
+            self.subscribed.append(topic)
+
+        def connect(self, addr):
+            self.connected = True
+
+        async def recv_multipart(self):
+            # Return one message, then stop generator
+            if self.recv_count == 0:
+                self.recv_count += 1
+                return (b"INFO", b"test message")
+            else:
+                raise StopAsyncIteration
+
+    dummy_socket = DummySocket()
+
+    # Patch Context.instance().socket() to return dummy socket
+    with patch("control_backend.api.v1.endpoints.logs.Context.instance") as mock_context:
+        mock_context.return_value.socket.return_value = dummy_socket
+
+        # Call the endpoint directly
+        response = await logs.log_stream()
+        assert isinstance(response, StreamingResponse)
+
+        # Fetch one chunk from the generator
+        gen = response.body_iterator
+        chunk = await gen.__anext__()
+        if isinstance(chunk, bytes):
+            chunk = chunk.decode("utf-8")
+        assert "data:" in chunk
+
+        # Optional: assert subscribe/connect were called
+        assert dummy_socket.subscribed  # at least some log levels subscribed
+        assert dummy_socket.connected  # connect was called

test/unit/api/v1/endpoints/test_message_endpoint.py

@@ -0,0 +1,45 @@
+import json
+
+import pytest
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.endpoints import message
+
+
+@pytest.fixture
+def client():
+    """FastAPI TestClient for the message router."""
+    from fastapi import FastAPI
+
+    app = FastAPI()
+    app.include_router(message.router)
+    return TestClient(app)
+
+
+def test_receive_message_post(client, monkeypatch):
+    """Test POST /message endpoint sends message to pub socket."""
+
+    # Dummy pub socket to capture sent messages
+    class DummyPubSocket:
+        def __init__(self):
+            self.sent = []
+
+        async def send_multipart(self, msg):
+            self.sent.append(msg)
+
+    dummy_socket = DummyPubSocket()
+
+    # Patch app.state.endpoints_pub_socket
+    client.app.state.endpoints_pub_socket = dummy_socket
+
+    data = {"message": "Hello world"}
+    response = client.post("/message", json=data)
+
+    assert response.status_code == 202
+    assert response.json() == {"status": "Message received"}
+
+    # Ensure the message was sent via pub_socket
+    assert len(dummy_socket.sent) == 1
+    topic, body = dummy_socket.sent[0]
+    parsed = json.loads(body.decode("utf-8"))
+    assert parsed["message"] == "Hello world"

test/unit/api/v1/endpoints/test_robot_endpoint.py

@@ -1,3 +1,4 @@
+# tests/test_robot_endpoints.py
 import json
 from unittest.mock import AsyncMock, MagicMock, patch
 
@@ -29,7 +30,7 @@ def client(app):
 
 @pytest.fixture
 def mock_zmq_context():
-    """Mock the ZMQ context."""
+    """Mock the ZMQ context used by the endpoint module."""
     with patch("control_backend.api.v1.endpoints.robot.Context.instance") as mock_context:
         context_instance = MagicMock()
         mock_context.return_value = context_instance
@@ -38,13 +39,13 @@ def mock_zmq_context():
 
 @pytest.fixture
 def mock_sockets(mock_zmq_context):
-    """Mock ZMQ sockets."""
+    """Optional helper if you want both a sub and req/push socket available."""
     mock_sub_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_pub_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
 
     mock_zmq_context.socket.return_value = mock_sub_socket
 
-    return {"sub": mock_sub_socket, "pub": mock_pub_socket}
+    return {"sub": mock_sub_socket, "req": mock_req_socket}
 
 
 def test_receive_speech_command_success(client):
@@ -61,11 +62,11 @@ def test_receive_speech_command_success(client):
     speech_command = SpeechCommand(**command_data)
 
     # Act
-    response = client.post("/command", json=command_data)
+    response = client.post("/command/speech", json=command_data)
 
     # Assert
     assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
+    assert response.json() == {"status": "Speech command received"}
 
     # Verify that the ZMQ socket was used correctly
     mock_pub_socket.send_multipart.assert_awaited_once_with(
@@ -75,9 +76,8 @@ def test_receive_speech_command_success(client):
 
 def test_receive_gesture_command_success(client):
     """
-    Test for successful reception of a command. Ensures the status code is 202 and the response body
+    Test for successful reception of a command that is a gesture command.
-    is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
+    Ensures the status code is 202 and the response body is correct.
-    expected data.
     """
     # Arrange
     mock_pub_socket = AsyncMock()
@@ -87,11 +87,11 @@ def test_receive_gesture_command_success(client):
     gesture_command = GestureCommand(**command_data)
 
     # Act
-    response = client.post("/command", json=command_data)
+    response = client.post("/command/gesture", json=command_data)
 
     # Assert
     assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
+    assert response.json() == {"status": "Gesture command received"}
 
     # Verify that the ZMQ socket was used correctly
     mock_pub_socket.send_multipart.assert_awaited_once_with(
@@ -99,13 +99,23 @@ def test_receive_gesture_command_success(client):
     )
 
 
-def test_receive_command_invalid_payload(client):
+def test_receive_speech_command_invalid_payload(client):
     """
     Test invalid data handling (schema validation).
     """
     # Missing required field(s)
     bad_payload = {"invalid": "data"}
-    response = client.post("/command", json=bad_payload)
+    response = client.post("/command/speech", json=bad_payload)
+    assert response.status_code == 422  # validation error
+
+
+def test_receive_gesture_command_invalid_payload(client):
+    """
+    Test invalid data handling (schema validation).
+    """
+    # Missing required field(s)
+    bad_payload = {"invalid": "data"}
+    response = client.post("/command/gesture", json=bad_payload)
     assert response.status_code == 422  # validation error
 
 
@@ -116,7 +126,9 @@ def test_ping_check_returns_none(client):
     assert response.json() is None
 
 
-# TODO: Convert these mock sockets to the fixture.
+# ----------------------------
+# ping_stream tests (unchanged behavior)
+# ----------------------------
 @pytest.mark.asyncio
 async def test_ping_stream_yields_ping_event(monkeypatch):
     """Test that ping_stream yields a proper SSE message when a ping is received."""
@@ -129,6 +141,11 @@ async def test_ping_stream_yields_ping_event(monkeypatch):
     mock_context.socket.return_value = mock_sub_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
+    # patch settings address used by ping_stream
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
     mock_request = AsyncMock()
     mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
 
@@ -142,7 +159,7 @@ async def test_ping_stream_yields_ping_event(monkeypatch):
     with pytest.raises(StopAsyncIteration):
         await anext(generator)
 
-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
     mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
     mock_sub_socket.recv_multipart.assert_awaited()
 
@@ -159,6 +176,10 @@ async def test_ping_stream_handles_timeout(monkeypatch):
     mock_context.socket.return_value = mock_sub_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
     mock_request = AsyncMock()
     mock_request.is_disconnected = AsyncMock(return_value=True)
 
@@ -168,7 +189,7 @@ async def test_ping_stream_handles_timeout(monkeypatch):
     with pytest.raises(StopAsyncIteration):
         await anext(generator)
 
-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
     mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
     mock_sub_socket.recv_multipart.assert_awaited()
 
@@ -187,6 +208,10 @@ async def test_ping_stream_yields_json_values(monkeypatch):
     mock_context.socket.return_value = mock_sub_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
     mock_request = AsyncMock()
     mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
 
@@ -199,254 +224,169 @@ async def test_ping_stream_yields_json_values(monkeypatch):
     assert "connected" in event_text
     assert "true" in event_text
 
-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
     mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
     mock_sub_socket.recv_multipart.assert_awaited()
 
 
-# New tests for get_available_gesture_tags endpoint
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_success(client, monkeypatch):
+async def test_get_available_single_gestures_success(client, monkeypatch):
     """
-    Test successful retrieval of available gesture tags.
+    Test successful retrieval of single gestures.
     """
-    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_sub_socket = AsyncMock()
+    mock_req_socket.connect = MagicMock()
-    mock_sub_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
-    mock_sub_socket.setsockopt = MagicMock()
+    response_data = {"single_gestures": ["wave", "point"]}
-
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
-    # Simulate a response with gesture tags
-    response_data = {"tags": ["wave", "nod", "point", "dance"]}
-    mock_sub_socket.recv_multipart = AsyncMock(
-        return_value=[b"get_gestures", json.dumps(response_data).encode()]
-    )
 
     mock_context = MagicMock()
-    mock_context.socket.return_value = mock_sub_socket
+    mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    mock_pub_socket = AsyncMock()
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
-    client.app.state.endpoints_pub_socket = mock_pub_socket
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
 
-    # Mock settings
+    response = client.get("/commands/gesture/single")
-    mock_settings = MagicMock()
-    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
-    monkeypatch.setattr(robot, "settings", mock_settings)
 
-    # Mock logger to avoid actual logging
-    mock_logger = MagicMock()
-    monkeypatch.setattr(robot.logger, "debug", mock_logger)
-
-    # Act
-    response = client.get("/get_available_gesture_tags")
-
-    # Assert
     assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": ["wave", "nod", "point", "dance"]}
+    assert response.json() == {"available_gestures": ["wave", "point"]}
 
-    # Verify ZeroMQ interactions
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
-    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
+    mock_req_socket.send_json.assert_awaited_once_with({"type": "single", "count": None})
-    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"get_gestures")
+    mock_req_socket.recv.assert_awaited_once()
-    mock_pub_socket.send_multipart.assert_awaited_once_with([b"send_gestures", b""])
-    mock_sub_socket.recv_multipart.assert_awaited_once()
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_with_amount(client, monkeypatch):
+async def test_get_available_single_gestures_timeout(client, monkeypatch):
-    """
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    Test retrieval of gesture tags with a specific amount parameter.
+    mock_req_socket.connect = MagicMock()
-    This tests the TODO in the endpoint about getting a certain amount from the UI.
+    mock_req_socket.send_json = AsyncMock()
-    """
+    mock_req_socket.recv = AsyncMock(side_effect=TimeoutError)
-    # Arrange
-    mock_sub_socket = AsyncMock()
-    mock_sub_socket.connect = MagicMock()
-    mock_sub_socket.setsockopt = MagicMock()
-
-    # Simulate a response with gesture tags
-    response_data = {"tags": ["wave", "nod"]}
-    mock_sub_socket.recv_multipart = AsyncMock(
-        return_value=[b"get_gestures", json.dumps(response_data).encode()]
-    )
 
     mock_context = MagicMock()
-    mock_context.socket.return_value = mock_sub_socket
+    mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    mock_pub_socket = AsyncMock()
+    response = client.get("/commands/gesture/single")
-    client.app.state.endpoints_pub_socket = mock_pub_socket
 
-    # Mock settings
-    mock_settings = MagicMock()
-    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
-    monkeypatch.setattr(robot, "settings", mock_settings)
-
-    # Mock logger
-    mock_logger = MagicMock()
-    monkeypatch.setattr(robot.logger, "debug", mock_logger)
-
-    # Act - Note: The endpoint currently doesn't support query parameters for amount,
-    # but we're testing what happens if the UI sends an amount (the TODO in the code)
-    # For now, we test the current behavior
-    response = client.get("/get_available_gesture_tags")
-
-    # Assert
     assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": ["wave", "nod"]}
+    assert response.json() == {"available_gestures": []}
-
-    # The endpoint currently doesn't use the amount parameter, so it should send empty bytes
-    mock_pub_socket.send_multipart.assert_awaited_once_with([b"send_gestures", b""])
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_timeout(client, monkeypatch):
+async def test_get_available_single_gestures_missing_key(client, monkeypatch):
     """
-    Test timeout scenario when fetching gesture tags.
+    Test response missing 'single_gestures' key.
     """
-    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_sub_socket = AsyncMock()
+    mock_req_socket.connect = MagicMock()
-    mock_sub_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
-    mock_sub_socket.setsockopt = MagicMock()
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps({"unexpected": "value"}).encode())
-
-    # Simulate a timeout
-    mock_sub_socket.recv_multipart = AsyncMock(side_effect=TimeoutError)
 
     mock_context = MagicMock()
-    mock_context.socket.return_value = mock_sub_socket
+    mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    mock_pub_socket = AsyncMock()
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
-    client.app.state.endpoints_pub_socket = mock_pub_socket
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
 
-    # Mock settings
+    response = client.get("/commands/gesture/single")
-    mock_settings = MagicMock()
-    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
-    monkeypatch.setattr(robot, "settings", mock_settings)
 
-    # Mock logger to verify debug message is logged
-    mock_logger = MagicMock()
-    monkeypatch.setattr(robot.logger, "debug", mock_logger)
-
-    # Act
-    response = client.get("/get_available_gesture_tags")
-
-    # Assert
     assert response.status_code == 200
-    # On timeout, body becomes b"" and json.loads(b"") raises JSONDecodeError
+    assert response.json() == {"available_gestures": []}
-    # But looking at the endpoint code, it will try to parse empty bytes which will fail
-    # Let's check what actually happens
-    assert response.json() == {"available_gesture_tags": []}
-
-    # Verify the timeout was logged
-    mock_logger.assert_called_once_with("got timeout error fetching gestures")
-
-    # Verify ZeroMQ interactions
-    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
-    mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"get_gestures")
-    mock_pub_socket.send_multipart.assert_awaited_once_with([b"send_gestures", b""])
-    mock_sub_socket.recv_multipart.assert_awaited_once()
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
+async def test_get_available_single_gestures_invalid_json(client, monkeypatch):
     """
-    Test scenario when response contains no tags.
+    Test invalid JSON response for single gestures.
     """
-    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_sub_socket = AsyncMock()
+    mock_req_socket.connect = MagicMock()
-    mock_sub_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
-    mock_sub_socket.setsockopt = MagicMock()
+    mock_req_socket.recv = AsyncMock(return_value=b"not-json")
-
-    # Simulate a response with empty tags
-    response_data = {"tags": []}
-    mock_sub_socket.recv_multipart = AsyncMock(
-        return_value=[b"get_gestures", json.dumps(response_data).encode()]
-    )
 
     mock_context = MagicMock()
-    mock_context.socket.return_value = mock_sub_socket
+    mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    mock_pub_socket = AsyncMock()
+    mock_error = MagicMock()
-    client.app.state.endpoints_pub_socket = mock_pub_socket
+    monkeypatch.setattr(robot.logger, "error", mock_error)
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
 
-    # Mock settings
+    response = client.get("/commands/gesture/single")
-    mock_settings = MagicMock()
-    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
-    monkeypatch.setattr(robot, "settings", mock_settings)
 
-    # Act
-    response = client.get("/get_available_gesture_tags")
-
-    # Assert
     assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": []}
+    assert response.json() == {"available_gestures": []}
+    assert mock_error.call_count == 1
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_missing_tags_key(client, monkeypatch):
+async def test_get_available_basic_gestures_success(client, monkeypatch):
     """
-    Test scenario when response JSON doesn't contain 'tags' key.
+    Test successful retrieval of basic gestures.
     """
-    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_sub_socket = AsyncMock()
+    mock_req_socket.connect = MagicMock()
-    mock_sub_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
-    mock_sub_socket.setsockopt = MagicMock()
+    response_data = {"basic_gestures": ["nod", "shake"]}
-
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
-    # Simulate a response without 'tags' key
-    response_data = {"some_other_key": "value"}
-    mock_sub_socket.recv_multipart = AsyncMock(
-        return_value=[b"get_gestures", json.dumps(response_data).encode()]
-    )
 
     mock_context = MagicMock()
-    mock_context.socket.return_value = mock_sub_socket
+    mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    mock_pub_socket = AsyncMock()
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
-    client.app.state.endpoints_pub_socket = mock_pub_socket
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
 
-    # Mock settings
+    response = client.get("/commands/gesture/basic")
-    mock_settings = MagicMock()
-    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
-    monkeypatch.setattr(robot, "settings", mock_settings)
 
-    # Act
-    response = client.get("/get_available_gesture_tags")
-
-    # Assert
     assert response.status_code == 200
-    # .get("tags", []) should return empty list if 'tags' key is missing
+    assert response.json() == {"available_gestures": ["nod", "shake"]}
-    assert response.json() == {"available_gesture_tags": []}
+
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send_json.assert_awaited_once_with({"type": "basic", "count": None})
+    mock_req_socket.recv.assert_awaited_once()
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
+async def test_get_available_basic_gestures_timeout(client, monkeypatch):
-    """
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    Test scenario when response contains invalid JSON.
+    mock_req_socket.connect = MagicMock()
-    """
+    mock_req_socket.send_json = AsyncMock()
-    # Arrange
+    mock_req_socket.recv = AsyncMock(side_effect=TimeoutError)
-    mock_sub_socket = AsyncMock()
-    mock_sub_socket.connect = MagicMock()
-    mock_sub_socket.setsockopt = MagicMock()
-
-    # Simulate a response with invalid JSON
-    mock_sub_socket.recv_multipart = AsyncMock(return_value=[b"get_gestures", b"invalid json"])
 
     mock_context = MagicMock()
-    mock_context.socket.return_value = mock_sub_socket
+    mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    mock_pub_socket = AsyncMock()
+    response = client.get("/commands/gesture/basic")
-    client.app.state.endpoints_pub_socket = mock_pub_socket
 
-    # Mock settings
-    mock_settings = MagicMock()
-    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
-    monkeypatch.setattr(robot, "settings", mock_settings)
-
-    # Act
-    response = client.get("/get_available_gesture_tags")
-
-    # Assert - invalid JSON should raise an exception
     assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": []}
+    assert response.json() == {"available_gestures": []}
+
+
+@pytest.mark.asyncio
+async def test_get_available_basic_gestures_invalid_json(client, monkeypatch):
+    """
+    Test invalid JSON response for basic gestures.
+    """
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
+    mock_req_socket.recv = AsyncMock(return_value=b"{invalid json")
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    mock_error = MagicMock()
+    monkeypatch.setattr(robot.logger, "error", mock_error)
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+
+    response = client.get("/commands/gesture/basic")
+
+    assert response.status_code == 200
+    assert response.json() == {"available_gestures": []}
+    assert mock_error.call_count == 1

test/unit/api/v1/endpoints/test_router.py

@@ -0,0 +1,16 @@
+from fastapi.routing import APIRoute
+
+from control_backend.api.v1.router import api_router  # <--- corrected import
+
+
+def test_router_includes_expected_paths():
+    """Ensure api_router includes main router prefixes."""
+    routes = [r for r in api_router.routes if isinstance(r, APIRoute)]
+    paths = [r.path for r in routes]
+
+    # Ensure at least one route under each prefix exists
+    assert any(p.startswith("/robot") for p in paths)
+    assert any(p.startswith("/message") for p in paths)
+    assert any(p.startswith("/sse") for p in paths)
+    assert any(p.startswith("/logs") for p in paths)
+    assert any(p.startswith("/program") for p in paths)

test/unit/api/v1/endpoints/test_sse_endpoint.py

@@ -0,0 +1,24 @@
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.endpoints import sse
+
+
+@pytest.fixture
+def app():
+    app = FastAPI()
+    app.include_router(sse.router)
+    return app
+
+
+@pytest.fixture
+def client(app):
+    return TestClient(app)
+
+
+def test_sse_route_exists(client):
+    """Minimal smoke test to ensure /sse route exists and responds."""
+    response = client.get("/sse")
+    # Since implementation is not done, we only assert it doesn't crash
+    assert response.status_code == 200

test/unit/core/test_agent_system.py

@@ -2,7 +2,7 @@
 
 import asyncio
 import logging
-from unittest.mock import AsyncMock
+from unittest.mock import AsyncMock, MagicMock
 
 import pytest
 
@@ -70,3 +70,142 @@ async def test_get_agent():
     agent = ConcreteTestAgent("registrant")
     assert AgentDirectory.get("registrant") == agent
     assert AgentDirectory.get("non_existent") is None
+
+
+class DummyAgent(BaseAgent):
+    async def setup(self):
+        pass  # we will test this separately
+
+    async def handle_message(self, msg: InternalMessage):
+        self.last_handled = msg
+
+
+@pytest.mark.asyncio
+async def test_base_agent_setup_is_noop():
+    agent = DummyAgent("dummy")
+
+    # Should simply return without error
+    assert await agent.setup() is None
+
+
+@pytest.mark.asyncio
+async def test_send_to_local_agent(monkeypatch):
+    sender = DummyAgent("sender")
+    target = DummyAgent("receiver")
+
+    # Fake logger
+    sender.logger = MagicMock()
+
+    # Patch inbox.put
+    target.inbox.put = AsyncMock()
+
+    message = InternalMessage(to="receiver", sender="sender", body="hello")
+
+    await sender.send(message)
+
+    target.inbox.put.assert_awaited_once_with(message)
+    sender.logger.debug.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_process_inbox_calls_handle_message(monkeypatch):
+    agent = DummyAgent("dummy")
+    agent.logger = MagicMock()
+
+    # Make agent running so loop triggers
+    agent._running = True
+
+    # Prepare inbox to give one message then stop
+    msg = InternalMessage(to="dummy", sender="x", body="test")
+
+    async def get_once():
+        agent._running = False  # stop after first iteration
+        return msg
+
+    agent.inbox.get = AsyncMock(side_effect=get_once)
+    agent.handle_message = AsyncMock()
+
+    await agent._process_inbox()
+
+    agent.handle_message.assert_awaited_once_with(msg)
+
+
+@pytest.mark.asyncio
+async def test_receive_internal_zmq_loop_success(monkeypatch):
+    agent = DummyAgent("dummy")
+    agent.logger = MagicMock()
+    agent._running = True
+
+    mock_socket = MagicMock()
+    mock_socket.recv_multipart = AsyncMock(
+        side_effect=[
+            (
+                b"topic",
+                InternalMessage(to="dummy", sender="x", body="hi").model_dump_json().encode(),
+            ),
+            asyncio.CancelledError(),  # stop loop
+        ]
+    )
+    agent._internal_sub_socket = mock_socket
+
+    agent.inbox.put = AsyncMock()
+
+    await agent._receive_internal_zmq_loop()
+
+    agent.inbox.put.assert_awaited()  # message forwarded
+
+
+@pytest.mark.asyncio
+async def test_receive_internal_zmq_loop_exception_logs_error():
+    agent = DummyAgent("dummy")
+    agent.logger = MagicMock()
+    agent._running = True
+
+    mock_socket = MagicMock()
+    mock_socket.recv_multipart = AsyncMock(
+        side_effect=[Exception("boom"), asyncio.CancelledError()]
+    )
+    agent._internal_sub_socket = mock_socket
+
+    agent.inbox.put = AsyncMock()
+
+    await agent._receive_internal_zmq_loop()
+
+    agent.logger.exception.assert_called_once()
+    assert "Could not process ZMQ message." in agent.logger.exception.call_args[0][0]
+
+
+@pytest.mark.asyncio
+async def test_base_agent_handle_message_not_implemented():
+    class RawAgent(BaseAgent):
+        async def setup(self):
+            pass
+
+    agent = RawAgent("raw")
+
+    msg = InternalMessage(to="raw", sender="x", body="hi")
+
+    with pytest.raises(NotImplementedError):
+        await BaseAgent.handle_message(agent, msg)
+
+
+@pytest.mark.asyncio
+async def test_base_agent_setup_abstract_method_body_executes():
+    """
+    Covers the 'pass' inside BaseAgent.setup().
+    Since BaseAgent is abstract, we do NOT instantiate it.
+    We call the coroutine function directly on BaseAgent and pass a dummy self.
+    """
+
+    class Dummy:
+        """Minimal stub to act as 'self'."""
+
+        pass
+
+    stub = Dummy()
+
+    # Call BaseAgent.setup() as an unbound coroutine, passing stub as 'self'
+    result = await BaseAgent.setup(stub)
+
+    # The method contains only 'pass', so it returns None
+    assert result is None

test/unit/core/test_logging.py

@@ -86,3 +86,34 @@ def test_setup_logging_zmq_handler(mock_zmq_context):
 
                 args = mock_dict_config.call_args[0][0]
                 assert "interface_or_socket" in args["handlers"]["ui"]
+
+
+def test_add_logging_level_method_name_exists_in_logging():
+    # method_name explicitly set to an existing logging method → triggers first hasattr branch
+    with pytest.raises(AttributeError) as exc:
+        add_logging_level("NEWDUPLEVEL", 37, method_name="info")
+    assert "info already defined in logging module" in str(exc.value)
+
+
+def test_add_logging_level_method_name_exists_in_logger_class():
+    # 'makeRecord' exists on Logger class but not on the logging module
+    with pytest.raises(AttributeError) as exc:
+        add_logging_level("ANOTHERLEVEL", 38, method_name="makeRecord")
+    assert "makeRecord already defined in logger class" in str(exc.value)
+
+
+def test_add_logging_level_log_to_root_path_executes_without_error():
+    # Verify log_to_root is installed and callable — without asserting logging output
+    level_name = "ROOTTEST"
+    level_num = 36
+
+    add_logging_level(level_name, level_num)
+
+    # Simply call the injected root logger method
+    # The line is executed even if we don't validate output
+    root_logging_method = getattr(logging, level_name.lower(), None)
+    assert callable(root_logging_method)
+
+    # Execute the method to hit log_to_root in coverage.
+    # No need to verify log output.
+    root_logging_method("some message")

test/unit/schemas/test_message.py

@@ -0,0 +1,12 @@
+from control_backend.schemas.message import Message
+
+
+def base_message() -> Message:
+    return Message(message="Example")
+
+
+def test_valid_message():
+    mess = base_message()
+    validated = Message.model_validate(mess)
+    assert isinstance(validated, Message)
+    assert validated.message == "Example"

test/unit/test_main.py

@@ -0,0 +1,73 @@
+import asyncio
+import sys
+from unittest.mock import AsyncMock, patch
+
+import pytest
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.router import api_router
+from control_backend.main import app, lifespan
+
+# Fix event loop on Windows
+if sys.platform == "win32":
+    asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())
+
+
+@pytest.fixture
+def client():
+    # Patch setup_logging so it does nothing
+    with patch("control_backend.main.setup_logging"):
+        with TestClient(app) as c:
+            yield c
+
+
+def test_root_fast():
+    # Patch heavy startup code so it doesn’t slow down
+    with patch("control_backend.main.setup_logging"), patch("control_backend.main.lifespan"):
+        client = TestClient(app)
+        resp = client.get("/")
+        assert resp.status_code == 200
+        assert resp.json() == {"status": "ok"}
+
+
+def test_cors_middleware_added():
+    """Test that CORSMiddleware is correctly added to the app."""
+    from starlette.middleware.cors import CORSMiddleware
+
+    middleware_classes = [m.cls for m in app.user_middleware]
+    assert CORSMiddleware in middleware_classes
+
+
+def test_api_router_included():
+    """Test that the API router is included in the FastAPI app."""
+
+    route_paths = [r.path for r in app.routes]
+    for route in api_router.routes:
+        assert route.path in route_paths
+
+
+@pytest.mark.asyncio
+async def test_lifespan_agent_start_exception():
+    """
+    Trigger an exception during agent startup to cover the error logging branch.
+    Ensures exceptions are logged properly and re-raised.
+    """
+    with (
+        patch(
+            "control_backend.main.RICommunicationAgent.start", new_callable=AsyncMock
+        ) as ri_start,
+        patch("control_backend.main.setup_logging"),
+        patch("control_backend.main.threading.Thread"),
+    ):
+        # Force RICommunicationAgent.start to raise an exception
+        ri_start.side_effect = Exception("Test exception")
+
+        with patch("control_backend.main.logger") as mock_logger:
+            with pytest.raises(Exception, match="Test exception"):
+                async with lifespan(app):
+                    pass
+
+            # Verify the error was logged correctly
+            assert mock_logger.error.called
+            args, _ = mock_logger.error.call_args
+            assert isinstance(args[2], Exception)