chore: fixed sending stuff to ui

ref: N25B-399

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -19,7 +19,9 @@ class RobotGestureAgent(BaseAgent):
     :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
@@ -27,19 +29,22 @@ class RobotGestureAgent(BaseAgent):
     pubsocket: azmq.Socket
     address = ""
     bind = False
-    gesture_data = []
-    single_gesture_data = []
+    gesture_tags = []
+    gesture_basic = []
+    gesture_single = []
 
     def __init__(
         self,
         name: str,
         address: str,
         bind=False,
-        gesture_data=None,
-        single_gesture_data=None,
+        gesture_tags=None,
+        gesture_basic=None,
+        gesture_single=None,
     ):
-        self.gesture_data = gesture_data or []
-        self.single_gesture_data = single_gesture_data or []
+        self.gesture_tags = gesture_tags or []
+        self.gesture_basic = gesture_basic or []
+        self.gesture_single = gesture_single or []
         super().__init__(name)
         self.address = address
         self.bind = bind
@@ -96,14 +101,14 @@ 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.gesture_data:
+                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.single_gesture_data:
+                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,
@@ -130,7 +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.gesture_data:
+                    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",
@@ -143,29 +148,39 @@ class RobotGestureAgent(BaseAgent):
 
     async def _fetch_gestures_loop(self):
         """
-        Loop to handle fetching gestures received via ZMQ (e.g., from the UI).
-
-        Listens on the 'send_gestures' topic, and returns a list on the get_gestures topic.
+        REP socket handler for gesture queries.
+        Supports:
+        - tags
+        - basic_gestures
+        - single_gestures
         """
         while self._running:
             try:
-                # Get a request
-                body = await self.repsocket.recv()
+                req = await self.repsocket.recv_json()
 
-                # Figure out amount, if specified
-                try:
-                    body = json.loads(body)
-                except json.JSONDecodeError:
-                    body = None
+                req_type = req.get("type")
+                amount = req.get("count")
 
-                amount = None
-                if isinstance(body, int):
-                    amount = body
+                if req_type == "tags":
+                    data = self.gesture_tags
+                    key = "tags"
 
-                # Fetch tags from gesture data and respond
-                tags = self.gesture_data[:amount] if amount else self.gesture_data
-                response = json.dumps({"tags": tags}).encode()
-                await self.repsocket.send(response)
+                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
+
+                if amount:
+                    data = data[:amount]
+
+                await self.repsocket.send_json({key: data})
 
             except Exception:
-                self.logger.exception("Error fetching gesture tags.")
+                self.logger.exception("Error fetching gestures.")

src/control_backend/agents/communication/ri_communication_agent.py

@@ -181,8 +181,9 @@ class RICommunicationAgent(BaseAgent):
                         else:
                             self._req_socket.bind(addr)
                 case "actuation":
-                    gesture_data = port_data.get("gestures", [])
-                    single_gesture_data = port_data.get("single_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,
@@ -192,8 +193,9 @@ class RICommunicationAgent(BaseAgent):
                         settings.agent_settings.robot_gesture_name,
                         address=addr,
                         bind=bind,
-                        gesture_data=gesture_data,
-                        single_gesture_data=single_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

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

@@ -78,7 +78,8 @@ async def get_available_gesture_tags(request: Request, count=0):
     amount = count or None
     timeout = 5  # seconds
 
-    await req_socket.send(f"{amount}".encode() if amount else b"None")
+    await req_socket.send_json({"type": "tags", "count": amount})
+
     try:
         body = await asyncio.wait_for(req_socket.recv(), timeout=timeout)
     except TimeoutError:
@@ -94,8 +95,75 @@ async def get_available_gesture_tags(request: Request, count=0):
             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/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"
 
@@ -57,10 +58,7 @@ class GestureCommand(RIMessage):
 
     @model_validator(mode="after")
     def check_endpoint(self):
-        allowed = {
-            RIEndpoint.GESTURE_SINGLE,
-            RIEndpoint.GESTURE_TAG,
-        }
+        allowed = {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/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"
     )
@@ -21,65 +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 REP socket binding
-    fake_socket.bind.assert_called()
-
-    # 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")
-
-    # Check behavior was added (twice: once for command loop, once for fetch gestures loop)
     assert agent.add_behavior.call_count == 2
 
 
 @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")
-    # Check REP socket binding (always binds)
     fake_socket.bind.assert_called()
-
-    # Check behavior was added (twice)
     assert agent.add_behavior.call_count == 2
 
 
 @pytest.mark.asyncio
-async def test_handle_message_sends_valid_gesture_command():
-    """Internal message with valid gesture tag is forwarded to robot pub socket."""
+async def test_handle_message_valid_gesture_tag():
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.pubsocket = pubsocket
 
-    payload = {
-        "endpoint": RIEndpoint.GESTURE_TAG,
-        "data": "hello",  # "hello" is in gesture_data
-    }
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
 
     await agent.handle_message(msg)
@@ -88,30 +76,16 @@ async def test_handle_message_sends_valid_gesture_command():
 
 
 @pytest.mark.asyncio
-async def test_handle_message_sends_non_gesture_command():
-    """Internal message with non-gesture endpoint is not forwarded by this agent."""
+async def test_handle_message_invalid_gesture_tag():
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.pubsocket = pubsocket
 
-    payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
-    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
-
-    await agent.handle_message(msg)
-
-    # Non-gesture endpoints should not be forwarded by this agent
-    pubsocket.send_json.assert_not_awaited()
-
-
-@pytest.mark.asyncio
-async def test_handle_message_rejects_invalid_gesture_tag():
-    """Internal message with invalid gesture tag is not forwarded."""
-    pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
-    agent.pubsocket = pubsocket
-
-    # Use a tag that's not in gesture_data
-    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "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)
@@ -120,34 +94,38 @@ async def test_handle_message_rejects_invalid_gesture_tag():
 
 
 @pytest.mark.asyncio
-async def test_handle_message_invalid_payload():
-    """Invalid payload is caught and does not send."""
+async def test_handle_message_invalid_payload_logged():
     pubsocket = AsyncMock()
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.pubsocket = pubsocket
+    agent.logger = MagicMock()
 
-    msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
+    msg = InternalMessage(to="robot", sender="tester", body="not json")
 
     await agent.handle_message(msg)
 
     pubsocket.send_json.assert_not_awaited()
+    agent.logger.exception.assert_called_once()
 
 
 @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"}
+async def test_zmq_command_loop_valid_gesture():
     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", gesture_data=["hello", "yes", "no"], address="")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -158,64 +136,23 @@ async def test_zmq_command_loop_valid_gesture_payload():
 
 
 @pytest.mark.asyncio
-async def test_zmq_command_loop_valid_non_gesture_payload():
-    """UI command with non-gesture endpoint is not forwarded by this agent."""
-    command = {"endpoint": "some_other_endpoint", "data": "anything"}
+async def test_zmq_command_loop_invalid_tag():
     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", gesture_data=["hello", "yes", "no"], address="")
-    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_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", gesture_data=["hello", "yes", "no"], address="")
-    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", gesture_data=["hello", "yes", "no"], address="")
+    agent = RobotGestureAgent(
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello"],
+    )
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -227,7 +164,6 @@ 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():
@@ -237,7 +173,7 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    agent = RobotGestureAgent("robot_gesture", address="")
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -248,201 +184,68 @@ async def test_zmq_command_loop_ignores_send_gestures_topic():
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_loop_without_amount():
-    """Fetch gestures request without amount returns all tags."""
+async def test_fetch_gestures_tags():
     fake_repsocket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return b"{}"  # Empty JSON request
+        return {"type": "tags"}
 
-    fake_repsocket.recv = recv_once
-    fake_repsocket.send = AsyncMock()
+    fake_repsocket.recv_json = recv_once
+    fake_repsocket.send_json = AsyncMock()
 
     agent = RobotGestureAgent(
-        "robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
+        "robot_gesture",
+        address="",
+        gesture_tags=["hello", "yes", "no"],
     )
     agent.repsocket = fake_repsocket
     agent._running = True
 
     await agent._fetch_gestures_loop()
 
-    fake_repsocket.send.assert_awaited_once()
-
-    # Check the response contains all tags
-    args, kwargs = fake_repsocket.send.call_args
-    response = json.loads(args[0])
-    assert "tags" in response
-    assert response["tags"] == ["hello", "yes", "no", "wave", "point"]
+    fake_repsocket.send_json.assert_awaited_once_with({"tags": ["hello", "yes", "no"]})
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_loop_with_amount():
-    """Fetch gestures request with amount returns limited tags."""
+async def test_fetch_gestures_basic():
     fake_repsocket = AsyncMock()
-    amount = 3
 
     async def recv_once():
         agent._running = False
-        return json.dumps(amount).encode()
+        return {"type": "basic"}
 
-    fake_repsocket.recv = recv_once
-    fake_repsocket.send = AsyncMock()
+    fake_repsocket.recv_json = recv_once
+    fake_repsocket.send_json = AsyncMock()
 
     agent = RobotGestureAgent(
-        "robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
+        "robot_gesture",
+        address="",
+        gesture_basic=["wave", "point"],
     )
     agent.repsocket = fake_repsocket
     agent._running = True
 
     await agent._fetch_gestures_loop()
 
-    fake_repsocket.send.assert_awaited_once()
-
-    args, kwargs = fake_repsocket.send.call_args
-    response = json.loads(args[0])
-    assert "tags" in response
-    assert len(response["tags"]) == amount
-    assert response["tags"] == ["hello", "yes", "no"]
+    fake_repsocket.send_json.assert_awaited_once_with({"basic_gestures": ["wave", "point"]})
 
 
 @pytest.mark.asyncio
-async def test_fetch_gestures_loop_with_integer_request():
-    """Fetch gestures request with integer amount."""
-    fake_repsocket = AsyncMock()
-    amount = 2
-
-    async def recv_once():
-        agent._running = False
-        return json.dumps(amount).encode()
-
-    fake_repsocket.recv = recv_once
-    fake_repsocket.send = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
-    agent.repsocket = fake_repsocket
-    agent._running = True
-
-    await agent._fetch_gestures_loop()
-
-    fake_repsocket.send.assert_awaited_once()
-
-    args, kwargs = fake_repsocket.send.call_args
-    response = json.loads(args[0])
-    assert response["tags"] == ["hello", "yes"]
-
-
-@pytest.mark.asyncio
-async def test_fetch_gestures_loop_with_invalid_json():
-    """Invalid JSON request returns all tags."""
+async def test_fetch_gestures_unknown_type():
     fake_repsocket = AsyncMock()
 
     async def recv_once():
         agent._running = False
-        return b"not_json"
+        return {"type": "unknown"}
 
-    fake_repsocket.recv = recv_once
-    fake_repsocket.send = AsyncMock()
+    fake_repsocket.recv_json = recv_once
+    fake_repsocket.send_json = AsyncMock()
 
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
-    agent.repsocket = fake_repsocket
-    agent._running = True
-
-    await agent._fetch_gestures_loop()
-
-    fake_repsocket.send.assert_awaited_once()
-
-    args, kwargs = fake_repsocket.send.call_args
-    response = json.loads(args[0])
-    assert response["tags"] == ["hello", "yes", "no"]
-
-
-@pytest.mark.asyncio
-async def test_fetch_gestures_loop_with_non_integer_json():
-    """Non-integer JSON request returns all tags."""
-    fake_repsocket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        return json.dumps({"not": "an_integer"}).encode()
-
-    fake_repsocket.recv = recv_once
-    fake_repsocket.send = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
-    agent.repsocket = fake_repsocket
-    agent._running = True
-
-    await agent._fetch_gestures_loop()
-
-    fake_repsocket.send.assert_awaited_once()
-
-    args, kwargs = fake_repsocket.send.call_args
-    response = json.loads(args[0])
-    assert response["tags"] == ["hello", "yes", "no"]
-
-
-def test_gesture_data_attribute():
-    """Test that gesture_data returns the expected list."""
-    gesture_data = ["hello", "yes", "no", "wave"]
-    agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data, address="")
-
-    assert agent.gesture_data == gesture_data
-    assert isinstance(agent.gesture_data, list)
-    assert len(agent.gesture_data) == 4
-    assert "hello" in agent.gesture_data
-    assert "yes" in agent.gesture_data
-    assert "no" in agent.gesture_data
-    assert "invalid_tag_not_in_list" not in agent.gesture_data
-
-
-@pytest.mark.asyncio
-async def test_stop_closes_sockets():
-    """Stop method closes all sockets."""
-    pubsocket = MagicMock()
-    subsocket = MagicMock()
-    repsocket = MagicMock()
     agent = RobotGestureAgent("robot_gesture", address="")
-    agent.pubsocket = pubsocket
-    agent.subsocket = subsocket
-    agent.repsocket = repsocket
-
-    await agent.stop()
-
-    pubsocket.close.assert_called_once()
-    subsocket.close.assert_called_once()
-    # Note: repsocket is not closed in stop() method, but you might want to add it
-    # repsocket.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, address="")
-
-    assert agent.gesture_data == custom_gestures
-
-
-@pytest.mark.asyncio
-async def test_fetch_gestures_loop_handles_exception():
-    """Exception in fetch gestures loop is caught and logged."""
-    fake_repsocket = AsyncMock()
-
-    async def recv_once():
-        agent._running = False
-        raise Exception("Test exception")
-
-    fake_repsocket.recv = recv_once
-    fake_repsocket.send = AsyncMock()
-
-    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
     agent.repsocket = fake_repsocket
-    agent.logger = MagicMock()
     agent._running = True
 
-    # Should not raise exception
     await agent._fetch_gestures_loop()
 
-    # Exception should be logged
-    agent.logger.exception.assert_called_once()
+    fake_repsocket.send_json.assert_awaited_once_with({})

test/unit/agents/communication/test_ri_communication_agent.py

@@ -61,16 +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=[],
-        single_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
 
 

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

@@ -229,120 +229,60 @@ async def test_ping_stream_yields_json_values(monkeypatch):
     mock_sub_socket.recv_multipart.assert_awaited()
 
 
-# ----------------------------
-# Updated get_available_gesture_tags tests (REQ socket on tcp://localhost:7788)
-# ----------------------------
 @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 using a REQ socket.
+    Test successful retrieval of single gestures.
     """
-    # Arrange
     mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
     mock_req_socket.connect = MagicMock()
-    mock_req_socket.send = AsyncMock()
-    response_data = {"tags": ["wave", "nod", "point", "dance"]}
+    mock_req_socket.send_json = AsyncMock()
+    response_data = {"single_gestures": ["wave", "point"]}
     mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
 
     mock_context = MagicMock()
     mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    # Replace logger methods to avoid noisy logs in tests
     monkeypatch.setattr(robot.logger, "debug", MagicMock())
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
-    # Act
-    response = client.get("/commands/gesture/tags")
+    response = client.get("/commands/gesture/single")
 
-    # 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 REQ interactions
     mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
-    mock_req_socket.send.assert_awaited_once_with(b"None")
+    mock_req_socket.send_json.assert_awaited_once_with({"type": "single", "count": None})
     mock_req_socket.recv.assert_awaited_once()
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_with_amount(client, monkeypatch):
-    """
-    The endpoint currently ignores the 'amount' TODO, so behavior is the same as 'success'.
-    This test asserts that the endpoint still sends b"None" and returns the tags.
-    """
-    # Arrange
+async def test_get_available_single_gestures_timeout(client, monkeypatch):
     mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
     mock_req_socket.connect = MagicMock()
-    mock_req_socket.send = AsyncMock()
-    response_data = {"tags": ["wave", "nod"]}
-    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
-
-    mock_context = MagicMock()
-    mock_context.socket.return_value = mock_req_socket
-    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
-
-    monkeypatch.setattr(robot.logger, "debug", MagicMock())
-    monkeypatch.setattr(robot.logger, "error", MagicMock())
-
-    # Act
-    response = client.get("/commands/gesture/tags")
-
-    # Assert
-    assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": ["wave", "nod"]}
-
-    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
-    mock_req_socket.send.assert_awaited_once_with(b"None")
-
-
-@pytest.mark.asyncio
-async def test_get_available_gesture_tags_timeout(client, monkeypatch):
-    """
-    Test timeout scenario when fetching gesture tags. Endpoint should handle TimeoutError
-    and return an empty list while logging the timeout.
-    """
-    # Arrange
-    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_req_socket.connect = MagicMock()
-    mock_req_socket.send = AsyncMock()
+    mock_req_socket.send_json = AsyncMock()
     mock_req_socket.recv = AsyncMock(side_effect=TimeoutError)
 
     mock_context = MagicMock()
     mock_context.socket.return_value = mock_req_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
-    # Patch logger.debug so we can assert it was called with the expected message
-    mock_debug = MagicMock()
-    monkeypatch.setattr(robot.logger, "debug", mock_debug)
-    monkeypatch.setattr(robot.logger, "error", MagicMock())
+    response = client.get("/commands/gesture/single")
 
-    # Act
-    response = client.get("/commands/gesture/tags")
-
-    # Assert
     assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": []}
-
-    # Verify the timeout was logged using the exact string from the endpoint code
-    mock_debug.assert_called_once_with("Got timeout error fetching gestures.")
-
-    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
-    mock_req_socket.send.assert_awaited_once_with(b"None")
-    mock_req_socket.recv.assert_awaited_once()
+    assert response.json() == {"available_gestures": []}
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
+async def test_get_available_single_gestures_missing_key(client, monkeypatch):
     """
-    Test scenario when response contains an empty 'tags' list.
+    Test response missing 'single_gestures' key.
     """
-    # Arrange
     mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
     mock_req_socket.connect = MagicMock()
-    mock_req_socket.send = AsyncMock()
-    response_data = {"tags": []}
-    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+    mock_req_socket.send_json = AsyncMock()
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps({"unexpected": "value"}).encode())
 
     mock_context = MagicMock()
     mock_context.socket.return_value = mock_req_socket
@@ -351,52 +291,21 @@ async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "debug", MagicMock())
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
-    # Act
-    response = client.get("/commands/gesture/tags")
+    response = client.get("/commands/gesture/single")
 
-    # Assert
     assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": []}
+    assert response.json() == {"available_gestures": []}
 
 
 @pytest.mark.asyncio
-async def test_get_available_gesture_tags_missing_tags_key(client, monkeypatch):
+async def test_get_available_single_gestures_invalid_json(client, monkeypatch):
     """
-    Test scenario when response JSON doesn't contain 'tags' key.
+    Test invalid JSON response for single gestures.
     """
-    # Arrange
     mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
     mock_req_socket.connect = MagicMock()
-    mock_req_socket.send = AsyncMock()
-    response_data = {"some_other_key": "value"}
-    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
-
-    mock_context = MagicMock()
-    mock_context.socket.return_value = mock_req_socket
-    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
-
-    monkeypatch.setattr(robot.logger, "debug", MagicMock())
-    monkeypatch.setattr(robot.logger, "error", MagicMock())
-
-    # Act
-    response = client.get("/commands/gesture/tags")
-
-    # Assert
-    assert response.status_code == 200
-    assert response.json() == {"available_gesture_tags": []}
-
-
-@pytest.mark.asyncio
-async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
-    """
-    Test scenario when response contains invalid JSON. Endpoint should log the error
-    and return an empty list.
-    """
-    # Arrange
-    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
-    mock_req_socket.connect = MagicMock()
-    mock_req_socket.send = AsyncMock()
-    mock_req_socket.recv = AsyncMock(return_value=b"invalid json")
+    mock_req_socket.send_json = AsyncMock()
+    mock_req_socket.recv = AsyncMock(return_value=b"not-json")
 
     mock_context = MagicMock()
     mock_context.socket.return_value = mock_req_socket
@@ -406,10 +315,78 @@ async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "error", mock_error)
     monkeypatch.setattr(robot.logger, "debug", MagicMock())
 
-    # Act
-    response = client.get("/commands/gesture/tags")
+    response = client.get("/commands/gesture/single")
 
-    # Assert - invalid JSON should lead to empty list and error log invocation
     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_basic_gestures_success(client, monkeypatch):
+    """
+    Test successful retrieval of basic gestures.
+    """
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
+    response_data = {"basic_gestures": ["nod", "shake"]}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    response = client.get("/commands/gesture/basic")
+
+    assert response.status_code == 200
+    assert response.json() == {"available_gestures": ["nod", "shake"]}
+
+    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_basic_gestures_timeout(client, monkeypatch):
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send_json = AsyncMock()
+    mock_req_socket.recv = AsyncMock(side_effect=TimeoutError)
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    response = client.get("/commands/gesture/basic")
+
+    assert response.status_code == 200
+    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