Merge branch 'feat/multiple-receivers' into 'dev'

feat: able to send to multiple receivers

See merge request ics/sp/2025/n25b/pepperplus-cb!42

.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.

.githooks/check-commit-msg.sh

@@ -30,7 +30,7 @@ HEADER=$(head -n 1 "$COMMIT_MSG_FILE")
 
 # Check for Merge commits (covers 'git merge' and PR merges from GitHub/GitLab)
 # Examples: "Merge branch 'main' into ...", "Merge pull request #123 from ..."
-MERGE_PATTERN="^Merge (branch|pull request|tag) .*"
+MERGE_PATTERN="^Merge (remote-tracking )?(branch|pull request|tag) .*"
 if [[ "$HEADER" =~ $MERGE_PATTERN ]]; then
   echo -e "${GREEN}Merge commit detected by message content. Skipping validation.${NC}"
   exit 0

.gitignore

@@ -218,7 +218,9 @@ __marimo__/
 # MacOS
 .DS_Store
 
-
+# Docs
+docs/*
+!docs/conf.py
 
 
 

.gitlab-ci.yml

@@ -22,6 +22,4 @@ test:
   tags:
     - test
   script:
-    # - uv run --group integration-test pytest test/integration  
-    - uv run --only-group test pytest test/unit  
-
+    - uv run --only-group test pytest test

.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

@@ -3,12 +3,13 @@ version: 1
 custom_levels:
   OBSERVATION: 25
   ACTION: 26
+  LLM: 9
 
 formatters:
   # Console output
   colored:
     (): "colorlog.ColoredFormatter"
-    format: "{log_color}{asctime} | {levelname:11} | {name:70} | {message}"
+    format: "{log_color}{asctime}.{msecs:03.0f} | {levelname:11} | {name:70} | {message}"
     style: "{"
     datefmt: "%H:%M:%S"
 
@@ -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:
 
@@ -63,3 +72,30 @@ git config --local --unset core.hooksPath
 ```
 
 Then run the pre-commit install commands again.
+
+## Documentation
+Generate documentation web pages using:
+
+### Linux & macOS
+```bash
+PYTHONPATH=src sphinx-apidoc -F -o docs src/control_backend
+```
+
+### Windows
+```bash
+$env:PYTHONPATH="src"; sphinx-apidoc -F -o docs src/control_backend
+```
+
+Optionally, in the `conf.py` file in the `docs` folder, change preferences. 
+
+In the `docs` folder:
+
+### Linux & macOS
+```bash
+make html
+```
+
+### Windows
+```bash
+.\make.bat html
+```

docs/conf.py

@@ -0,0 +1,40 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("../src"))
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = "control_backend"
+copyright = "2025, Author"
+author = "Author"
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.viewcode",
+    "sphinx.ext.todo",
+]
+
+templates_path = ["_templates"]
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+language = "en"
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = "sphinx_rtd_theme"
+html_static_path = ["_static"]
+
+# -- Options for todo extension ----------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/extensions/todo.html#configuration
+
+todo_include_todos = True

pyproject.toml

@@ -5,43 +5,51 @@ description = "Add your description here"
 readme = "README.md"
 requires-python = ">=3.13"
 dependencies = [
-    "colorlog>=6.10.1",
-    "fastapi[all]>=0.115.6",
-    "mlx-whisper>=0.4.3 ; sys_platform == 'darwin'",
-    "numpy>=2.3.3",
-    "openai-whisper>=20250625",
-    "pyaudio>=0.2.14",
-    "pydantic>=2.12.0",
-    "pydantic-settings>=2.11.0",
-    "pytest>=8.4.2",
-    "pytest-asyncio>=1.2.0",
-    "pytest-cov>=7.0.0",
-    "pytest-mock>=3.15.1",
-    "python-json-logger>=4.0.0",
-    "pyyaml>=6.0.3",
-    "pyzmq>=27.1.0",
-    "silero-vad>=6.0.0",
-    "spade>=4.1.0",
-    "spade-bdi>=0.3.2",
-    "torch>=2.8.0",
-    "uvicorn>=0.37.0",
+  "agentspeak>=0.2.2",
+  "colorlog>=6.10.1",
+  "fastapi[all]>=0.115.6",
+  "mlx-whisper>=0.4.3 ; sys_platform == 'darwin'",
+  "numpy>=2.3.3",
+  "openai-whisper>=20250625",
+  "pyaudio>=0.2.14",
+  "pydantic>=2.12.0",
+  "pydantic-settings>=2.11.0",
+  "python-json-logger>=4.0.0",
+  "pyyaml>=6.0.3",
+  "pyzmq>=27.1.0",
+  "silero-vad>=6.0.0",
+  "sphinx>=7.3.7",
+  "sphinx-rtd-theme>=3.0.2",
+  "torch>=2.8.0",
+  "uvicorn>=0.37.0",
 ]
 
 [dependency-groups]
 dev = [
-    "pre-commit>=4.3.0",
-    "ruff>=0.14.2",
-    "ruff-format>=0.3.0",
-]
-integration-test = [
-    "soundfile>=0.13.1",
+  "pre-commit>=4.3.0",
+  "pytest>=8.4.2",
+  "pytest-asyncio>=1.2.0",
+  "pytest-cov>=7.0.0",
+  "pytest-mock>=3.15.1",
+  "soundfile>=0.13.1",
+  "ruff>=0.14.2",
+  "ruff-format>=0.3.0",
 ]
 test = [
-    "numpy>=2.3.3",
-    "pytest>=8.4.2",
-    "pytest-asyncio>=1.2.0",
-    "pytest-cov>=7.0.0",
-    "pytest-mock>=3.15.1",
+  "agentspeak>=0.2.2",
+  "fastapi>=0.115.6",
+  "httpx>=0.28.1",
+  "mlx-whisper>=0.4.3 ; sys_platform == 'darwin'",
+  "openai-whisper>=20250625",
+  "pydantic>=2.12.0",
+  "pydantic-settings>=2.11.0",
+  "pytest>=8.4.2",
+  "pytest-asyncio>=1.2.0",
+  "pytest-cov>=7.0.0",
+  "pytest-mock>=3.15.1",
+  "pyyaml>=6.0.3",
+  "pyzmq>=27.1.0",
+  "soundfile>=0.13.1",
 ]
 
 [tool.pytest.ini_options]
@@ -52,15 +60,15 @@ line-length = 100
 
 [tool.ruff.lint]
 extend-select = [
-    "E",   # pycodestyle
-    "F",   # pyflakes
-    "I",   # isort (import sorting)
-    "UP",  # pyupgrade (modernize code)
-    "B",   # flake8-bugbear (common bugs)
-    "C4",  # flake8-comprehensions (unnecessary comprehensions)
+  "E",  # pycodestyle
+  "F",  # pyflakes
+  "I",  # isort (import sorting)
+  "UP", # pyupgrade (modernize code)
+  "B",  # flake8-bugbear (common bugs)
+  "C4", # flake8-comprehensions (unnecessary comprehensions)
 ]
 
 ignore = [
-    "E226",  # spaces around operators
-    "E701",  # multiple statements on a single line
+  "E226", # spaces around operators
+  "E701", # multiple statements on a single line
 ]

src/control_backend/agents/__init__.py

@@ -1,7 +1 @@
 from .base import BaseAgent as BaseAgent
-from .belief_collector.belief_collector import BeliefCollectorAgent as BeliefCollectorAgent
-from .llm.llm import LLMAgent as LLMAgent
-from .ri_command_agent import RICommandAgent as RICommandAgent
-from .ri_communication_agent import RICommunicationAgent as RICommunicationAgent
-from .transcription.transcription_agent import TranscriptionAgent as TranscriptionAgent
-from .vad_agent import VADAgent as VADAgent

src/control_backend/agents/actuation/__init__.py

@@ -0,0 +1,2 @@
+from .robot_gesture_agent import RobotGestureAgent as RobotGestureAgent
+from .robot_speech_agent import RobotSpeechAgent as RobotSpeechAgent

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -0,0 +1,171 @@
+import json
+
+import zmq
+import zmq.asyncio as azmq
+
+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
+
+
+class RobotGestureAgent(BaseAgent):
+    """
+    This agent acts as a bridge between the control backend and the Robot Interface (RI).
+    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
+    """
+
+    subsocket: azmq.Socket
+    repsocket: azmq.Socket
+    pubsocket: azmq.Socket
+    address = ""
+    bind = False
+    gesture_data = []
+    single_gesture_data = []
+
+    def __init__(
+        self,
+        name: str,
+        address: str,
+        bind=False,
+        gesture_data=None,
+        single_gesture_data=None,
+    ):
+        self.gesture_data = gesture_data or []
+        self.single_gesture_data = single_gesture_data or []
+        super().__init__(name)
+        self.address = address
+        self.bind = bind
+
+    async def setup(self):
+        """
+        Initialize the agent.
+
+        1. Sets up the PUB socket to talk to the robot.
+        2. Sets up the SUB socket to listen for "command" topics (from UI/External).
+        3. Starts the loop for handling ZMQ commands.
+        """
+        self.logger.info("Setting up %s", self.name)
+
+        context = azmq.Context.instance()
+
+        # To the robot
+        self.pubsocket = context.socket(zmq.PUB)
+        if self.bind:
+            self.pubsocket.bind(self.address)
+        else:
+            self.pubsocket.connect(self.address)
+
+        # Receive internal topics regarding commands
+        self.subsocket = context.socket(zmq.SUB)
+        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
+        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())
+
+        self.logger.info("Finished setting up %s", self.name)
+
+    async def stop(self):
+        if self.subsocket:
+            self.subsocket.close()
+        if self.pubsocket:
+            self.pubsocket.close()
+        await super().stop()
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle commands received from other internal Python agents.
+
+        Validates the message as a :class:`GestureCommand` and forwards it to the robot.
+
+        :param msg: The internal message containing the command.
+        """
+        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:
+                    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:
+                    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.")
+
+    async def _zmq_command_loop(self):
+        """
+        Loop to handle commands received via ZMQ (e.g., from the UI).
+
+        Listens on the 'command' topic, validates the JSON and forwards it to the robot.
+        """
+        while self._running:
+            try:
+                topic, body = await self.subsocket.recv_multipart()
+
+                # Don't process send_gestures here
+                if topic != b"command":
+                    continue
+
+                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:
+                        self.logger.warning(
+                            "Received gesture tag '%s' which is not in available tags.\
+                            Early returning",
+                            gesture_command.data,
+                        )
+                        continue
+                await self.pubsocket.send_json(gesture_command.model_dump())
+            except Exception:
+                self.logger.exception("Error processing ZMQ message.")
+
+    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.
+        """
+        while self._running:
+            try:
+                # Get a request
+                body = await self.repsocket.recv()
+
+                # Figure out amount, if specified
+                try:
+                    body = json.loads(body)
+                except json.JSONDecodeError:
+                    body = None
+
+                amount = None
+                if isinstance(body, int):
+                    amount = body
+
+                # 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)
+
+            except Exception:
+                self.logger.exception("Error fetching gesture tags.")

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -0,0 +1,103 @@
+import json
+
+import zmq
+import zmq.asyncio as azmq
+
+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 SpeechCommand
+
+
+class RobotSpeechAgent(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,
+    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.
+    """
+
+    subsocket: azmq.Socket
+    pubsocket: azmq.Socket
+    address = ""
+    bind = False
+
+    def __init__(
+        self,
+        name: str,
+        address: str,
+        bind=False,
+    ):
+        super().__init__(name)
+        self.address = address
+        self.bind = bind
+
+    async def setup(self):
+        """
+        Initialize the agent.
+
+        1. Sets up the PUB socket to talk to the robot.
+        2. Sets up the SUB socket to listen for "command" topics (from UI/External).
+        3. Starts the loop for handling ZMQ commands.
+        """
+        self.logger.info("Setting up %s", self.name)
+
+        context = azmq.Context.instance()
+
+        # To the robot
+        self.pubsocket = context.socket(zmq.PUB)
+        if self.bind:  # TODO: Should this ever be the case?
+            self.pubsocket.bind(self.address)
+        else:
+            self.pubsocket.connect(self.address)
+
+        # Receive internal topics regarding commands
+        self.subsocket = context.socket(zmq.SUB)
+        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
+        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
+
+        self.add_behavior(self._zmq_command_loop())
+
+        self.logger.info("Finished setting up %s", self.name)
+
+    async def stop(self):
+        if self.subsocket:
+            self.subsocket.close()
+        if self.pubsocket:
+            self.pubsocket.close()
+        await super().stop()
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle commands received from other internal Python agents.
+
+        Validates the message as a :class:`SpeechCommand` and forwards it to the robot.
+
+        :param msg: The internal message containing the command.
+        """
+        try:
+            speech_command = SpeechCommand.model_validate_json(msg.body)
+            await self.pubsocket.send_json(speech_command.model_dump())
+        except Exception:
+            self.logger.exception("Error processing internal message.")
+
+    async def _zmq_command_loop(self):
+        """
+        Loop to handle commands received via ZMQ (e.g., from the UI).
+
+        Listens on the 'command' topic, validates the JSON, and forwards it to the robot.
+        """
+        while self._running:
+            try:
+                _, body = await self.subsocket.recv_multipart()
+
+                body = json.loads(body)
+                message = SpeechCommand.model_validate(body)
+
+                await self.pubsocket.send_json(message.model_dump())
+            except Exception:
+                self.logger.exception("Error processing ZMQ message.")

src/control_backend/agents/base.py

@@ -1,18 +1,26 @@
 import logging
 
-from spade.agent import Agent
+from control_backend.core.agent_system import BaseAgent as CoreBaseAgent
 
 
-class BaseAgent(Agent):
+class BaseAgent(CoreBaseAgent):
     """
-    Base agent class for our agents to inherit from.
-    This ensures that all agents have a logger.
+    The primary base class for all implementation agents.
+
+    Inherits from :class:`control_backend.core.agent_system.BaseAgent`.
+    This class ensures that every agent instance is automatically equipped with a
+    properly configured ``logger``.
+
+    :ivar logger: A logger instance named after the agent's package and class.
     """
 
     logger: logging.Logger
 
-    # Whenever a subclass is initiated, give it the correct logger
     def __init_subclass__(cls, **kwargs) -> None:
+        """
+        Whenever a subclass is initiated, give it the correct logger.
+        :param kwargs: Keyword arguments for the subclass.
+        """
         super().__init_subclass__(**kwargs)
 
         cls.logger = logging.getLogger(__package__).getChild(cls.__name__)

src/control_backend/agents/bdi/__init__.py

@@ -1,2 +1,8 @@
-from .bdi_core import BDICoreAgent as BDICoreAgent
-from .text_extractor import TBeliefExtractorAgent as TBeliefExtractorAgent
+from control_backend.agents.bdi.bdi_core_agent import BDICoreAgent as BDICoreAgent
+
+from .belief_collector_agent import (
+    BDIBeliefCollectorAgent as BDIBeliefCollectorAgent,
+)
+from .text_belief_extractor_agent import (
+    TextBeliefExtractorAgent as TextBeliefExtractorAgent,
+)

src/control_backend/agents/bdi/bdi_core.py

@@ -1,67 +0,0 @@
-import logging
-
-import agentspeak
-from spade.behaviour import OneShotBehaviour
-from spade.message import Message
-from spade_bdi.bdi import BDIAgent
-
-from control_backend.core.config import settings
-
-from .behaviours.belief_setter import BeliefSetterBehaviour
-from .behaviours.receive_llm_resp_behaviour import ReceiveLLMResponseBehaviour
-
-
-class BDICoreAgent(BDIAgent):
-    """
-    This is the Brain agent that does the belief inference with AgentSpeak.
-    This is a continous process that happens automatically in the background.
-    This class contains all the actions that can be called from AgentSpeak plans.
-    It has the BeliefSetter behaviour and can aks and recieve requests from the LLM agent.
-    """
-
-    logger = logging.getLogger(__package__).getChild(__name__)
-
-    async def setup(self) -> None:
-        """
-        Initializes belief behaviors and message routing.
-        """
-        self.logger.info("BDICoreAgent setup started.")
-
-        self.add_behaviour(BeliefSetterBehaviour())
-        self.add_behaviour(ReceiveLLMResponseBehaviour())
-
-        self.logger.info("BDICoreAgent setup complete.")
-
-    def add_custom_actions(self, actions) -> None:
-        """
-        Registers custom AgentSpeak actions callable from plans.
-        """
-
-        @actions.add(".reply", 1)
-        def _reply(agent: "BDICoreAgent", term, intention):
-            """
-            Sends text to the LLM (AgentSpeak action).
-            Example: .reply("Hello LLM!")
-            """
-            message_text = agentspeak.grounded(term.args[0], intention.scope)
-            self.logger.debug("Reply action sending: %s", message_text)
-
-            self._send_to_llm(str(message_text))
-            yield
-
-    def _send_to_llm(self, text: str):
-        """
-        Sends a text query to the LLM Agent asynchronously.
-        """
-
-        class SendBehaviour(OneShotBehaviour):
-            async def run(self) -> None:
-                msg = Message(
-                    to=settings.agent_settings.llm_agent_name + "@" + settings.agent_settings.host,
-                    body=text,
-                )
-
-                await self.send(msg)
-                self.agent.logger.info("Message sent to LLM agent: %s", text)
-
-        self.add_behaviour(SendBehaviour())

src/control_backend/agents/bdi/bdi_core_agent.py

@@ -0,0 +1,277 @@
+import asyncio
+import copy
+import time
+from collections.abc import Iterable
+
+import agentspeak
+import agentspeak.runtime
+import agentspeak.stdlib
+from pydantic import ValidationError
+
+from control_backend.agents.base import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief, BeliefMessage
+from control_backend.schemas.llm_prompt_message import LLMPromptMessage
+from control_backend.schemas.ri_message import SpeechCommand
+
+DELIMITER = ";\n"  # TODO: temporary until we support lists in AgentSpeak
+
+
+class BDICoreAgent(BaseAgent):
+    """
+    BDI Core Agent.
+
+    This is the central reasoning agent of the system, powered by the **AgentSpeak(L)** language.
+    It maintains a belief base (representing the state of the world) and a set of plans (rules).
+
+    It runs an internal BDI (Belief-Desire-Intention) cycle using the ``agentspeak`` library.
+    When beliefs change (e.g., via :meth:`_apply_beliefs`), the agent evaluates its plans to
+    determine the best course of action.
+
+    **Custom Actions:**
+    It defines custom actions (like ``.reply``) that allow the AgentSpeak code to interact with
+    external Python agents (e.g., querying the LLM).
+
+    :ivar bdi_agent: The internal AgentSpeak agent instance.
+    :ivar asl_file: Path to the AgentSpeak source file (.asl).
+    :ivar env: The AgentSpeak environment.
+    :ivar actions: A registry of custom actions available to the AgentSpeak code.
+    :ivar _wake_bdi_loop: Event used to wake up the reasoning loop when new beliefs arrive.
+    """
+
+    bdi_agent: agentspeak.runtime.Agent
+
+    def __init__(self, name: str, asl: str):
+        super().__init__(name)
+        self.asl_file = asl
+        self.env = agentspeak.runtime.Environment()
+        # Deep copy because we don't actually want to modify the standard actions globally
+        self.actions = copy.deepcopy(agentspeak.stdlib.actions)
+        self._wake_bdi_loop = asyncio.Event()
+
+    async def setup(self) -> None:
+        """
+        Initialize the BDI agent.
+
+        1. Registers custom actions (like ``.reply``).
+        2. Loads the .asl source file.
+        3. Starts the reasoning loop (:meth:`_bdi_loop`) in the background.
+        """
+        self.logger.debug("Setup started.")
+
+        self._add_custom_actions()
+
+        await self._load_asl()
+
+        # Start the BDI cycle loop
+        self.add_behavior(self._bdi_loop())
+        self._wake_bdi_loop.set()
+        self.logger.debug("Setup complete.")
+
+    async def _load_asl(self):
+        """
+        Load and parse the AgentSpeak source file.
+        """
+        try:
+            with open(self.asl_file) as source:
+                self.bdi_agent = self.env.build_agent(source, self.actions)
+        except FileNotFoundError:
+            self.logger.warning(f"Could not find the specified ASL file at {self.asl_file}.")
+            self.bdi_agent = agentspeak.runtime.Agent(self.env, self.name)
+
+    async def _bdi_loop(self):
+        """
+        The main BDI reasoning loop.
+
+        It waits for the ``_wake_bdi_loop`` event (set when beliefs change or actions complete).
+        When awake, it steps through the AgentSpeak interpreter. It also handles sleeping if
+        the agent has deferred intentions (deadlines).
+        """
+        while self._running:
+            await (
+                self._wake_bdi_loop.wait()
+            )  # gets set whenever there's an update to the belief base
+
+            # Agent knows when it's expected to have to do its next thing
+            maybe_more_work = True
+            while maybe_more_work:
+                maybe_more_work = False
+                self.logger.debug("Stepping BDI.")
+                if self.bdi_agent.step():
+                    maybe_more_work = True
+
+                if not maybe_more_work:
+                    deadline = self.bdi_agent.shortest_deadline()
+                    if deadline:
+                        self.logger.debug("Sleeping until %s", deadline)
+                        await asyncio.sleep(deadline - time.time())
+                        maybe_more_work = True
+                    else:
+                        self._wake_bdi_loop.clear()
+                        self.logger.debug("No more deadlines. Halting BDI loop.")
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle incoming messages.
+
+        - **Beliefs**: Updates the internal belief base.
+        - **LLM Responses**: Forwards the generated text to the Robot Speech Agent (actuation).
+
+        :param msg: The received internal message.
+        """
+        self.logger.debug("Processing message from %s.", msg.sender)
+
+        if msg.thread == "beliefs":
+            try:
+                beliefs = BeliefMessage.model_validate_json(msg.body).beliefs
+                self._apply_beliefs(beliefs)
+            except ValidationError:
+                self.logger.exception("Error processing belief.")
+            return
+
+        # The message was not a belief, handle special cases based on sender
+        match msg.sender:
+            case settings.agent_settings.llm_name:
+                content = msg.body
+                self.logger.info("Received LLM response: %s", content)
+
+                # Forward to Robot Speech Agent
+                cmd = SpeechCommand(data=content)
+                out_msg = InternalMessage(
+                    to=settings.agent_settings.robot_speech_name,
+                    sender=self.name,
+                    body=cmd.model_dump_json(),
+                )
+                await self.send(out_msg)
+
+    def _apply_beliefs(self, beliefs: list[Belief]):
+        """
+        Update the belief base with a list of new beliefs.
+
+        If ``replace=True`` is set on a belief, it removes all existing beliefs with that name
+        before adding the new one.
+        """
+        if not beliefs:
+            return
+
+        for belief in beliefs:
+            if belief.replace:
+                self._remove_all_with_name(belief.name)
+            self._add_belief(belief.name, belief.arguments)
+
+    def _add_belief(self, name: str, args: Iterable[str] = []):
+        """
+        Add a single belief to the BDI agent.
+
+        :param name: The functor/name of the belief (e.g., "user_said").
+        :param args: Arguments for the belief.
+        """
+        # new_args = (agentspeak.Literal(arg) for arg in args)  # TODO: Eventually support multiple
+        merged_args = DELIMITER.join(arg for arg in args)
+        new_args = (agentspeak.Literal(merged_args),)
+        term = agentspeak.Literal(name, new_args)
+
+        self.bdi_agent.call(
+            agentspeak.Trigger.addition,
+            agentspeak.GoalType.belief,
+            term,
+            agentspeak.runtime.Intention(),
+        )
+
+        self._wake_bdi_loop.set()
+
+        self.logger.debug(f"Added belief {self.format_belief_string(name, args)}")
+
+    def _remove_belief(self, name: str, args: Iterable[str]):
+        """
+        Removes a specific belief (with arguments), if it exists.
+        """
+        new_args = (agentspeak.Literal(arg) for arg in args)
+        term = agentspeak.Literal(name, new_args)
+
+        result = self.bdi_agent.call(
+            agentspeak.Trigger.removal,
+            agentspeak.GoalType.belief,
+            term,
+            agentspeak.runtime.Intention(),
+        )
+
+        if result:
+            self.logger.debug(f"Removed belief {self.format_belief_string(name, args)}")
+            self._wake_bdi_loop.set()
+        else:
+            self.logger.debug("Failed to remove belief (it was not in the belief base).")
+
+    def _remove_all_with_name(self, name: str):
+        """
+        Removes all beliefs that match the given `name`.
+        """
+        relevant_groups = []
+        for key in self.bdi_agent.beliefs:
+            if key[0] == name:
+                relevant_groups.append(key)
+
+        removed_count = 0
+        for group in relevant_groups:
+            beliefs_to_remove = list(self.bdi_agent.beliefs[group])
+            for belief in beliefs_to_remove:
+                self.bdi_agent.call(
+                    agentspeak.Trigger.removal,
+                    agentspeak.GoalType.belief,
+                    belief,
+                    agentspeak.runtime.Intention(),
+                )
+                removed_count += 1
+
+        self._wake_bdi_loop.set()
+
+        self.logger.debug(f"Removed {removed_count} beliefs.")
+
+    def _add_custom_actions(self) -> None:
+        """
+        Add any custom actions here. Inside `@self.actions.add()`, the first argument is
+        the name of the function in the ASL file, and the second the amount of arguments
+        the function expects (which will be located in `term.args`).
+        """
+
+        @self.actions.add(".reply", 3)
+        def _reply(agent: "BDICoreAgent", term, intention):
+            """
+            Sends text to the LLM (AgentSpeak action).
+            Example: .reply("Hello LLM!", "Some norm", "Some goal")
+            """
+            message_text = agentspeak.grounded(term.args[0], intention.scope)
+            norms = agentspeak.grounded(term.args[1], intention.scope)
+            goals = agentspeak.grounded(term.args[2], intention.scope)
+
+            self.logger.debug("Norms: %s", norms)
+            self.logger.debug("Goals: %s", goals)
+            self.logger.debug("User text: %s", message_text)
+
+            asyncio.create_task(self._send_to_llm(str(message_text), str(norms), str(goals)))
+            yield
+
+    async def _send_to_llm(self, text: str, norms: str = None, goals: str = None):
+        """
+        Sends a text query to the LLM agent asynchronously.
+        """
+        prompt = LLMPromptMessage(
+            text=text,
+            norms=norms.split("\n") if norms else [],
+            goals=goals.split("\n") if norms else [],
+        )
+        msg = InternalMessage(
+            to=settings.agent_settings.llm_name,
+            sender=self.name,
+            body=prompt.model_dump_json(),
+        )
+        await self.send(msg)
+        self.logger.info("Message sent to LLM agent: %s", text)
+
+    @staticmethod
+    def format_belief_string(name: str, args: Iterable[str] = []):
+        """
+        Given a belief's name and its args, return a string of the form "name(*args)"
+        """
+        return f"{name}{'(' if args else ''}{','.join(args)}{')' if args else ''}"

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -0,0 +1,111 @@
+import zmq
+from pydantic import ValidationError
+from zmq.asyncio import Context
+
+from control_backend.agents import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief, BeliefMessage
+from control_backend.schemas.program import Program
+
+
+class BDIProgramManager(BaseAgent):
+    """
+    BDI Program Manager Agent.
+
+    This agent is responsible for receiving high-level programs (sequences of instructions/goals)
+    from the external HTTP API (via ZMQ) and translating them into core beliefs (norms and goals)
+    for the BDI Core Agent. In the future, it will be responsible for determining when goals are
+    met, and passing on new norms and goals accordingly.
+
+    :ivar sub_socket: The ZMQ SUB socket used to receive program updates.
+    """
+
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self.sub_socket = None
+
+    async def _send_to_bdi(self, program: Program):
+        """
+        Convert a received program into BDI beliefs and send them to the BDI Core Agent.
+
+        Currently, it takes the **first phase** of the program and extracts:
+        -   **Norms**: Constraints or rules the agent must follow.
+        -   **Goals**: Objectives the agent must achieve.
+
+        These are sent as a ``BeliefMessage`` with ``replace=True``, meaning they will
+        overwrite any existing norms/goals of the same name in the BDI agent.
+
+        :param program: The program object received from the API.
+        """
+        first_phase = program.phases[0]
+        norms_belief = Belief(
+            name="norms",
+            arguments=[norm.norm for norm in first_phase.norms],
+            replace=True,
+        )
+        goals_belief = Belief(
+            name="goals",
+            arguments=[goal.description for goal in first_phase.goals],
+            replace=True,
+        )
+        program_beliefs = BeliefMessage(beliefs=[norms_belief, goals_belief])
+
+        message = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=program_beliefs.model_dump_json(),
+            thread="beliefs",
+        )
+        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
+
+    async def setup(self):
+        """
+        Initialize the agent.
+
+        Connects the internal ZMQ SUB socket and subscribes to the 'program' topic.
+        Starts the background behavior to receive programs.
+        """
+        context = Context.instance()
+
+        self.sub_socket = context.socket(zmq.SUB)
+        self.sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        self.sub_socket.subscribe("program")
+
+        self.add_behavior(self._receive_programs())

src/control_backend/agents/bdi/behaviours/belief_setter.py

@@ -1,87 +0,0 @@
-import json
-
-from spade.agent import Message
-from spade.behaviour import CyclicBehaviour
-from spade_bdi.bdi import BDIAgent
-
-from control_backend.core.config import settings
-
-
-class BeliefSetterBehaviour(CyclicBehaviour):
-    """
-    This is the behaviour that the BDI agent runs. This behaviour waits for incoming
-    message and updates the agent's beliefs accordingly.
-    """
-
-    agent: BDIAgent
-
-    async def run(self):
-        """Polls for messages and processes them."""
-        msg = await self.receive(timeout=1)
-        if not msg:
-            return
-        self.agent.logger.debug(
-            "Received message from %s with thread '%s' and body: %s",
-            msg.sender,
-            msg.thread,
-            msg.body,
-        )
-        self._process_message(msg)
-
-    def _process_message(self, message: Message):
-        """Routes the message to the correct processing function based on the sender."""
-        sender = message.sender.node  # removes host from jid and converts to str
-        self.agent.logger.debug("Processing message from sender: %s", sender)
-
-        match sender:
-            case settings.agent_settings.belief_collector_agent_name:
-                self.agent.logger.debug(
-                    "Message is from the belief collector agent. Processing as belief message."
-                )
-                self._process_belief_message(message)
-            case _:
-                self.agent.logger.debug("Not the belief agent, discarding message")
-                pass
-
-    def _process_belief_message(self, message: Message):
-        if not message.body:
-            self.agent.logger.debug("Ignoring message with empty body from %s", message.sender.node)
-            return
-
-        match message.thread:
-            case "beliefs":
-                try:
-                    beliefs: dict[str, list[str]] = json.loads(message.body)
-                    self._set_beliefs(beliefs)
-                except json.JSONDecodeError:
-                    self.agent.logger.error(
-                        "Could not decode beliefs from JSON. Message body: '%s'",
-                        message.body,
-                        exc_info=True,
-                    )
-            case _:
-                pass
-
-    def _set_beliefs(self, beliefs: dict[str, list[str]]):
-        """Removes previous values for beliefs and updates them with the provided values."""
-        if self.agent.bdi is None:
-            self.agent.logger.warning("Cannot set beliefs; agent's BDI is not yet initialized.")
-            return
-
-        if not beliefs:
-            self.agent.logger.debug("Received an empty set of beliefs. No beliefs were updated.")
-            return
-
-        # Set new beliefs (outdated beliefs are automatically removed)
-        for belief, arguments in beliefs.items():
-            self.agent.logger.debug("Setting belief %s with arguments %s", belief, arguments)
-            self.agent.bdi.set_belief(belief, *arguments)
-
-            # Special case: if there's a new user message, flag that we haven't responded yet
-            if belief == "user_said":
-                self.agent.bdi.set_belief("new_message")
-                self.agent.logger.debug(
-                    "Detected 'user_said' belief, also setting 'new_message' belief."
-                )
-
-        self.agent.logger.info("Successfully updated %d beliefs.", len(beliefs))

src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py

@@ -1,39 +0,0 @@
-from spade.behaviour import CyclicBehaviour
-from spade.message import Message
-
-from control_backend.core.config import settings
-from control_backend.schemas.ri_message import SpeechCommand
-
-
-class ReceiveLLMResponseBehaviour(CyclicBehaviour):
-    """
-    Adds behavior to receive responses from the LLM Agent.
-    """
-
-    async def run(self):
-        msg = await self.receive(timeout=1)
-        if not msg:
-            return
-
-        sender = msg.sender.node
-        match sender:
-            case settings.agent_settings.llm_agent_name:
-                content = msg.body
-                self.agent.logger.info("Received LLM response: %s", content)
-
-                speech_command = SpeechCommand(data=content)
-
-                message = Message(
-                    to=settings.agent_settings.ri_command_agent_name
-                    + "@"
-                    + settings.agent_settings.host,
-                    sender=self.agent.jid,
-                    body=speech_command.model_dump_json(),
-                )
-
-                self.agent.logger.debug("Sending message: %s", message)
-
-                await self.send(message)
-            case _:
-                self.agent.logger.debug("Discarding message from %s", sender)
-                pass

src/control_backend/agents/bdi/behaviours/text_belief_extractor.py

@@ -1,104 +0,0 @@
-import json
-import logging
-
-from spade.behaviour import CyclicBehaviour
-from spade.message import Message
-
-from control_backend.core.config import settings
-
-
-class BeliefFromText(CyclicBehaviour):
-    logger = logging.getLogger(__name__)
-
-    # TODO: LLM prompt nog hardcoded
-    llm_instruction_prompt = """
-    You are an information extraction assistent for a BDI agent. Your task is to extract values \
-    from a user's text to bind a list of ungrounded beliefs. Rules:
-    You will receive a JSON object with "beliefs" (a list of ungrounded AgentSpeak beliefs) \
-    and "text" (user's transcript).
-    Analyze the text to find values that sematically match the variables (X,Y,Z) in the beliefs.
-    A single piece of text might contain multiple instances that match a belief.
-    Respond ONLY with a single JSON object.
-    The JSON object's keys should be the belief functors (e.g., "weather").
-    The value for each key must be a list of lists.
-    Each inner list must contain the extracted arguments (as strings) for one instance \
-    of that belief.
-    CRITICAL: If no information in the text matches a belief, DO NOT include that key \
-    in your response.
-    """
-
-    # on_start agent receives message containing the beliefs to look out for and
-    # sets up the LLM with instruction prompt
-    # async def on_start(self):
-    #    msg = await self.receive(timeout=0.1)
-    #    self.beliefs = dict uit message
-    #    send instruction prompt to LLM
-
-    beliefs: dict[str, list[str]]
-    beliefs = {"mood": ["X"], "car": ["Y"]}
-
-    async def run(self):
-        msg = await self.receive(timeout=1)
-        if not msg:
-            return
-
-        sender = msg.sender.node
-        match sender:
-            case settings.agent_settings.transcription_agent_name:
-                self.logger.debug("Received text from transcriber: %s", msg.body)
-                await self._process_transcription_demo(msg.body)
-            case _:
-                self.logger.info("Discarding message from %s", sender)
-                pass
-
-    async def _process_transcription(self, text: str):
-        text_prompt = f"Text: {text}"
-
-        beliefs_prompt = "These are the beliefs to be bound:\n"
-        for belief, values in self.beliefs.items():
-            beliefs_prompt += f"{belief}({', '.join(values)})\n"
-
-        prompt = text_prompt + beliefs_prompt
-        self.logger.info(prompt)
-        # prompt_msg = Message(to="LLMAgent@whatever")
-        # response = self.send(prompt_msg)
-
-        # Mock response; response is beliefs in JSON format, it parses do dict[str,list[list[str]]]
-        response = '{"mood": [["happy"]]}'
-        # Verify by trying to parse
-        try:
-            json.loads(response)
-            belief_message = Message()
-
-            belief_message.to = (
-                settings.agent_settings.belief_collector_agent_name
-                + "@"
-                + settings.agent_settings.host
-            )
-            belief_message.body = response
-            belief_message.thread = "beliefs"
-
-            await self.send(belief_message)
-            self.agent.logger.info("Sent beliefs to BDI.")
-        except json.JSONDecodeError:
-            # Parsing failed, so the response is in the wrong format, log warning
-            self.agent.logger.warning("Received LLM response in incorrect format.")
-
-    async def _process_transcription_demo(self, txt: str):
-        """
-        Demo version to process the transcription input to beliefs. For the demo only the belief
-        'user_said' is relevant, so this function simply makes a dict with key: "user_said",
-        value: txt and passes this to the Belief Collector agent.
-        """
-        belief = {"beliefs": {"user_said": [txt]}, "type": "belief_extraction_text"}
-        payload = json.dumps(belief)
-        belief_msg = Message()
-
-        belief_msg.to = (
-            settings.agent_settings.belief_collector_agent_name + "@" + settings.agent_settings.host
-        )
-        belief_msg.body = payload
-        belief_msg.thread = "beliefs"
-
-        await self.send(belief_msg)
-        self.logger.info("Sent %d beliefs to the belief collector.", len(belief["beliefs"]))

src/control_backend/agents/bdi/belief_collector_agent.py

@@ -0,0 +1,152 @@
+import json
+
+from pydantic import ValidationError
+
+from control_backend.agents.base import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief, BeliefMessage
+
+
+class BDIBeliefCollectorAgent(BaseAgent):
+    """
+    BDI Belief Collector Agent.
+
+    This agent acts as a central aggregator for beliefs derived from various sources (e.g., text,
+    emotion, vision). It receives raw extracted data from other agents,
+    normalizes them into valid :class:`Belief` objects, and forwards them as a unified packet to the
+    BDI Core Agent.
+
+    It serves as a funnel to ensure the BDI agent receives a consistent stream of beliefs.
+    """
+
+    async def setup(self):
+        """
+        Initialize the agent.
+        """
+        self.logger.info("Setting up %s", self.name)
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle incoming messages from other extractor agents.
+
+        Routes the message to specific handlers based on the 'type' field in the JSON body.
+        Supported types:
+        -   ``belief_extraction_text``: Handled by :meth:`_handle_belief_text`
+        -   ``emotion_extraction_text``: Handled by :meth:`_handle_emo_text`
+
+        :param msg: The received internal message.
+        """
+        sender_node = msg.sender
+
+        # Parse JSON payload
+        try:
+            payload = json.loads(msg.body)
+        except Exception as e:
+            self.logger.warning(
+                "BeliefCollector: failed to parse JSON from %s. Body=%r Error=%s",
+                sender_node,
+                msg.body,
+                e,
+            )
+            return
+
+        msg_type = payload.get("type")
+
+        # Prefer explicit 'type' field
+        if msg_type == "belief_extraction_text":
+            self.logger.debug("Message routed to _handle_belief_text (sender=%s)", sender_node)
+            await self._handle_belief_text(payload, sender_node)
+        # This is not implemented yet, but we keep the structure for future use
+        elif msg_type == "emotion_extraction_text":
+            self.logger.debug("Message routed to _handle_emo_text (sender=%s)", sender_node)
+            await self._handle_emo_text(payload, sender_node)
+        else:
+            self.logger.warning(
+                "Unrecognized message (sender=%s, type=%r). Ignoring.", sender_node, msg_type
+            )
+
+    async def _handle_belief_text(self, payload: dict, origin: str):
+        """
+        Process text-based belief extraction payloads.
+
+        Expected payload format::
+
+            {
+                "type": "belief_extraction_text",
+                "beliefs": {
+                    "user_said": ["Can you help me?"],
+                    "intention": ["ask_help"]
+                }
+            }
+
+        Validates and converts the dictionary items into :class:`Belief` objects.
+
+        :param payload: The dictionary payload containing belief data.
+        :param origin: The name of the sender agent.
+        """
+        beliefs = payload.get("beliefs", {})
+
+        if not beliefs:
+            self.logger.debug("Received empty beliefs set.")
+            return
+
+        def try_create_belief(name, arguments) -> Belief | None:
+            """
+            Create a belief object from name and arguments, or return None silently if the input is
+            not correct.
+
+            :param name: The name of the belief.
+            :param arguments: The arguments of the belief.
+            :return: A Belief object if the input is valid or None.
+            """
+            try:
+                return Belief(name=name, arguments=arguments)
+            except ValidationError:
+                return None
+
+        beliefs = [
+            belief
+            for name, arguments in beliefs.items()
+            if (belief := try_create_belief(name, arguments)) is not None
+        ]
+
+        self.logger.debug("Forwarding %d beliefs.", len(beliefs))
+        for belief in beliefs:
+            for argument in belief.arguments:
+                self.logger.debug("  - %s %s", belief.name, argument)
+
+        await self._send_beliefs_to_bdi(beliefs, origin=origin)
+
+    async def _handle_emo_text(self, payload: dict, origin: str):
+        """
+        Process emotion extraction payloads.
+
+        **TODO**: Implement this method once emotion recognition is integrated.
+
+        :param payload: The dictionary payload containing emotion data.
+        :param origin: The name of the sender agent.
+        """
+        pass
+
+    async def _send_beliefs_to_bdi(self, beliefs: list[Belief], origin: str | None = None):
+        """
+        Send a list of aggregated beliefs to the BDI Core Agent.
+
+        Wraps the beliefs in a :class:`BeliefMessage` and sends it via the 'beliefs' thread.
+
+        :param beliefs: The list of Belief objects to send.
+        :param origin: (Optional) The original source of the beliefs (unused currently).
+        """
+        if not beliefs:
+            return
+
+        msg = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=BeliefMessage(beliefs=beliefs).model_dump_json(),
+            thread="beliefs",
+        )
+
+        await self.send(msg)
+        self.logger.info("Sent %d belief(s) to BDI core.", len(beliefs))

src/control_backend/agents/bdi/rules.asl

@@ -1,3 +1,6 @@
-+new_message : user_said(Message) <-
-  -new_message;
-  .reply(Message).
+norms("").
+goals("").
+
++user_said(Message) : norms(Norms) & goals(Goals) <-
+  -user_said(Message);
+  .reply(Message, Norms, Goals).

src/control_backend/agents/bdi/text_belief_extractor_agent.py

@@ -0,0 +1,65 @@
+import json
+
+from control_backend.agents.base import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+
+
+class TextBeliefExtractorAgent(BaseAgent):
+    """
+    Text Belief Extractor Agent.
+
+    This agent is responsible for processing raw text (e.g., from speech transcription) and
+    extracting semantic beliefs from it.
+
+    In the current demonstration version, it performs a simple wrapping of the user's input
+    into a ``user_said`` belief. In a full implementation, this agent would likely interact
+    with an LLM or NLU engine to extract intent, entities, and other structured information.
+    """
+
+    async def setup(self):
+        """
+        Initialize the agent and its resources.
+        """
+        self.logger.info("Settting up %s.", self.name)
+        # Setup LLM belief context if needed (currently demo is just passthrough)
+        self.beliefs = {"mood": ["X"], "car": ["Y"]}
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle incoming messages, primarily from the Transcription Agent.
+
+        :param msg: The received message containing transcribed text.
+        """
+        sender = msg.sender
+        if sender == settings.agent_settings.transcription_name:
+            self.logger.debug("Received text from transcriber: %s", msg.body)
+            await self._process_transcription_demo(msg.body)
+        else:
+            self.logger.info("Discarding message from %s", sender)
+
+    async def _process_transcription_demo(self, txt: str):
+        """
+        Process the transcribed text and generate beliefs.
+
+        **Demo Implementation:**
+        Currently, this method takes the raw text ``txt`` and wraps it into a belief structure:
+        ``user_said("txt")``.
+
+        This belief is then sent to the :class:`BDIBeliefCollectorAgent`.
+
+        :param txt: The raw transcribed text string.
+        """
+        # For demo, just wrapping user text as user_said belief
+        belief = {"beliefs": {"user_said": [txt]}, "type": "belief_extraction_text"}
+        payload = json.dumps(belief)
+
+        belief_msg = InternalMessage(
+            to=settings.agent_settings.bdi_belief_collector_name,
+            sender=self.name,
+            body=payload,
+            thread="beliefs",
+        )
+
+        await self.send(belief_msg)
+        self.logger.info("Sent %d beliefs to the belief collector.", len(belief["beliefs"]))

src/control_backend/agents/bdi/text_extractor.py

@@ -1,8 +0,0 @@
-from control_backend.agents.base import BaseAgent
-
-from .behaviours.text_belief_extractor import BeliefFromText
-
-
-class TBeliefExtractorAgent(BaseAgent):
-    async def setup(self):
-        self.add_behaviour(BeliefFromText())

src/control_backend/agents/belief_collector/behaviours/continuous_collect.py

@@ -1,94 +0,0 @@
-import json
-from json import JSONDecodeError
-
-from spade.agent import Message
-from spade.behaviour import CyclicBehaviour
-
-from control_backend.core.config import settings
-
-
-class ContinuousBeliefCollector(CyclicBehaviour):
-    """
-    Continuously collects beliefs/emotions from extractor agents:
-    Then we send a unified belief packet to the BDI agent.
-    """
-
-    async def run(self):
-        msg = await self.receive(timeout=1)
-        if not msg:
-            return
-        await self._process_message(msg)
-
-    async def _process_message(self, msg: Message):
-        sender_node = msg.sender.node
-
-        # Parse JSON payload
-        try:
-            payload = json.loads(msg.body)
-        except JSONDecodeError as e:
-            self.agent.logger.warning(
-                "BeliefCollector: failed to parse JSON from %s. Body=%r Error=%s",
-                sender_node,
-                msg.body,
-                e,
-            )
-            return
-
-        msg_type = payload.get("type")
-
-        # Prefer explicit 'type' field
-        if msg_type == "belief_extraction_text" or sender_node == "belief_text_agent_mock":
-            self.agent.logger.debug(
-                "Message routed to _handle_belief_text (sender=%s)", sender_node
-            )
-            await self._handle_belief_text(payload, sender_node)
-        # This is not implemented yet, but we keep the structure for future use
-        elif msg_type == "emotion_extraction_text" or sender_node == "emo_text_agent_mock":
-            self.agent.logger.debug("Message routed to _handle_emo_text (sender=%s)", sender_node)
-            await self._handle_emo_text(payload, sender_node)
-        else:
-            self.agent.logger.warning(
-                "Unrecognized message (sender=%s, type=%r). Ignoring.", sender_node, msg_type
-            )
-
-    async def _handle_belief_text(self, payload: dict, origin: str):
-        """
-        Expected payload:
-         {
-            "type": "belief_extraction_text",
-            "beliefs": {"user_said": ["Can you help me?"]}
-
-        }
-
-        """
-        beliefs = payload.get("beliefs", {})
-
-        if not beliefs:
-            self.agent.logger.debug("Received empty beliefs set.")
-            return
-
-        self.agent.logger.debug("Forwarding %d beliefs.", len(beliefs))
-        for belief_name, belief_list in beliefs.items():
-            for belief in belief_list:
-                self.agent.logger.debug("  - %s %s", belief_name, str(belief))
-
-        await self._send_beliefs_to_bdi(beliefs, origin=origin)
-
-    async def _handle_emo_text(self, payload: dict, origin: str):
-        """TODO: implement (after we have emotional recogntion)"""
-        pass
-
-    async def _send_beliefs_to_bdi(self, beliefs: list[str], origin: str | None = None):
-        """
-        Sends a unified belief packet to the BDI agent.
-        """
-        if not beliefs:
-            return
-
-        to_jid = f"{settings.agent_settings.bdi_core_agent_name}@{settings.agent_settings.host}"
-
-        msg = Message(to=to_jid, sender=self.agent.jid, thread="beliefs")
-        msg.body = json.dumps(beliefs)
-
-        await self.send(msg)
-        self.agent.logger.info("Sent %d belief(s) to BDI core.", len(beliefs))

src/control_backend/agents/belief_collector/belief_collector.py

@@ -1,11 +0,0 @@
-from control_backend.agents.base import BaseAgent
-
-from .behaviours.continuous_collect import ContinuousBeliefCollector
-
-
-class BeliefCollectorAgent(BaseAgent):
-    async def setup(self):
-        self.logger.info("BeliefCollectorAgent starting (%s)", self.jid)
-        # Attach the continuous collector behaviour (listens and forwards to BDI)
-        self.add_behaviour(ContinuousBeliefCollector())
-        self.logger.info("BeliefCollectorAgent ready.")

src/control_backend/agents/communication/__init__.py

@@ -0,0 +1 @@
+from .ri_communication_agent import RICommunicationAgent as RICommunicationAgent

src/control_backend/agents/communication/ri_communication_agent.py

@@ -0,0 +1,300 @@
+import asyncio
+import json
+
+import zmq
+import zmq.asyncio as azmq
+from zmq.asyncio import Context
+
+from control_backend.agents import BaseAgent
+from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
+from control_backend.core.config import settings
+
+from ..actuation.robot_speech_agent import RobotSpeechAgent
+from ..perception import VADAgent
+
+
+class RICommunicationAgent(BaseAgent):
+    """
+    Robot Interface (RI) Communication Agent.
+
+    This agent manages the high-level connection negotiation and health checking (heartbeat)
+    between the Control Backend and the Robot Interface (or UI).
+
+    It acts as a service discovery mechanism:
+    1.  It initiates a handshake (negotiation) to discover where other services (like the robot
+        command listener) are listening.
+    2.  It spawns specific agents
+            (like :class:`~control_backend.agents.actuation.robot_speech_agent.RobotSpeechAgent`)
+        once the connection details are established.
+    3.  It maintains a "ping" loop to ensure the connection remains active.
+
+    :ivar _address: The ZMQ address to attempt the initial connection negotiation.
+    :ivar _bind: Whether to bind or connect the negotiation socket.
+    :ivar _req_socket: ZMQ REQ socket for negotiation and pings.
+    :ivar pub_socket: ZMQ PUB socket for internal notifications (e.g., ping status).
+    :ivar connected: Boolean flag indicating active connection status.
+    """
+
+    def __init__(
+        self,
+        name: str,
+        address=settings.zmq_settings.ri_communication_address,
+        bind=False,
+    ):
+        super().__init__(name)
+        self._address = address
+        self._bind = bind
+        self._req_socket: azmq.Socket | None = None
+        self.pub_socket: azmq.Socket | None = None
+        self.connected = False
+
+    async def setup(self):
+        """
+        Initialize the agent and attempt connection.
+
+        Tries to negotiate connection up to ``behaviour_settings.comm_setup_max_retries`` times.
+        If successful, starts the :meth:`_listen_loop`.
+        """
+        self.logger.info("Setting up %s", self.name)
+
+        # Bind request socket
+        await self._setup_sockets()
+
+        if await self._negotiate_connection():
+            self.connected = True
+            self.add_behavior(self._listen_loop())
+        else:
+            self.logger.warning("Failed to negotiate connection during setup.")
+
+        self.logger.info("Finished setting up %s", self.name)
+
+    async def _setup_sockets(self, force=False):
+        """
+        Initialize ZMQ sockets (REQ for negotiation, PUB for internal updates).
+        """
+        # Bind request socket
+        if self._req_socket is None or force:
+            self._req_socket = Context.instance().socket(zmq.REQ)
+            if self._bind:
+                self._req_socket.bind(self._address)
+            else:
+                self._req_socket.connect(self._address)
+
+        if self.pub_socket is None or force:
+            self.pub_socket = Context.instance().socket(zmq.PUB)
+            self.pub_socket.connect(settings.zmq_settings.internal_pub_address)
+
+    async def _negotiate_connection(
+        self, max_retries: int = settings.behaviour_settings.comm_setup_max_retries
+    ):
+        """
+        Perform the handshake protocol with the Robot Interface.
+
+        Sends a ``negotiate/ports`` request and expects a configuration response containing
+        port assignments for various services (e.g., actuation).
+
+        :param max_retries: Number of attempts before giving up.
+        :return: True if negotiation succeeded, False otherwise.
+        """
+        retries = 0
+        while retries < max_retries:
+            if self._req_socket is None:
+                retries += 1
+                continue
+
+            # Send our message and receive one back
+            message = {"endpoint": "negotiate/ports", "data": {}}
+            await self._req_socket.send_json(message)
+
+            retry_frequency = 1.0
+            try:
+                received_message = await asyncio.wait_for(
+                    self._req_socket.recv_json(), timeout=retry_frequency
+                )
+            except TimeoutError:
+                self.logger.warning(
+                    "No connection established in %d seconds (attempt %d/%d)",
+                    retries * retry_frequency,
+                    retries + 1,
+                    max_retries,
+                )
+                retries += 1
+                continue
+            except Exception as e:
+                self.logger.warning("Unexpected error during negotiation: %s", e)
+                retries += 1
+                continue
+
+            # Validate endpoint
+            endpoint = received_message.get("endpoint")
+            if endpoint != "negotiate/ports":
+                self.logger.warning(
+                    "Invalid endpoint '%s' received (attempt %d/%d)",
+                    endpoint,
+                    retries + 1,
+                    max_retries,
+                )
+                retries += 1
+                await asyncio.sleep(1)
+                continue
+
+            # At this point, we have a valid response
+            try:
+                await self._handle_negotiation_response(received_message)
+                # Let UI know that we're connected
+                topic = b"ping"
+                data = json.dumps(True).encode()
+                if self.pub_socket:
+                    await self.pub_socket.send_multipart([topic, data])
+                return True
+            except Exception as e:
+                self.logger.warning("Error unpacking negotiation data: %s", e)
+                retries += 1
+                await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                continue
+
+        return False
+
+    async def _handle_negotiation_response(self, received_message):
+        """
+        Parse the negotiation response and initialize services.
+
+        Based on the response, it might re-connect the main socket or spawn new agents
+        (e.g., for robot actuation).
+        """
+        for port_data in received_message["data"]:
+            id = port_data["id"]
+            port = port_data["port"]
+            bind = port_data["bind"]
+
+            if not bind:
+                addr = f"tcp://{settings.ri_host}:{port}"
+            else:
+                addr = f"tcp://*:{port}"
+
+            match id:
+                case "main":
+                    if addr != self._address:
+                        assert self._req_socket is not None
+                        if not bind:
+                            self._req_socket.connect(addr)
+                        else:
+                            self._req_socket.bind(addr)
+                case "actuation":
+                    gesture_data = port_data.get("gestures", [])
+                    single_gesture_data = port_data.get("single_gestures", [])
+                    robot_speech_agent = RobotSpeechAgent(
+                        settings.agent_settings.robot_speech_name,
+                        address=addr,
+                        bind=bind,
+                    )
+                    robot_gesture_agent = RobotGestureAgent(
+                        settings.agent_settings.robot_gesture_name,
+                        address=addr,
+                        bind=bind,
+                        gesture_data=gesture_data,
+                        single_gesture_data=single_gesture_data,
+                    )
+                    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)
+
+    async def stop(self):
+        """
+        Closes all sockets.
+        :return:
+        """
+        if self._req_socket:
+            self._req_socket.close()
+        if self.pub_socket:
+            self.pub_socket.close()
+        await super().stop()
+
+    async def _listen_loop(self):
+        """
+        Maintain the connection via a heartbeat (ping) loop.
+
+        Sends a ``ping`` request periodically and waits for a reply.
+        If pings fail repeatedly, it triggers a disconnection handler to restart negotiation.
+        """
+        while self._running:
+            if not self.connected:
+                await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                continue
+
+            # We need to listen and send pings.
+            message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
+            seconds_to_wait_total = settings.behaviour_settings.sleep_s
+            try:
+                assert self._req_socket is not None
+                await asyncio.wait_for(
+                    self._req_socket.send_json(message), timeout=seconds_to_wait_total / 2
+                )
+            except TimeoutError:
+                self.logger.debug(
+                    "Waited too long to send message - "
+                    "we probably dont have any receivers... but let's check!"
+                )
+
+            # Wait up to {seconds_to_wait_total/2} seconds for a reply
+            try:
+                assert self._req_socket is not None
+                message = await asyncio.wait_for(
+                    self._req_socket.recv_json(), timeout=seconds_to_wait_total / 2
+                )
+
+                self.logger.debug(f'Received message "{message}" from RI.')
+                if "endpoint" not in message:
+                    self.logger.warning("No received endpoint in message, expected ping endpoint.")
+                    continue
+
+                # See what endpoint we received
+                match message["endpoint"]:
+                    case "ping":
+                        topic = b"ping"
+                        data = json.dumps(True).encode()
+                        if self.pub_socket is not None:
+                            await self.pub_socket.send_multipart([topic, data])
+                        await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                    case _:
+                        self.logger.debug(
+                            "Received message with topic different than ping, while ping expected."
+                        )
+            # We didnt get a reply
+            except TimeoutError:
+                self.logger.info(
+                    f"No ping retrieved in {seconds_to_wait_total} seconds, "
+                    "sending UI disconnection event and attempting to restart."
+                )
+                await self._handle_disconnection()
+                continue
+            except Exception:
+                self.logger.error("Error while waiting for ping message.", exc_info=True)
+                raise
+
+    async def _handle_disconnection(self):
+        """
+        Handle connection loss.
+
+        Notifies the UI of disconnection (via internal PUB) and attempts to restart negotiation.
+        """
+        self.connected = False
+
+        # Tell UI we're disconnected.
+        topic = b"ping"
+        data = json.dumps(False).encode()
+        if self.pub_socket:
+            try:
+                await asyncio.wait_for(self.pub_socket.send_multipart([topic, data]), 5)
+            except TimeoutError:
+                self.logger.warning("Connection ping for router timed out.")
+
+        # Try to reboot/renegotiate
+        self.logger.debug("Restarting communication negotiation.")
+        if await self._negotiate_connection(max_retries=1):
+            self.connected = True

src/control_backend/agents/llm/__init__.py

@@ -0,0 +1 @@
+from .llm_agent import LLMAgent as LLMAgent

src/control_backend/agents/llm/llm.py

@@ -1,163 +0,0 @@
-import json
-import re
-from collections.abc import AsyncGenerator
-
-import httpx
-from spade.behaviour import CyclicBehaviour
-from spade.message import Message
-
-from control_backend.agents import BaseAgent
-from control_backend.core.config import settings
-
-from .llm_instructions import LLMInstructions
-
-
-class LLMAgent(BaseAgent):
-    """
-    Agent responsible for processing user text input and querying a locally
-    hosted LLM for text generation. Receives messages from the BDI Core Agent
-    and responds with processed LLM output.
-    """
-
-    class ReceiveMessageBehaviour(CyclicBehaviour):
-        """
-        Cyclic behaviour to continuously listen for incoming messages from
-        the BDI Core Agent and handle them.
-        """
-
-        async def run(self):
-            """
-            Receives SPADE messages and processes only those originating from the
-            configured BDI agent.
-            """
-            msg = await self.receive(timeout=1)
-            if not msg:
-                return
-
-            sender = msg.sender.node
-            self.agent.logger.debug(
-                "Received message: %s from %s",
-                msg.body,
-                sender,
-            )
-
-            if sender == settings.agent_settings.bdi_core_agent_name:
-                self.agent.logger.debug("Processing message from BDI Core Agent")
-                await self._process_bdi_message(msg)
-            else:
-                self.agent.logger.debug("Message ignored (not from BDI Core Agent)")
-
-        async def _process_bdi_message(self, message: Message):
-            """
-            Forwards user text from the BDI to the LLM and replies with the generated text in chunks
-            separated by punctuation.
-            """
-            user_text = message.body
-            # Consume the streaming generator and send a reply for every chunk
-            async for chunk in self._query_llm(user_text):
-                await self._reply(chunk)
-            self.agent.logger.debug(
-                "Finished processing BDI message. Response sent in chunks to BDI Core Agent."
-            )
-
-        async def _reply(self, msg: str):
-            """
-            Sends a response message back to the BDI Core Agent.
-            """
-            reply = Message(
-                to=settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host,
-                body=msg,
-            )
-            await self.send(reply)
-
-        async def _query_llm(self, prompt: str) -> AsyncGenerator[str]:
-            """
-            Sends a chat completion request to the local LLM service and streams the response by
-            yielding fragments separated by punctuation like.
-
-            :param prompt: Input text prompt to pass to the LLM.
-            :yield: Fragments of the LLM-generated content.
-            """
-            instructions = LLMInstructions(
-                "- Be friendly and respectful.\n"
-                "- Make the conversation feel natural and engaging.\n"
-                "- Speak like a pirate.\n"
-                "- When the user asks what you can do, tell them.",
-                "- Try to learn the user's name during conversation.\n"
-                "- Suggest playing a game of asking yes or no questions where you think of a word "
-                "and the user must guess it.",
-            )
-            messages = [
-                {
-                    "role": "developer",
-                    "content": instructions.build_developer_instruction(),
-                },
-                {
-                    "role": "user",
-                    "content": prompt,
-                },
-            ]
-
-            try:
-                current_chunk = ""
-                async for token in self._stream_query_llm(messages):
-                    current_chunk += token
-
-                    # Stream the message in chunks separated by punctuation.
-                    # We include the delimiter in the emitted chunk for natural flow.
-                    pattern = re.compile(r".*?(?:,|;|:|—|–|\.{3}|…|\.|\?|!)\s*", re.DOTALL)
-                    for m in pattern.finditer(current_chunk):
-                        chunk = m.group(0)
-                        if chunk:
-                            yield current_chunk
-                            current_chunk = ""
-
-                # Yield any remaining tail
-                if current_chunk:
-                    yield current_chunk
-            except httpx.HTTPError as err:
-                self.agent.logger.error("HTTP error.", exc_info=err)
-                yield "LLM service unavailable."
-            except Exception as err:
-                self.agent.logger.error("Unexpected error.", exc_info=err)
-                yield "Error processing the request."
-
-        async def _stream_query_llm(self, messages) -> AsyncGenerator[str]:
-            """Raises httpx.HTTPError when the API gives an error."""
-            async with httpx.AsyncClient(timeout=None) as client:
-                async with client.stream(
-                    "POST",
-                    settings.llm_settings.local_llm_url,
-                    json={
-                        "model": settings.llm_settings.local_llm_model,
-                        "messages": messages,
-                        "temperature": 0.3,
-                        "stream": True,
-                    },
-                ) as response:
-                    response.raise_for_status()
-
-                    async for line in response.aiter_lines():
-                        if not line or not line.startswith("data: "):
-                            continue
-
-                        data = line[len("data: ") :]
-                        if data.strip() == "[DONE]":
-                            break
-
-                        try:
-                            event = json.loads(data)
-                            delta = event.get("choices", [{}])[0].get("delta", {}).get("content")
-                            if delta:
-                                yield delta
-                        except json.JSONDecodeError:
-                            self.agent.logger.error("Failed to parse LLM response: %s", data)
-
-    async def setup(self):
-        """
-        Sets up the SPADE behaviour to filter and process messages from the
-        BDI Core Agent.
-        """
-        behaviour = self.ReceiveMessageBehaviour()
-        self.add_behaviour(behaviour)
-        self.logger.info("LLMAgent setup complete")

src/control_backend/agents/llm/llm_agent.py

@@ -0,0 +1,199 @@
+import json
+import re
+import uuid
+from collections.abc import AsyncGenerator
+
+import httpx
+from pydantic import ValidationError
+
+from control_backend.agents import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+
+from ...schemas.llm_prompt_message import LLMPromptMessage
+from .llm_instructions import LLMInstructions
+
+
+class LLMAgent(BaseAgent):
+    """
+    LLM Agent.
+
+    This agent is responsible for processing user text input and querying a locally
+    hosted LLM for text generation. It acts as the conversational brain of the system.
+
+    It receives :class:`~control_backend.schemas.llm_prompt_message.LLMPromptMessage`
+    payloads from the BDI Core Agent, constructs a conversation history, queries the
+    LLM via HTTP, and streams the response back to the BDI agent in natural chunks
+    (e.g., sentence by sentence).
+
+    :ivar history: A list of dictionaries representing the conversation history (Role/Content).
+    """
+
+    def __init__(self, name: str):
+        super().__init__(name)
+        self.history = []
+
+    async def setup(self):
+        self.logger.info("Setting up %s.", self.name)
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle incoming messages.
+
+        Expects messages from :attr:`settings.agent_settings.bdi_core_name` containing
+        an :class:`LLMPromptMessage` in the body.
+
+        :param msg: The received internal message.
+        """
+        if msg.sender == settings.agent_settings.bdi_core_name:
+            self.logger.debug("Processing message from BDI core.")
+            try:
+                prompt_message = LLMPromptMessage.model_validate_json(msg.body)
+                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.")
+
+    async def _process_bdi_message(self, message: LLMPromptMessage):
+        """
+        Orchestrate the LLM query and response streaming.
+
+        Iterates over the chunks yielded by :meth:`_query_llm` and forwards them
+        individually to the BDI agent via :meth:`_send_reply`.
+
+        :param message: The parsed prompt message containing text, norms, and goals.
+        """
+        async for chunk in self._query_llm(message.text, message.norms, message.goals):
+            await self._send_reply(chunk)
+            self.logger.debug(
+                "Finished processing BDI message. Response sent in chunks to BDI core."
+            )
+
+    async def _send_reply(self, msg: str):
+        """
+        Sends a response message (chunk) back to the BDI Core Agent.
+
+        :param msg: The text content of the chunk.
+        """
+        reply = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=msg,
+        )
+        await self.send(reply)
+
+    async def _query_llm(
+        self, prompt: str, norms: list[str], goals: list[str]
+    ) -> AsyncGenerator[str]:
+        """
+        Send a chat completion request to the local LLM service and stream the response.
+
+        It constructs the full prompt using
+            :class:`~control_backend.agents.llm.llm_instructions.LLMInstructions`.
+        It streams the response from the LLM and buffers tokens until a natural break (punctuation)
+        is reached, then yields the chunk. This ensures that the robot speaks in complete phrases
+        rather than individual tokens.
+
+        :param prompt: Input text prompt to pass to the LLM.
+        :param norms: Norms the LLM should hold itself to.
+        :param goals: Goals the LLM should achieve.
+        :yield: Fragments of the LLM-generated content (e.g., sentences/phrases).
+        """
+        self.history.append(
+            {
+                "role": "user",
+                "content": prompt,
+            }
+        )
+
+        instructions = LLMInstructions(norms if norms else None, goals if goals else None)
+        messages = [
+            {
+                "role": "developer",
+                "content": instructions.build_developer_instruction(),
+            },
+            *self.history,
+        ]
+
+        message_id = str(uuid.uuid4())  # noqa
+
+        try:
+            full_message = ""
+            current_chunk = ""
+            async for token in self._stream_query_llm(messages):
+                full_message += token
+                current_chunk += token
+
+                self.logger.llm(
+                    "Received token: %s",
+                    full_message,
+                    extra={"reference": message_id},  # Used in the UI to update old logs
+                )
+
+                # Stream the message in chunks separated by punctuation.
+                # We include the delimiter in the emitted chunk for natural flow.
+                pattern = re.compile(r".*?(?:,|;|:|—|–|\.{3}|…|\.|\?|!)\s*", re.DOTALL)
+                for m in pattern.finditer(current_chunk):
+                    chunk = m.group(0)
+                    if chunk:
+                        yield current_chunk
+                        current_chunk = ""
+
+            # Yield any remaining tail
+            if current_chunk:
+                yield current_chunk
+
+            self.history.append(
+                {
+                    "role": "assistant",
+                    "content": full_message,
+                }
+            )
+        except httpx.HTTPError as err:
+            self.logger.error("HTTP error.", exc_info=err)
+            yield "LLM service unavailable."
+        except Exception as err:
+            self.logger.error("Unexpected error.", exc_info=err)
+            yield "Error processing the request."
+
+    async def _stream_query_llm(self, messages) -> AsyncGenerator[str]:
+        """
+        Perform the raw HTTP streaming request to the LLM API.
+
+        :param messages: The list of message dictionaries (role/content).
+        :yield: Raw text tokens (deltas) from the SSE stream.
+        :raises httpx.HTTPError: If the API returns a non-200 status.
+        """
+        async with httpx.AsyncClient() as client:
+            async with client.stream(
+                "POST",
+                settings.llm_settings.local_llm_url,
+                json={
+                    "model": settings.llm_settings.local_llm_model,
+                    "messages": messages,
+                    "temperature": 0.3,
+                    "stream": True,
+                },
+            ) as response:
+                response.raise_for_status()
+
+                async for line in response.aiter_lines():
+                    if not line or not line.startswith("data: "):
+                        continue
+
+                    data = line[len("data: ") :]
+                    if data.strip() == "[DONE]":
+                        break
+
+                    try:
+                        event = json.loads(data)
+                        delta = event.get("choices", [{}])[0].get("delta", {}).get("content")
+                        if delta:
+                            yield delta
+                    except json.JSONDecodeError:
+                        self.logger.error("Failed to parse LLM response: %s", data)

src/control_backend/agents/llm/llm_instructions.py

@@ -1,30 +1,45 @@
 class LLMInstructions:
     """
-    Defines structured instructions that are sent along with each request
-    to the LLM to guide its behavior (norms, goals, etc.).
+    Helper class to construct the system instructions for the LLM.
+
+    It combines the base persona (Pepper robot) with dynamic norms and goals
+    provided by the BDI system.
+
+    If no norms/goals are given it assumes empty lists.
+
+    :ivar norms: A list of behavioral norms.
+    :ivar goals: A list of specific conversational goals.
     """
 
     @staticmethod
-    def default_norms() -> str:
-        return """
-        Be friendly and respectful.
-        Make the conversation feel natural and engaging.
-        """.strip()
+    def default_norms() -> list[str]:
+        return [
+            "Be friendly and respectful.",
+            "Make the conversation feel natural and engaging.",
+        ]
 
     @staticmethod
-    def default_goals() -> str:
-        return """
-        Try to learn the user's name during conversation.
-        """.strip()
+    def default_goals() -> list[str]:
+        return [
+            "Try to learn the user's name during conversation.",
+        ]
 
-    def __init__(self, norms: str | None = None, goals: str | None = None):
-        self.norms = norms if norms is not None else self.default_norms()
-        self.goals = goals if goals is not None else self.default_goals()
+    def __init__(self, norms: list[str] | None = None, goals: list[str] | None = None):
+        self.norms = norms or self.default_norms()
+        self.goals = goals or self.default_goals()
 
     def build_developer_instruction(self) -> str:
         """
-        Builds a multi-line formatted instruction string for the LLM.
-        Includes only non-empty structured fields.
+        Builds the final system prompt string.
+
+        The prompt includes:
+        1.  Persona definition.
+        2.  Constraint on response length.
+        3.  Instructions on how to handle goals (reach them in order, but prioritize natural flow).
+        4.  The specific list of norms.
+        5.  The specific list of goals.
+
+        :return: The formatted system prompt string.
         """
         sections = [
             "You are a Pepper robot engaging in natural human conversation.",
@@ -35,12 +50,14 @@ class LLMInstructions:
 
         if self.norms:
             sections.append("Norms to follow:")
-            sections.append(self.norms)
+            for norm in self.norms:
+                sections.append("- " + norm)
             sections.append("")
 
         if self.goals:
             sections.append("Goals to reach:")
-            sections.append(self.goals)
+            for goal in self.goals:
+                sections.append("- " + goal)
             sections.append("")
 
         return "\n".join(sections).strip()

src/control_backend/agents/mock_agents/belief_text_mock.py

@@ -1,44 +0,0 @@
-import json
-
-from spade.agent import Agent
-from spade.behaviour import OneShotBehaviour
-from spade.message import Message
-
-from control_backend.core.config import settings
-
-
-class BeliefTextAgent(Agent):
-    class SendOnceBehaviourBlfText(OneShotBehaviour):
-        async def run(self):
-            to_jid = (
-                settings.agent_settings.belief_collector_agent_name
-                + "@"
-                + settings.agent_settings.host
-            )
-
-            # Send multiple beliefs in one JSON payload
-            payload = {
-                "type": "belief_extraction_text",
-                "beliefs": {
-                    "user_said": [
-                        "hello test",
-                        "Can you help me?",
-                        "stop talking to me",
-                        "No",
-                        "Pepper do a dance",
-                    ]
-                },
-            }
-
-            msg = Message(to=to_jid)
-            msg.body = json.dumps(payload)
-            await self.send(msg)
-            print(f"Beliefs sent to {to_jid}!")
-
-            self.exit_code = "Job Finished!"
-            await self.agent.stop()
-
-    async def setup(self):
-        print("BeliefTextAgent started")
-        self.b = self.SendOnceBehaviourBlfText()
-        self.add_behaviour(self.b)

src/control_backend/agents/perception/__init__.py

@@ -0,0 +1,4 @@
+from .transcription_agent.transcription_agent import (
+    TranscriptionAgent as TranscriptionAgent,
+)
+from .vad_agent import VADAgent as VADAgent

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

@@ -10,17 +10,32 @@ import numpy as np
 import torch
 import whisper
 
+from control_backend.core.config import settings
+
 
 class SpeechRecognizer(abc.ABC):
+    """
+    Abstract base class for speech recognition backends.
+
+    Provides a common interface for loading models and transcribing audio,
+    as well as heuristics for estimating token counts to optimize decoding.
+
+    :ivar limit_output_length: If True, limits the generated text length based on audio duration.
+    """
+
     def __init__(self, limit_output_length=True):
         """
-        :param limit_output_length: When `True`, the length of the generated speech will be limited
-        by the length of the input audio and some heuristics.
+        :param limit_output_length: When ``True``, the length of the generated speech will be
+            limited by the length of the input audio and some heuristics.
         """
         self.limit_output_length = limit_output_length
 
     @abc.abstractmethod
-    def load_model(self): ...
+    def load_model(self):
+        """
+        Load the speech recognition model into memory.
+        """
+        ...
 
     @abc.abstractmethod
     def recognize_speech(self, audio: np.ndarray) -> str:
@@ -28,29 +43,33 @@ class SpeechRecognizer(abc.ABC):
         Recognize speech from the given audio sample.
 
         :param audio: A full utterance sample. Audio must be 16 kHz, mono, np.float32, values in the
-        range [-1.0, 1.0].
-        :return: Recognized speech.
+            range [-1.0, 1.0].
+        :return: The recognized speech text.
         """
 
     @staticmethod
     def _estimate_max_tokens(audio: np.ndarray) -> int:
         """
-        Estimate the maximum length of a given audio sample in tokens. Assumes a maximum speaking
-        rate of 450 words per minute (3x average), and assumes that 3 words is 4 tokens.
+        Estimate the maximum length of a given audio sample in tokens.
+
+        Assumes a maximum speaking rate of 450 words per minute (3x average), and assumes that
+        3 words is approx. 4 tokens.
 
         :param audio: The audio sample (16 kHz) to use for length estimation.
         :return: The estimated length of the transcribed audio in tokens.
         """
-        length_seconds = len(audio) / 16_000
+        length_seconds = len(audio) / settings.vad_settings.sample_rate_hz
         length_minutes = length_seconds / 60
-        word_count = length_minutes * 450
-        token_count = word_count / 3 * 4
-        return int(token_count) + 10
+        word_count = length_minutes * settings.behaviour_settings.transcription_words_per_minute
+        token_count = word_count / settings.behaviour_settings.transcription_words_per_token
+        return int(token_count) + settings.behaviour_settings.transcription_token_buffer
 
     def _get_decode_options(self, audio: np.ndarray) -> dict:
         """
+        Construct decoding options for the Whisper model.
+
         :param audio: The audio sample (16 kHz) to use to determine options like max decode length.
-        :return: A dict that can be used to construct `whisper.DecodingOptions`.
+        :return: A dict that can be used to construct ``whisper.DecodingOptions`` (or equivalent).
         """
         options = {}
         if self.limit_output_length:
@@ -59,7 +78,12 @@ class SpeechRecognizer(abc.ABC):
 
     @staticmethod
     def best_type():
-        """Get the best type of SpeechRecognizer based on system capabilities."""
+        """
+        Factory method to get the best available `SpeechRecognizer`.
+
+        :return: An instance of :class:`MLXWhisperSpeechRecognizer` if on macOS with Apple Silicon,
+            otherwise :class:`OpenAIWhisperSpeechRecognizer`.
+        """
         if torch.mps.is_available():
             print("Choosing MLX Whisper model.")
             return MLXWhisperSpeechRecognizer()
@@ -69,12 +93,20 @@ class SpeechRecognizer(abc.ABC):
 
 
 class MLXWhisperSpeechRecognizer(SpeechRecognizer):
+    """
+    Speech recognizer using the MLX framework (optimized for Apple Silicon).
+    """
+
     def __init__(self, limit_output_length=True):
         super().__init__(limit_output_length)
         self.was_loaded = False
-        self.model_name = "mlx-community/whisper-small.en-mlx"
+        self.model_name = settings.speech_model_settings.mlx_model_name
 
     def load_model(self):
+        """
+        Ensures the model is downloaded and cached. MLX loads dynamically, so this
+        pre-fetches the model.
+        """
         if self.was_loaded:
             return
         # There appears to be no dedicated mechanism to preload a model, but this `get_model` does
@@ -92,15 +124,24 @@ class MLXWhisperSpeechRecognizer(SpeechRecognizer):
 
 
 class OpenAIWhisperSpeechRecognizer(SpeechRecognizer):
+    """
+    Speech recognizer using the standard OpenAI Whisper library (PyTorch).
+    """
+
     def __init__(self, limit_output_length=True):
         super().__init__(limit_output_length)
         self.model = None
 
     def load_model(self):
+        """
+        Loads the OpenAI Whisper model onto the available device (CUDA or CPU).
+        """
         if self.model is not None:
             return
         device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
-        self.model = whisper.load_model("small.en", device=device)
+        self.model = whisper.load_model(
+            settings.speech_model_settings.openai_model_name, device=device
+        )
 
     def recognize_speech(self, audio: np.ndarray) -> str:
         self.load_model()

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

@@ -0,0 +1,138 @@
+import asyncio
+
+import numpy as np
+import zmq
+import zmq.asyncio as azmq
+
+from control_backend.agents import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+
+from .speech_recognizer import SpeechRecognizer
+
+
+class TranscriptionAgent(BaseAgent):
+    """
+    Transcription Agent.
+
+    This agent listens to audio fragments (containing speech) on a ZMQ SUB socket,
+    transcribes them using the configured :class:`SpeechRecognizer`, and sends the
+    resulting text to other agents (e.g., the Text Belief Extractor).
+
+    It uses an internal semaphore to limit the number of concurrent transcription tasks.
+
+    :ivar audio_in_address: The ZMQ address to receive audio from (usually from VAD Agent).
+    :ivar audio_in_socket: The ZMQ SUB socket instance.
+    :ivar speech_recognizer: The speech recognition engine instance.
+    :ivar _concurrency: Semaphore to limit concurrent transcriptions.
+    """
+
+    def __init__(self, audio_in_address: str):
+        """
+        Initialize the Transcription Agent.
+
+        :param audio_in_address: The ZMQ address of the audio source (e.g., VAD output).
+        """
+        super().__init__(settings.agent_settings.transcription_name)
+
+        self.audio_in_address = audio_in_address
+        self.audio_in_socket: azmq.Socket | None = None
+        self.speech_recognizer = None
+        self._concurrency = None
+
+    async def setup(self):
+        """
+        Initialize the agent resources.
+
+        1. Connects to the audio input ZMQ socket.
+        2. Initializes the :class:`SpeechRecognizer` (choosing the best available backend).
+        3. Starts the background transcription loop.
+        """
+        self.logger.info("Setting up %s", self.name)
+
+        self._connect_audio_in_socket()
+
+        # Initialize recognizer and semaphore
+        max_concurrent_tasks = settings.behaviour_settings.transcription_max_concurrent_tasks
+        self._concurrency = asyncio.Semaphore(max_concurrent_tasks)
+        self.speech_recognizer = SpeechRecognizer.best_type()
+        self.speech_recognizer.load_model()  # Warmup
+
+        # Start background loop
+        self.add_behavior(self._transcribing_loop())
+
+        self.logger.info("Finished setting up %s", self.name)
+
+    async def stop(self):
+        """
+        Stop the agent and close sockets.
+        """
+        assert self.audio_in_socket is not None
+        self.audio_in_socket.close()
+        self.audio_in_socket = None
+        return await super().stop()
+
+    def _connect_audio_in_socket(self):
+        """
+        Helper to connect the ZMQ SUB socket for audio input.
+        """
+        self.audio_in_socket = azmq.Context.instance().socket(zmq.SUB)
+        self.audio_in_socket.setsockopt_string(zmq.SUBSCRIBE, "")
+        self.audio_in_socket.connect(self.audio_in_address)
+
+    async def _transcribe(self, audio: np.ndarray) -> str:
+        """
+        Run the speech recognition on the audio data.
+
+        This runs in a separate thread (via `asyncio.to_thread`) to avoid blocking the event loop,
+        constrained by the concurrency semaphore.
+
+        :param audio: The audio data as a numpy array.
+        :return: The transcribed text string.
+        """
+        assert self._concurrency is not None and self.speech_recognizer is not None
+        async with self._concurrency:
+            return await asyncio.to_thread(self.speech_recognizer.recognize_speech, audio)
+
+    async def _share_transcription(self, transcription: str):
+        """
+        Share a transcription to the other agents that depend on it.
+
+        Currently sends to:
+        - :attr:`settings.agent_settings.text_belief_extractor_name`
+
+        :param transcription: The transcribed text.
+        """
+        receiver_names = [
+            settings.agent_settings.text_belief_extractor_name,
+        ]
+
+        for receiver_name in receiver_names:
+            message = InternalMessage(
+                to=receiver_name,
+                sender=self.name,
+                body=transcription,
+            )
+            await self.send(message)
+
+    async def _transcribing_loop(self) -> None:
+        """
+        The main loop for receiving audio and triggering transcription.
+
+        Receives audio chunks from ZMQ, decodes them to float32, and calls :meth:`_transcribe`.
+        If speech is found, it calls :meth:`_share_transcription`.
+        """
+        while self._running:
+            try:
+                assert self.audio_in_socket is not None
+                audio_data = await self.audio_in_socket.recv()
+                audio = np.frombuffer(audio_data, dtype=np.float32)
+                speech = await self._transcribe(audio)
+                if not speech:
+                    self.logger.info("Nothing transcribed.")
+                    continue
+
+                self.logger.info("Transcribed speech: %s", speech)
+                await self._share_transcription(speech)
+            except Exception as e:
+                self.logger.error(f"Error in transcription loop: {e}")

src/control_backend/agents/perception/vad_agent.py

@@ -0,0 +1,256 @@
+import asyncio
+
+import numpy as np
+import torch
+import zmq
+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
+
+
+class SocketPoller[T]:
+    """
+    Convenience class for polling a socket for data with a timeout, persisting a zmq.Poller for
+    multiple usages.
+
+    :param T: The type of data returned by the socket.
+    """
+
+    def __init__(
+        self,
+        socket: azmq.Socket,
+        timeout_ms: int = settings.behaviour_settings.socket_poller_timeout_ms,
+    ):
+        """
+        :param socket: The socket to poll and get data from.
+        :param timeout_ms: A timeout in milliseconds to wait for data.
+        """
+        self.socket = socket
+        self.poller = azmq.Poller()
+        self.poller.register(self.socket, zmq.POLLIN)
+        self.timeout_ms = timeout_ms
+
+    async def poll(self, timeout_ms: int | None = None) -> T | None:
+        """
+        Get data from the socket, or None if the timeout is reached.
+
+        :param timeout_ms: If given, the timeout. Otherwise, ``self.timeout_ms`` is used.
+        :return: Data from the socket or None.
+        """
+        timeout_ms = timeout_ms or self.timeout_ms
+        socks = dict(await self.poller.poll(timeout_ms))
+        if socks.get(self.socket) == zmq.POLLIN:
+            return await self.socket.recv()
+        return None
+
+
+class VADAgent(BaseAgent):
+    """
+    Voice Activity Detection (VAD) Agent.
+
+    This agent:
+    1.  Receives an audio stream (via ZMQ).
+    2.  Processes the audio using the Silero VAD model to detect speech.
+    3.  Buffers potential speech segments.
+    4.  Publishes valid speech fragments (containing speech plus small buffer) to a ZMQ PUB socket.
+    5.  Instantiates and starts agents (like :class:`TranscriptionAgent`) that use this output.
+
+    :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):
+        """
+        Initialize the VAD Agent.
+
+        :param audio_in_address: ZMQ address for input audio.
+        :param audio_in_bind: True if this agent should bind to the input address, False to connect.
+        """
+        super().__init__(settings.agent_settings.vad_name)
+
+        self.audio_in_address = audio_in_address
+        self.audio_in_bind = audio_in_bind
+
+        self.audio_in_socket: azmq.Socket | None = None
+        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()
+        self.model = None
+
+    async def setup(self):
+        """
+        Initialize resources.
+
+        1. Connects audio input socket.
+        2. Binds audio output socket (random port).
+        3. Connects to program communication socket.
+        4. Loads VAD model from Torch Hub.
+        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_address = self._connect_audio_out_socket()
+        if audio_out_address is None:
+            self.logger.error("Could not bind output socket, stopping.")
+            await self.stop()
+            return
+
+        # 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:
+            self.model, _ = torch.hub.load(
+                repo_or_dir=settings.vad_settings.repo_or_dir,
+                model=settings.vad_settings.model_name,
+                force_reload=False,
+            )
+        except Exception:
+            self.logger.exception("Failed to load VAD model.")
+            await self.stop()
+            return
+
+        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)
+        await transcriber.start()
+
+        self.logger.info("Finished setting up %s", self.name)
+
+    async def stop(self):
+        """
+        Stop listening to audio, stop publishing audio, close sockets.
+        """
+        if self.audio_in_socket is not None:
+            self.audio_in_socket.close()
+            self.audio_in_socket = None
+        if self.audio_out_socket is not None:
+            self.audio_out_socket.close()
+            self.audio_out_socket = None
+        await super().stop()
+
+    def _connect_audio_in_socket(self):
+        """
+        Connects (or binds) the socket for listening to audio from RI.
+        :return:
+        """
+        self.audio_in_socket = azmq.Context.instance().socket(zmq.SUB)
+        self.audio_in_socket.setsockopt_string(zmq.SUBSCRIBE, "")
+        if self.audio_in_bind:
+            self.audio_in_socket.bind(self.audio_in_address)
+        else:
+            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) -> str | None:
+        """
+        Returns the address that was bound to, or None if binding failed.
+        """
+        try:
+            self.audio_out_socket = azmq.Context.instance().socket(zmq.PUB)
+            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):
+        """
+        Clears the ZeroMQ queue and sets ready state.
+        """
+        discarded = 0
+        assert self.audio_in_poller is not None
+        while await self.audio_in_poller.poll(1) is not None:
+            discarded += 1
+        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.
+
+        1. Polls for new audio chunks.
+        2. Passes chunk to VAD model.
+        3. Manages `i_since_speech` counter to determine start/end of speech.
+        4. Buffers speech + context.
+        5. Sends complete speech segment to output socket when silence is detected.
+        """
+        await self._ready.wait()
+        while self._running:
+            assert self.audio_in_poller is not None
+            data = await self.audio_in_poller.poll()
+            if data is None:
+                if len(self.audio_buffer) > 0:
+                    self.logger.debug(
+                        "No audio data received. Discarding buffer until new data arrives."
+                    )
+                    self.audio_buffer = np.array([], dtype=np.float32)
+                    self.i_since_speech = settings.behaviour_settings.vad_initial_since_speech
+                continue
+
+            # copy otherwise Torch will be sad that it's immutable
+            chunk = np.frombuffer(data, dtype=np.float32).copy()
+            assert self.model is not None
+            prob = self.model(torch.from_numpy(chunk), settings.vad_settings.sample_rate_hz).item()
+            non_speech_patience = settings.behaviour_settings.vad_non_speech_patience_chunks
+            prob_threshold = settings.behaviour_settings.vad_prob_threshold
+
+            if prob > prob_threshold:
+                if self.i_since_speech > non_speech_patience:
+                    self.logger.debug("Speech started.")
+                self.audio_buffer = np.append(self.audio_buffer, chunk)
+                self.i_since_speech = 0
+                continue
+
+            self.i_since_speech += 1
+
+            # prob < threshold, so speech maybe ended. Wait a bit more before to be more certain
+            if self.i_since_speech <= non_speech_patience:
+                self.audio_buffer = np.append(self.audio_buffer, chunk)
+                continue
+
+            # Speech probably ended. Make sure we have a usable amount of data.
+            if len(self.audio_buffer) >= 3 * len(chunk):
+                self.logger.debug("Speech ended.")
+                assert self.audio_out_socket is not None
+                await self.audio_out_socket.send(self.audio_buffer[: -2 * len(chunk)].tobytes())
+
+            # At this point, we know that the speech has ended.
+            # Prepend the last chunk that had no speech, for a more fluent boundary
+            self.audio_buffer = chunk

src/control_backend/agents/ri_command_agent.py

@@ -1,92 +0,0 @@
-import json
-
-import spade.agent
-import zmq
-from spade.behaviour import CyclicBehaviour
-from zmq.asyncio import Context
-
-from control_backend.agents import BaseAgent
-from control_backend.core.config import settings
-from control_backend.schemas.ri_message import SpeechCommand
-
-
-class RICommandAgent(BaseAgent):
-    subsocket: zmq.Socket
-    pubsocket: zmq.Socket
-    address = ""
-    bind = False
-
-    def __init__(
-        self,
-        jid: str,
-        password: str,
-        port: int = 5222,
-        verify_security: bool = False,
-        address="tcp://localhost:0000",
-        bind=False,
-    ):
-        super().__init__(jid, password, port, verify_security)
-        self.address = address
-        self.bind = bind
-
-    class SendCommandsBehaviour(CyclicBehaviour):
-        """Behaviour for sending commands received from the UI."""
-
-        async def run(self):
-            """
-            Run the command publishing loop indefinetely.
-            """
-            assert self.agent is not None
-            # Get a message internally (with topic command)
-            topic, body = await self.agent.subsocket.recv_multipart()
-
-            # Try to get body
-            try:
-                body = json.loads(body)
-                message = SpeechCommand.model_validate(body)
-
-                # Send to the robot.
-                await self.agent.pubsocket.send_json(message.model_dump())
-            except Exception as e:
-                self.agent.logger.error("Error processing message: %s", e)
-
-    class SendPythonCommandsBehaviour(CyclicBehaviour):
-        """Behaviour for sending commands received from other Python agents."""
-
-        async def run(self):
-            message: spade.agent.Message = await self.receive(timeout=1)
-            if not message:
-                return
-            if message and message.to == self.agent.jid:
-                try:
-                    speech_command = SpeechCommand.model_validate_json(message.body)
-                    await self.agent.pubsocket.send_json(speech_command.model_dump())
-                except Exception as e:
-                    self.agent.logger.error("Error processing message: %s", e)
-
-    async def setup(self):
-        """
-        Setup the command agent
-        """
-        self.logger.info("Setting up %s", self.jid)
-
-        context = Context.instance()
-
-        # To the robot
-        self.pubsocket = context.socket(zmq.PUB)
-        if self.bind:
-            self.pubsocket.bind(self.address)
-        else:
-            self.pubsocket.connect(self.address)
-
-        # Receive internal topics regarding commands
-        self.subsocket = context.socket(zmq.SUB)
-        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
-        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
-
-        # Add behaviour to our agent
-        commands_behaviour = self.SendCommandsBehaviour()
-        self.add_behaviour(commands_behaviour)
-        self.add_behaviour(self.SendPythonCommandsBehaviour())
-
-        self.logger.info("Finished setting up %s", self.jid)

src/control_backend/agents/ri_communication_agent.py

@@ -1,162 +0,0 @@
-import asyncio
-
-import zmq
-from spade.behaviour import CyclicBehaviour
-from zmq.asyncio import Context
-
-from control_backend.agents import BaseAgent
-from control_backend.core.config import settings
-
-from .ri_command_agent import RICommandAgent
-
-
-class RICommunicationAgent(BaseAgent):
-    req_socket: zmq.Socket
-    _address = ""
-    _bind = True
-
-    def __init__(
-        self,
-        jid: str,
-        password: str,
-        port: int = 5222,
-        verify_security: bool = False,
-        address="tcp://localhost:0000",
-        bind=False,
-    ):
-        super().__init__(jid, password, port, verify_security)
-        self._address = address
-        self._bind = bind
-
-    class ListenBehaviour(CyclicBehaviour):
-        async def run(self):
-            """
-            Run the listening (ping) loop indefinetely.
-            """
-            assert self.agent is not None
-
-            # We need to listen and sent pings.
-            message = {"endpoint": "ping", "data": {"id": "e.g. some reference id"}}
-            await self.agent.req_socket.send_json(message)
-
-            # Wait up to three seconds for a reply:)
-            try:
-                message = await asyncio.wait_for(self.agent.req_socket.recv_json(), timeout=3.0)
-
-            # We didnt get a reply :(
-            except TimeoutError:
-                self.agent.logger.info("No ping retrieved in 3 seconds, killing myself.")
-                self.kill()
-
-            self.agent.logger.debug('Received message "%s"', message)
-            if "endpoint" not in message:
-                self.agent.logger.error("No received endpoint in message, excepted ping endpoint.")
-                return
-
-            # See what endpoint we received
-            match message["endpoint"]:
-                case "ping":
-                    await asyncio.sleep(1)
-                case _:
-                    self.agent.logger.info(
-                        "Received message with topic different than ping, while ping expected."
-                    )
-
-    async def setup(self, max_retries: int = 5):
-        """
-        Try to setup the communication agent, we have 5 retries in case we dont have a response yet.
-        """
-        self.logger.info("Setting up %s", self.jid)
-        retries = 0
-
-        # Let's try a certain amount of times before failing connection
-        while retries < max_retries:
-            # Bind request socket
-            self.req_socket = Context.instance().socket(zmq.REQ)
-            if self._bind:
-                self.req_socket.bind(self._address)
-            else:
-                self.req_socket.connect(self._address)
-
-            # Send our message and receive one back:)
-            message = {"endpoint": "negotiate/ports", "data": None}
-            await self.req_socket.send_json(message)
-
-            try:
-                received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0)
-
-            except TimeoutError:
-                self.logger.warning(
-                    "No connection established in 20 seconds (attempt %d/%d)",
-                    retries + 1,
-                    max_retries,
-                )
-                retries += 1
-                continue
-
-            except Exception as e:
-                self.logger.error("Unexpected error during negotiation: %s", e)
-                retries += 1
-                continue
-
-            # Validate endpoint
-            endpoint = received_message.get("endpoint")
-            if endpoint != "negotiate/ports":
-                # TODO: Should this send a message back?
-                self.logger.error(
-                    "Invalid endpoint '%s' received (attempt %d/%d)",
-                    endpoint,
-                    retries + 1,
-                    max_retries,
-                )
-                retries += 1
-                continue
-
-            # At this point, we have a valid response
-            try:
-                for port_data in received_message["data"]:
-                    id = port_data["id"]
-                    port = port_data["port"]
-                    bind = port_data["bind"]
-
-                    if not bind:
-                        addr = f"tcp://localhost:{port}"
-                    else:
-                        addr = f"tcp://*:{port}"
-
-                    match id:
-                        case "main":
-                            if addr != self._address:
-                                if not bind:
-                                    self.req_socket.connect(addr)
-                                else:
-                                    self.req_socket.bind(addr)
-                        case "actuation":
-                            ri_commands_agent = RICommandAgent(
-                                settings.agent_settings.ri_command_agent_name
-                                + "@"
-                                + settings.agent_settings.host,
-                                settings.agent_settings.ri_command_agent_name,
-                                address=addr,
-                                bind=bind,
-                            )
-                            await ri_commands_agent.start()
-                        case _:
-                            self.logger.warning("Unhandled negotiation id: %s", id)
-
-            except Exception as e:
-                self.logger.error("Error unpacking negotiation data: %s", e)
-                retries += 1
-                continue
-
-            # setup succeeded
-            break
-
-        else:
-            self.logger.error("Failed to set up RICommunicationAgent after %d retries", max_retries)
-            return
-
-        # Set up ping behaviour
-        listen_behaviour = self.ListenBehaviour()
-        self.add_behaviour(listen_behaviour)
-        self.logger.info("Finished setting up %s", self.jid)

src/control_backend/agents/transcription/transcription_agent.py

@@ -1,86 +0,0 @@
-import asyncio
-
-import numpy as np
-import zmq
-import zmq.asyncio as azmq
-from spade.behaviour import CyclicBehaviour
-from spade.message import Message
-
-from control_backend.agents import BaseAgent
-from control_backend.core.config import settings
-
-from .speech_recognizer import SpeechRecognizer
-
-
-class TranscriptionAgent(BaseAgent):
-    """
-    An agent which listens to audio fragments with voice, transcribes them, and sends the
-    transcription to other agents.
-    """
-
-    def __init__(self, audio_in_address: str):
-        jid = settings.agent_settings.transcription_agent_name + "@" + settings.agent_settings.host
-        super().__init__(jid, settings.agent_settings.transcription_agent_name)
-
-        self.audio_in_address = audio_in_address
-        self.audio_in_socket: azmq.Socket | None = None
-
-    class Transcribing(CyclicBehaviour):
-        def __init__(self, audio_in_socket: azmq.Socket):
-            super().__init__()
-            self.audio_in_socket = audio_in_socket
-            self.speech_recognizer = SpeechRecognizer.best_type()
-            self._concurrency = asyncio.Semaphore(3)
-
-        def warmup(self):
-            """Load the transcription model into memory to speed up the first transcription."""
-            self.speech_recognizer.load_model()
-
-        async def _transcribe(self, audio: np.ndarray) -> str:
-            async with self._concurrency:
-                return await asyncio.to_thread(self.speech_recognizer.recognize_speech, audio)
-
-        async def _share_transcription(self, transcription: str):
-            """Share a transcription to the other agents that depend on it."""
-            receiver_jids = [
-                settings.agent_settings.text_belief_extractor_agent_name
-                + "@"
-                + settings.agent_settings.host,
-            ]  # Set message receivers here
-
-            for receiver_jid in receiver_jids:
-                message = Message(to=receiver_jid, body=transcription)
-                await self.send(message)
-
-        async def run(self) -> None:
-            audio = await self.audio_in_socket.recv()
-            audio = np.frombuffer(audio, dtype=np.float32)
-            speech = await self._transcribe(audio)
-            if not speech:
-                self.agent.logger.info("Nothing transcribed.")
-                return
-
-            self.agent.logger.info("Transcribed speech: %s", speech)
-
-            await self._share_transcription(speech)
-
-    async def stop(self):
-        self.audio_in_socket.close()
-        self.audio_in_socket = None
-        return await super().stop()
-
-    def _connect_audio_in_socket(self):
-        self.audio_in_socket = azmq.Context.instance().socket(zmq.SUB)
-        self.audio_in_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        self.audio_in_socket.connect(self.audio_in_address)
-
-    async def setup(self):
-        self.logger.info("Setting up %s", self.jid)
-
-        self._connect_audio_in_socket()
-
-        transcribing = self.Transcribing(self.audio_in_socket)
-        transcribing.warmup()
-        self.add_behaviour(transcribing)
-
-        self.logger.info("Finished setting up %s", self.jid)

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/agents/vad_agent.py

@@ -1,172 +0,0 @@
-import numpy as np
-import torch
-import zmq
-import zmq.asyncio as azmq
-from spade.behaviour import CyclicBehaviour
-
-from control_backend.agents import BaseAgent
-from control_backend.core.config import settings
-
-from .transcription.transcription_agent import TranscriptionAgent
-
-
-class SocketPoller[T]:
-    """
-    Convenience class for polling a socket for data with a timeout, persisting a zmq.Poller for
-    multiple usages.
-    """
-
-    def __init__(self, socket: azmq.Socket, timeout_ms: int = 100):
-        """
-        :param socket: The socket to poll and get data from.
-        :param timeout_ms: A timeout in milliseconds to wait for data.
-        """
-        self.socket = socket
-        self.poller = zmq.Poller()
-        self.poller.register(self.socket, zmq.POLLIN)
-        self.timeout_ms = timeout_ms
-
-    async def poll(self, timeout_ms: int | None = None) -> T | None:
-        """
-        Get data from the socket, or None if the timeout is reached.
-
-        :param timeout_ms: If given, the timeout. Otherwise, `self.timeout_ms` is used.
-        :return: Data from the socket or None.
-        """
-        timeout_ms = timeout_ms or self.timeout_ms
-        socks = dict(self.poller.poll(timeout_ms))
-        if socks.get(self.socket) == zmq.POLLIN:
-            return await self.socket.recv()
-        return None
-
-
-class Streaming(CyclicBehaviour):
-    def __init__(self, audio_in_socket: azmq.Socket, audio_out_socket: azmq.Socket):
-        super().__init__()
-        self.audio_in_poller = SocketPoller[bytes](audio_in_socket)
-        self.model, _ = torch.hub.load(
-            repo_or_dir="snakers4/silero-vad", model="silero_vad", force_reload=False
-        )
-        self.audio_out_socket = audio_out_socket
-
-        self.audio_buffer = np.array([], dtype=np.float32)
-        self.i_since_speech = 100  # Used to allow small pauses in speech
-        self._ready = False
-
-    async def reset(self):
-        """Clears the ZeroMQ queue and tells this behavior to start."""
-        discarded = 0
-        while await self.audio_in_poller.poll(1) is not None:
-            discarded += 1
-        self.agent.logger.info(f"Discarded {discarded} audio packets before starting.")
-        self._ready = True
-
-    async def run(self) -> None:
-        if not self._ready:
-            return
-
-        data = await self.audio_in_poller.poll()
-        if data is None:
-            if len(self.audio_buffer) > 0:
-                self.agent.logger.debug(
-                    "No audio data received. Discarding buffer until new data arrives."
-                )
-                self.audio_buffer = np.array([], dtype=np.float32)
-                self.i_since_speech = 100
-            return
-
-        # copy otherwise Torch will be sad that it's immutable
-        chunk = np.frombuffer(data, dtype=np.float32).copy()
-        prob = self.model(torch.from_numpy(chunk), 16000).item()
-
-        if prob > 0.5:
-            if self.i_since_speech > 3:
-                self.agent.logger.debug("Speech started.")
-            self.audio_buffer = np.append(self.audio_buffer, chunk)
-            self.i_since_speech = 0
-            return
-        self.i_since_speech += 1
-
-        # prob < 0.5, so speech maybe ended. Wait a bit more before to be more certain
-        if self.i_since_speech <= 3:
-            self.audio_buffer = np.append(self.audio_buffer, chunk)
-            return
-
-        # Speech probably ended. Make sure we have a usable amount of data.
-        if len(self.audio_buffer) >= 3 * len(chunk):
-            self.agent.logger.debug("Speech ended.")
-            await self.audio_out_socket.send(self.audio_buffer[: -2 * len(chunk)].tobytes())
-
-        # At this point, we know that the speech has ended.
-        # Prepend the last chunk that had no speech, for a more fluent boundary
-        self.audio_buffer = chunk
-
-
-class VADAgent(BaseAgent):
-    """
-    An agent which listens to an audio stream, does Voice Activity Detection (VAD), and sends
-    fragments with detected speech to other agents over ZeroMQ.
-    """
-
-    def __init__(self, audio_in_address: str, audio_in_bind: bool):
-        jid = settings.agent_settings.vad_agent_name + "@" + settings.agent_settings.host
-        super().__init__(jid, settings.agent_settings.vad_agent_name)
-
-        self.audio_in_address = audio_in_address
-        self.audio_in_bind = audio_in_bind
-
-        self.audio_in_socket: azmq.Socket | None = None
-        self.audio_out_socket: azmq.Socket | None = None
-
-        self.streaming_behaviour: Streaming | None = None
-
-    async def stop(self):
-        """
-        Stop listening to audio, stop publishing audio, close sockets.
-        """
-        if self.audio_in_socket is not None:
-            self.audio_in_socket.close()
-            self.audio_in_socket = None
-        if self.audio_out_socket is not None:
-            self.audio_out_socket.close()
-            self.audio_out_socket = None
-        return await super().stop()
-
-    def _connect_audio_in_socket(self):
-        self.audio_in_socket = azmq.Context.instance().socket(zmq.SUB)
-        self.audio_in_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        if self.audio_in_bind:
-            self.audio_in_socket.bind(self.audio_in_address)
-        else:
-            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:
-        """Returns the port bound, 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://*", max_tries=100)
-        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 setup(self):
-        self.logger.info("Setting up %s", self.jid)
-
-        self._connect_audio_in_socket()
-
-        audio_out_port = self._connect_audio_out_socket()
-        if audio_out_port is None:
-            await self.stop()
-            return
-        audio_out_address = f"tcp://localhost:{audio_out_port}"
-
-        self.streaming_behaviour = Streaming(self.audio_in_socket, self.audio_out_socket)
-        self.add_behaviour(self.streaming_behaviour)
-
-        # Start agents dependent on the output audio fragments here
-        transcriber = TranscriptionAgent(audio_out_address)
-        await transcriber.start()
-
-        self.logger.info("Finished setting up %s", self.jid)

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/command.py

@@ -1,20 +0,0 @@
-import logging
-
-from fastapi import APIRouter, Request
-
-from control_backend.schemas.ri_message import SpeechCommand
-
-logger = logging.getLogger(__name__)
-
-router = APIRouter()
-
-
-@router.post("/command", status_code=202)
-async def receive_command(command: SpeechCommand, request: Request):
-    # Validate and retrieve data.
-    SpeechCommand.model_validate(command)
-    topic = b"command"
-    pub_socket = request.app.state.endpoints_pub_socket
-    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
-
-    return {"status": "Command received"}

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

@@ -15,6 +15,14 @@ router = APIRouter()
 # DO NOT LOG INSIDE THIS FUNCTION
 @router.get("/logs/stream")
 async def log_stream():
+    """
+    Server-Sent Events (SSE) endpoint for real-time log streaming.
+
+    Subscribes to the internal ZMQ logging topic and forwards log records to the client.
+    Allows the frontend to display live logs from the backend.
+
+    :return: A StreamingResponse yielding SSE data.
+    """
     context = Context.instance()
     socket = context.socket(zmq.SUB)
 

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

@@ -11,6 +11,14 @@ router = APIRouter()
 
 @router.post("/message", status_code=202)
 async def receive_message(message: Message, request: Request):
+    """
+    Generic endpoint to receive text messages.
+
+    Publishes the message to the internal 'message' topic via ZMQ.
+
+    :param message: The message payload.
+    :param request: The FastAPI request object (used to access app state).
+    """
     logger.info("Received message: %s", message.message)
 
     topic = b"message"

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

@@ -0,0 +1,31 @@
+import logging
+
+from fastapi import APIRouter, Request
+
+from control_backend.schemas.program import Program
+
+logger = logging.getLogger(__name__)
+router = APIRouter()
+
+
+@router.post("/program", status_code=202)
+async def receive_message(program: Program, request: Request):
+    """
+    Endpoint to upload a new Behavior Program.
+
+    Validates the program structure (phases, norms, goals) and publishes it to the internal
+    'program' topic. The :class:`~control_backend.agents.bdi.bdi_program_manager.BDIProgramManager`
+    will pick this up and update the BDI agent.
+
+    :param program: The parsed Program object.
+    :param request: The FastAPI request object.
+    """
+    logger.debug("Received raw program: %s", program)
+
+    # send away
+    topic = b"program"
+    body = program.model_dump_json().encode()
+    pub_socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, body])
+
+    return {"status": "Program parsed"}

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

@@ -0,0 +1,144 @@
+import asyncio
+import json
+import logging
+
+import zmq.asyncio
+from fastapi import APIRouter, Request
+from fastapi.responses import StreamingResponse
+from zmq.asyncio import Context, Socket
+
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand
+
+logger = logging.getLogger(__name__)
+
+router = APIRouter()
+
+
+@router.post("/command/speech", status_code=202)
+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`
+    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.
+    """
+    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": "Gesture command received"}
+
+
+@router.get("/ping_check")
+async def ping(request: Request):
+    """
+    Simple HTTP ping endpoint to check if the backend is reachable.
+    """
+    pass
+
+
+@router.get("/commands/gesture/tags")
+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.
+    """
+    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(f"{amount}".encode() if amount else b"None")
+    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("tags", [])
+        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_gesture_tags": available_tags}
+
+
+@router.get("/ping_stream")
+async def ping_stream(request: Request):
+    """
+    SSE endpoint for monitoring the Robot Interface connection status.
+
+    Subscribes to the internal 'ping' topic (published by the RI Communication Agent)
+    and yields status updates to the client.
+
+    :return: A StreamingResponse of connection status events.
+    """
+
+    async def event_stream():
+        # Set up internal socket to receive ping updates
+
+        sub_socket = Context.instance().socket(zmq.SUB)
+        sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
+        connected = False
+
+        ping_frequency = 2
+
+        # Even though its most likely the updates should alternate
+        # (So, True - False - True - False for connectivity),
+        # let's still check.
+        while True:
+            try:
+                topic, body = await asyncio.wait_for(
+                    sub_socket.recv_multipart(), timeout=ping_frequency
+                )
+                connected = json.loads(body)
+            except TimeoutError:
+                logger.debug("got timeout error in ping loop in ping router")
+                connected = False
+
+            # Stop if client disconnected
+            if await request.is_disconnected():
+                logger.info("Client disconnected from SSE")
+                break
+
+            logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
+            connectedJson = json.dumps(connected)
+            yield (f"data: {connectedJson}\n\n")
+
+    return StreamingResponse(event_stream(), media_type="text/event-stream")

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

@@ -6,4 +6,7 @@ router = APIRouter()
 # TODO: implement
 @router.get("/sse")
 async def sse(request: Request):
+    """
+    Placeholder for future Server-Sent Events endpoint.
+    """
     pass

src/control_backend/api/v1/router.py

@@ -1,6 +1,6 @@
 from fastapi.routing import APIRouter
 
-from control_backend.api.v1.endpoints import command, logs, message, sse
+from control_backend.api.v1.endpoints import button_pressed, logs, message, program, robot, sse
 
 api_router = APIRouter()
 
@@ -8,6 +8,10 @@ api_router.include_router(message.router, tags=["Messages"])
 
 api_router.include_router(sse.router, tags=["SSE"])
 
-api_router.include_router(command.router, tags=["Commands"])
+api_router.include_router(robot.router, prefix="/robot", tags=["Pings", "Commands"])
 
 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/agent_system.py

@@ -0,0 +1,207 @@
+import asyncio
+import logging
+from abc import ABC, abstractmethod
+from asyncio import Task
+from collections.abc import Coroutine
+
+import zmq
+import zmq.asyncio as azmq
+
+from control_backend.core.config import settings
+from control_backend.schemas.internal_message import InternalMessage
+
+# Central directory to resolve agent names to instances
+_agent_directory: dict[str, "BaseAgent"] = {}
+
+
+class AgentDirectory:
+    """
+    Helper class to keep track of which agents are registered.
+    Used for handling message routing.
+    """
+
+    @staticmethod
+    def register(name: str, agent: "BaseAgent"):
+        _agent_directory[name] = agent
+
+    @staticmethod
+    def get(name: str) -> "BaseAgent | None":
+        return _agent_directory.get(name)
+
+
+class BaseAgent(ABC):
+    """
+    Abstract base class for all agents in the system.
+
+    This class provides the foundational infrastructure for agent lifecycle management, messaging
+    (both intra-process and inter-process via ZMQ), and asynchronous behavior execution.
+
+    .. warning::
+        Do not inherit from this class directly for creating new agents. Instead, inherit from
+        :class:`control_backend.agents.base.BaseAgent`, which ensures proper logger configuration.
+
+    :ivar name: The unique name of the agent.
+    :ivar inbox: The queue for receiving internal messages.
+    :ivar _tasks: A set of currently running asynchronous tasks/behaviors.
+    :ivar _running: A boolean flag indicating if the agent is currently running.
+    :ivar logger: The logger instance for the agent.
+    """
+
+    logger: logging.Logger
+
+    def __init__(self, name: str):
+        """
+        Initialize the BaseAgent.
+
+        :param name: The unique identifier for this agent.
+        """
+        self.name = name
+        self.inbox: asyncio.Queue[InternalMessage] = asyncio.Queue()
+        self._tasks: set[asyncio.Task] = set()
+        self._running = False
+
+        self._internal_pub_socket: None | azmq.Socket = None
+        self._internal_sub_socket: None | azmq.Socket = None
+
+        # Register immediately
+        AgentDirectory.register(name, self)
+
+    @abstractmethod
+    async def setup(self):
+        """
+        Initialize agent-specific resources.
+
+        This method must be overridden by subclasses. It is called after the agent has started
+        and the ZMQ sockets have been initialized. Use this method to:
+
+        *   Initialize connections (databases, APIs, etc.)
+        *   Add initial behaviors using :meth:`add_behavior`
+        """
+        pass
+
+    async def start(self):
+        """
+        Start the agent and its internal loops.
+
+        This method:
+        1. Sets the running state to True.
+        2. Initializes ZeroMQ PUB/SUB sockets for inter-process communication.
+        3. Calls the user-defined :meth:`setup` method.
+        4. Starts the inbox processing loop and the ZMQ receiver loop.
+        """
+        self.logger.info(f"Starting agent {self.name}")
+        self._running = True
+
+        context = azmq.Context.instance()
+
+        # Setup the internal publishing socket
+        self._internal_pub_socket = context.socket(zmq.PUB)
+        self._internal_pub_socket.connect(settings.zmq_settings.internal_pub_address)
+
+        # Setup the internal receiving socket
+        self._internal_sub_socket = context.socket(zmq.SUB)
+        self._internal_sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        self._internal_sub_socket.subscribe(f"internal/{self.name}")
+
+        await self.setup()
+
+        # Start processing inbox and ZMQ messages
+        self.add_behavior(self._process_inbox())
+        self.add_behavior(self._receive_internal_zmq_loop())
+
+    async def stop(self):
+        """
+        Stop the agent.
+
+        Sets the running state to False and cancels all running background tasks.
+        """
+        self._running = False
+        for task in self._tasks:
+            task.cancel()
+        self.logger.info(f"Agent {self.name} stopped")
+
+    async def send(self, message: InternalMessage):
+        """
+        Send a message to another agent.
+
+        This method intelligently routes the message:
+
+        *   If the target agent is in the same process (found in :class:`AgentDirectory`),
+            the message is put directly into its inbox.
+        *   If the target agent is not found locally, the message is serialized and sent
+            via ZeroMQ to the internal publication address.
+
+        :param message: The message to send.
+        """
+        message.sender = self.name
+        to = message.to
+        receivers = [to] if isinstance(to, str) else to
+
+        for receiver in receivers:
+            target = AgentDirectory.get(receiver)
+
+            if target:
+                await target.inbox.put(message)
+                self.logger.debug(f"Sent message {message.body} to {message.to} via regular inbox.")
+            else:
+                # Apparently target agent is on a different process, send via ZMQ
+                topic = f"internal/{receiver}".encode()
+                body = message.model_dump_json().encode()
+                await self._internal_pub_socket.send_multipart([topic, body])
+                self.logger.debug(f"Sent message {message.body} to {message.to} via ZMQ.")
+
+    async def _process_inbox(self):
+        """
+        Internal loop that processes messages from the inbox.
+
+        Reads messages from ``self.inbox`` and passes them to :meth:`handle_message`.
+        """
+        while self._running:
+            msg = await self.inbox.get()
+            self.logger.debug(f"Received message from {msg.sender}.")
+            await self.handle_message(msg)
+
+    async def _receive_internal_zmq_loop(self):
+        """
+        Internal loop that listens for ZMQ messages.
+
+        Subscribes to ``internal/<agent_name>`` topics. When a message is received,
+        it is deserialized into an :class:`InternalMessage` and put into the local inbox.
+        This bridges the gap between inter-process ZMQ communication and the intra-process inbox.
+        """
+        while self._running:
+            try:
+                _, body = await self._internal_sub_socket.recv_multipart()
+
+                msg = InternalMessage.model_validate_json(body)
+
+                await self.inbox.put(msg)
+            except asyncio.CancelledError:
+                break
+            except Exception:
+                self.logger.exception("Could not process ZMQ message.")
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle an incoming message.
+
+        This method must be overridden by subclasses to define how the agent reacts to messages.
+
+        :param msg: The received message.
+        :raises NotImplementedError: If not overridden by the subclass.
+        """
+        raise NotImplementedError
+
+    def add_behavior(self, coro: Coroutine) -> Task:
+        """
+        Add a background behavior (task) to the agent.
+
+        This is the preferred way to run continuous loops or long-running tasks within an agent.
+        The task is tracked and will be automatically cancelled when :meth:`stop` is called.
+
+        :param coro: The coroutine to execute as a task.
+        """
+        task = asyncio.create_task(coro)
+        self._tasks.add(task)
+        task.add_done_callback(self._tasks.discard)
+        return task

src/control_backend/core/config.py

@@ -1,43 +1,181 @@
+"""
+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
 
 
 class ZMQSettings(BaseModel):
+    """
+    Configuration for ZeroMQ (ZMQ) addresses used for inter-process communication.
+
+    :ivar internal_pub_address: Address for the internal PUB socket.
+    :ivar internal_sub_address: Address for the internal SUB socket.
+    :ivar ri_communication_address: Address for the endpoint that the Robot Interface connects to.
+    :ivar vad_pub_address: Address that the VAD agent binds to and publishes audio segments to.
+    """
+
+    # 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_communication_address: str = "tcp://*:5555"
+    internal_gesture_rep_adress: str = "tcp://localhost:7788"
+    vad_pub_address: str = "inproc://vad_stream"
 
 
 class AgentSettings(BaseModel):
-    host: str = "localhost"
-    bdi_core_agent_name: str = "bdi_core"
-    belief_collector_agent_name: str = "belief_collector"
-    text_belief_extractor_agent_name: str = "text_belief_extractor"
-    vad_agent_name: str = "vad_agent"
-    llm_agent_name: str = "llm_agent"
-    test_agent_name: str = "test_agent"
-    transcription_agent_name: str = "transcription_agent"
+    """
+    Names of the various agents in the system. These names are used for routing messages.
 
-    ri_communication_agent_name: str = "ri_communication_agent"
-    ri_command_agent_name: str = "ri_command_agent"
+    :ivar bdi_core_name: Name of the BDI Core Agent.
+    :ivar bdi_belief_collector_name: Name of the Belief Collector Agent.
+    :ivar bdi_program_manager_name: Name of the BDI Program Manager Agent.
+    :ivar text_belief_extractor_name: Name of the Text Belief Extractor Agent.
+    :ivar vad_name: Name of the Voice Activity Detection (VAD) Agent.
+    :ivar llm_name: Name of the Large Language Model (LLM) Agent.
+    :ivar test_name: Name of the Test Agent.
+    :ivar transcription_name: Name of the Transcription Agent.
+    :ivar ri_communication_name: Name of the RI Communication Agent.
+    :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"
+    bdi_program_manager_name: str = "bdi_program_manager_agent"
+    text_belief_extractor_name: str = "text_belief_extractor_agent"
+    vad_name: str = "vad_agent"
+    llm_name: str = "llm_agent"
+    test_name: str = "test_agent"
+    transcription_name: str = "transcription_agent"
+    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):
+    """
+    Configuration for agent behaviors and parameters.
+
+    :ivar sleep_s: Default sleep time in seconds for loops.
+    :ivar comm_setup_max_retries: Maximum number of retries for setting up communication.
+    :ivar socket_poller_timeout_ms: Timeout in milliseconds for socket polling.
+    :ivar vad_prob_threshold: Probability threshold for Voice Activity Detection.
+    :ivar vad_initial_since_speech: Initial value for 'since speech' counter in VAD.
+    :ivar vad_non_speech_patience_chunks: Number of non-speech chunks to wait before speech ended.
+    :ivar transcription_max_concurrent_tasks: Maximum number of concurrent transcription tasks.
+    :ivar transcription_words_per_minute: Estimated words per minute for transcription timing.
+    :ivar transcription_words_per_token: Estimated words per token for transcription timing.
+    :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
+
+    # VAD settings
+    vad_prob_threshold: float = 0.5
+    vad_initial_since_speech: int = 100
+    vad_non_speech_patience_chunks: int = 3
+
+    # transcription behaviour
+    transcription_max_concurrent_tasks: int = 3
+    transcription_words_per_minute: int = 300
+    transcription_words_per_token: float = 0.75  # (3 words = 4 tokens)
+    transcription_token_buffer: int = 10
 
 
 class LLMSettings(BaseModel):
+    """
+    Configuration for the Large Language Model (LLM).
+
+    :ivar local_llm_url: URL for the local LLM API.
+    :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 = "openai/gpt-oss-20b"
+    local_llm_model: str = "gpt-oss"
+
+
+class VADSettings(BaseModel):
+    """
+    Configuration for Voice Activity Detection (VAD) model.
+
+    :ivar repo_or_dir: Repository or directory for the VAD model.
+    :ivar model_name: Name of the VAD model.
+    :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
+
+
+class SpeechModelSettings(BaseModel):
+    """
+    Configuration for speech recognition models.
+
+    :ivar mlx_model_name: Model name for MLX-based speech recognition.
+    :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"
 
 
 class Settings(BaseSettings):
+    """
+    Global application settings.
+
+    :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.
+    :ivar vad_settings: VAD model configuration.
+    :ivar speech_model_settings: Speech model configuration.
+    :ivar llm_settings: LLM configuration.
+    """
+
     app_title: str = "PepperPlus"
 
     ui_url: str = "http://localhost:5173"
 
+    ri_host: str = "localhost"
+
     zmq_settings: ZMQSettings = ZMQSettings()
 
     agent_settings: AgentSettings = AgentSettings()
 
+    behaviour_settings: BehaviourSettings = BehaviourSettings()
+
+    vad_settings: VADSettings = VADSettings()
+
+    speech_model_settings: SpeechModelSettings = SpeechModelSettings()
+
     llm_settings: LLMSettings = LLMSettings()
 
-    model_config = SettingsConfigDict(env_file=".env")
+    model_config = SettingsConfigDict(env_file=".env", env_nested_delimiter="__")
 
 
 settings = Settings()

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
 
@@ -37,6 +38,12 @@ def add_logging_level(level_name: str, level_num: int, method_name: str | None =
 
 
 def setup_logging(path: str = ".logging_config.yaml") -> None:
+    """
+    Setup logging configuration of the CB. Tries to load the logging configuration from a file,
+    in which we specify custom loggers, formatters, handlers, etc.
+    :param path:
+    :return:
+    """
     if os.path.exists(path):
         with open(path) as f:
             try:
@@ -45,15 +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:
-                for level_name, level_num in config["custom_levels"].items():
-                    add_logging_level(level_name, level_num)
+            custom_levels = config.get("custom_levels", {}) or {}
+            for level_name, level_num in custom_levels.items():
+                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

@@ -1,3 +1,20 @@
+"""
+Control Backend Main Application.
+
+This module defines the FastAPI application that serves as the entry point for the
+Control Backend. It manages the lifecycle of the entire system, including:
+
+1.  **Socket Initialization**: Setting up the internal ZeroMQ PUB/SUB proxy for agent communication.
+2.  **Agent Management**: Instantiating and starting all agents.
+3.  **API Routing**: Exposing REST endpoints for external interaction.
+
+Lifecycle Manager
+-----------------
+The :func:`lifespan` context manager handles the startup and shutdown sequences:
+-   **Startup**: Configures logging, starts the ZMQ proxy, connects sockets, and launches agents.
+-   **Shutdown**: Handles graceful cleanup (though currently minimal).
+"""
+
 import contextlib
 import logging
 import threading
@@ -7,21 +24,40 @@ from fastapi import FastAPI
 from fastapi.middleware.cors import CORSMiddleware
 from zmq.asyncio import Context
 
-from control_backend.agents import (
-    BeliefCollectorAgent,
-    LLMAgent,
-    RICommunicationAgent,
-    VADAgent,
+# BDI agents
+from control_backend.agents.bdi import (
+    BDIBeliefCollectorAgent,
+    BDICoreAgent,
+    TextBeliefExtractorAgent,
 )
-from control_backend.agents.bdi import BDICoreAgent, TBeliefExtractorAgent
+from control_backend.agents.bdi.bdi_program_manager import BDIProgramManager
+
+# Communication agents
+from control_backend.agents.communication import RICommunicationAgent
+
+# Emotional Agents
+# LLM Agents
+from control_backend.agents.llm import LLMAgent
+
+# User Interrupt Agent
+from control_backend.agents.user_interrupt.user_interrupt_agent import UserInterruptAgent
+
+# Other backend imports
 from control_backend.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__)
 
 
 def setup_sockets():
+    """
+    Initialize and run the internal ZeroMQ Proxy (XPUB/XSUB).
+
+    This proxy acts as the central message bus, forwarding messages published on the
+    internal PUB address to all subscribers on the internal SUB address.
+    """
     context = Context.instance()
 
     internal_pub_socket = context.socket(zmq.XPUB)
@@ -48,7 +84,6 @@ async def lifespan(app: FastAPI):
     # --- APPLICATION STARTUP ---
     setup_logging()
     logger.info("%s is starting up.", app.title)
-    logger.warning("testing extra", extra={"extra1": "one", "extra2": "two"})
 
     # Initiate sockets
     proxy_thread = threading.Thread(target=setup_sockets)
@@ -61,81 +96,83 @@ 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.")
+
     agents_to_start = {
         "RICommunicationAgent": (
             RICommunicationAgent,
             {
-                "name": settings.agent_settings.ri_communication_agent_name,
-                "jid": f"{settings.agent_settings.ri_communication_agent_name}"
-                f"@{settings.agent_settings.host}",
-                "password": settings.agent_settings.ri_communication_agent_name,
-                "address": "tcp://*:5555",
+                "name": settings.agent_settings.ri_communication_name,
+                "address": settings.zmq_settings.ri_communication_address,
                 "bind": True,
             },
         ),
         "LLMAgent": (
             LLMAgent,
             {
-                "name": settings.agent_settings.llm_agent_name,
-                "jid": f"{settings.agent_settings.llm_agent_name}@{settings.agent_settings.host}",
-                "password": settings.agent_settings.llm_agent_name,
+                "name": settings.agent_settings.llm_name,
             },
         ),
         "BDICoreAgent": (
             BDICoreAgent,
             {
-                "name": settings.agent_settings.bdi_core_agent_name,
-                "jid": f"{settings.agent_settings.bdi_core_agent_name}@"
-                f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.bdi_core_agent_name,
+                "name": settings.agent_settings.bdi_core_name,
                 "asl": "src/control_backend/agents/bdi/rules.asl",
             },
         ),
         "BeliefCollectorAgent": (
-            BeliefCollectorAgent,
+            BDIBeliefCollectorAgent,
             {
-                "name": settings.agent_settings.belief_collector_agent_name,
-                "jid": f"{settings.agent_settings.belief_collector_agent_name}@"
-                f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.belief_collector_agent_name,
+                "name": settings.agent_settings.bdi_belief_collector_name,
             },
         ),
-        "TBeliefExtractor": (
-            TBeliefExtractorAgent,
+        "TextBeliefExtractorAgent": (
+            TextBeliefExtractorAgent,
             {
-                "name": settings.agent_settings.text_belief_extractor_agent_name,
-                "jid": f"{settings.agent_settings.text_belief_extractor_agent_name}@"
-                f"{settings.agent_settings.host}",
-                "password": settings.agent_settings.text_belief_extractor_agent_name,
+                "name": settings.agent_settings.text_belief_extractor_name,
             },
         ),
-        "VADAgent": (
-            VADAgent,
-            {"audio_in_address": "tcp://localhost:5558", "audio_in_bind": False},
+        "ProgramManagerAgent": (
+            BDIProgramManager,
+            {
+                "name": settings.agent_settings.bdi_program_manager_name,
+            },
+        ),
+        "UserInterruptAgent": (
+            UserInterruptAgent,
+            {
+                "name": settings.agent_settings.user_interrupt_name,
+            },
         ),
     }
 
+    agents = []
+
     for name, (agent_class, kwargs) in agents_to_start.items():
         try:
             logger.debug("Starting agent: %s", name)
-            agent_instance = agent_class(**{k: v for k, v in kwargs.items() if k != "name"})
+            agent_instance = agent_class(**kwargs)
             await agent_instance.start()
+            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)
-            # Consider if the application should continue if an agent fails to start.
             raise
 
     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/belief_message.py

@@ -0,0 +1,23 @@
+from pydantic import BaseModel
+
+
+class Belief(BaseModel):
+    """
+    Represents a single belief in the BDI system.
+
+    :ivar name: The functor or name of the belief (e.g., 'user_said').
+    :ivar arguments: A list of string arguments for the belief.
+    :ivar replace: If True, existing beliefs with this name should be replaced by this one.
+    """
+
+    name: str
+    arguments: list[str]
+    replace: bool = False
+
+
+class BeliefMessage(BaseModel):
+    """
+    A container for transporting a list of beliefs between agents.
+    """
+
+    beliefs: list[Belief]

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/internal_message.py

@@ -0,0 +1,19 @@
+from collections.abc import Iterable
+
+from pydantic import BaseModel
+
+
+class InternalMessage(BaseModel):
+    """
+    Standard message envelope for communication between agents within the Control Backend.
+
+    :ivar to: The name(s) of the destination agent(s).
+    :ivar sender: The name of the sending agent.
+    :ivar body: The string payload (often a JSON-serialized model).
+    :ivar thread: An optional thread identifier/topic to categorize the message (e.g., 'beliefs').
+    """
+
+    to: str | Iterable[str]
+    sender: str
+    body: str
+    thread: str | None = None

src/control_backend/schemas/llm_prompt_message.py

@@ -0,0 +1,18 @@
+from pydantic import BaseModel
+
+
+class LLMPromptMessage(BaseModel):
+    """
+    Payload sent from the BDI agent to the LLM agent.
+
+    Contains the user's text input along with the dynamic context (norms and goals)
+    that the LLM should use to generate a response.
+
+    :ivar text: The user's input text.
+    :ivar norms: A list of active behavioral norms.
+    :ivar goals: A list of active goals to pursue.
+    """
+
+    text: str
+    norms: list[str]
+    goals: list[str]

src/control_backend/schemas/message.py

@@ -2,4 +2,8 @@ from pydantic import BaseModel
 
 
 class Message(BaseModel):
+    """
+    A simple generic message wrapper, typically used for simple API responses.
+    """
+
     message: str

src/control_backend/schemas/program.py

@@ -0,0 +1,71 @@
+from pydantic import BaseModel
+
+
+class Norm(BaseModel):
+    """
+    Represents a behavioral norm.
+
+    :ivar id: Unique identifier.
+    :ivar label: Human-readable label.
+    :ivar norm: The actual norm text describing the behavior.
+    """
+
+    id: str
+    label: str
+    norm: str
+
+
+class Goal(BaseModel):
+    """
+    Represents an objective to be achieved.
+
+    :ivar id: Unique identifier.
+    :ivar label: Human-readable label.
+    :ivar description: Detailed description of the goal.
+    :ivar achieved: Status flag indicating if the goal has been met.
+    """
+
+    id: str
+    label: str
+    description: str
+    achieved: bool
+
+
+class TriggerKeyword(BaseModel):
+    id: str
+    keyword: str
+
+
+class KeywordTrigger(BaseModel):
+    id: str
+    label: str
+    type: str
+    keywords: list[TriggerKeyword]
+
+
+class Phase(BaseModel):
+    """
+    A distinct phase within a program, containing norms, goals, and triggers.
+
+    :ivar id: Unique identifier.
+    :ivar label: Human-readable label.
+    :ivar norms: List of norms active in this phase.
+    :ivar goals: List of goals to pursue in this phase.
+    :ivar triggers: List of triggers that define transitions out of this phase.
+    """
+
+    id: str
+    label: str
+    norms: list[Norm]
+    goals: list[Goal]
+    triggers: list[KeywordTrigger]
+
+
+class Program(BaseModel):
+    """
+    Represents a complete interaction program, consisting of a sequence or set of phases.
+
+    :ivar phases: The list of phases that make up the program.
+    """
+
+    phases: list[Phase]

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

@@ -1,20 +1,66 @@
 from enum import Enum
-from typing import Any
+from typing import Any, Literal
 
-from pydantic import BaseModel
+from pydantic import BaseModel, model_validator
 
 
 class RIEndpoint(str, Enum):
+    """
+    Enumeration of valid endpoints for the Robot Interface (RI).
+    """
+
     SPEECH = "actuate/speech"
+    GESTURE_SINGLE = "actuate/gesture/single"
+    GESTURE_TAG = "actuate/gesture/tag"
     PING = "ping"
     NEGOTIATE_PORTS = "negotiate/ports"
 
 
 class RIMessage(BaseModel):
+    """
+    Base schema for messages sent to the Robot Interface.
+
+    :ivar endpoint: The target endpoint/action on the RI.
+    :ivar data: The payload associated with the action.
+    """
+
     endpoint: RIEndpoint
     data: Any
 
 
 class SpeechCommand(RIMessage):
+    """
+    A specific command to make the robot speak.
+
+    :ivar endpoint: Fixed to ``RIEndpoint.SPEECH``.
+    :ivar data: The text string to be spoken.
+    """
+
     endpoint: RIEndpoint = RIEndpoint(RIEndpoint.SPEECH)
     data: str
+    is_priority: bool = False
+
+
+class GestureCommand(RIMessage):
+    """
+    A specific command to make the robot do a gesture.
+
+    :ivar endpoint: Should be ``RIEndpoint.GESTURE_SINGLE`` or ``RIEndpoint.GESTURE_TAG``.
+    :ivar data: The id of the gesture to be executed.
+    """
+
+    endpoint: Literal[  # pyright: ignore[reportIncompatibleVariableOverride] - We validate this stricter rule ourselves
+        RIEndpoint.GESTURE_SINGLE, RIEndpoint.GESTURE_TAG
+    ]
+    data: str
+    is_priority: bool = False
+
+    @model_validator(mode="after")
+    def check_endpoint(self):
+        allowed = {
+            RIEndpoint.GESTURE_SINGLE,
+            RIEndpoint.GESTURE_TAG,
+        }
+        if self.endpoint not in allowed:
+            raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
+        return self

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

@@ -0,0 +1,206 @@
+import random
+from unittest.mock import AsyncMock, MagicMock
+
+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
+def zmq_context(mocker):
+    mock_context = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Context.instance")
+    mock_context.return_value = MagicMock()
+    return mock_context
+
+
+@pytest.fixture
+def per_transcription_agent(mocker):
+    return mocker.patch(
+        "control_backend.agents.perception.vad_agent.TranscriptionAgent", autospec=True
+    )
+
+
+@pytest.fixture(autouse=True)
+def torch_load(mocker):
+    mock_torch = mocker.patch("control_backend.agents.perception.vad_agent.torch")
+    model = MagicMock()
+    mock_torch.hub.load.return_value = (model, None)
+    mock_torch.from_numpy.side_effect = lambda arr: arr
+    return mock_torch
+
+
+@pytest.mark.asyncio
+async def test_normal_setup(per_transcription_agent):
+    """
+    Test that during normal setup, the VAD agent creates a Streaming behavior and creates audio
+    sockets, and starts the TranscriptionAgent without loading real models.
+    """
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
+    per_vad_agent._streaming_loop = AsyncMock()
+
+    async def swallow_background_task(coro):
+        coro.close()
+
+    per_vad_agent.add_behavior = swallow_background_task
+
+    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()
+    assert per_vad_agent.audio_in_socket is not None
+    assert per_vad_agent.audio_out_socket is not None
+
+
+@pytest.mark.parametrize("do_bind", [True, False])
+def test_in_socket_creation(zmq_context, do_bind: bool):
+    """
+    Test that the VAD agent creates an audio input socket, differentiating between binding and
+    connecting.
+    """
+    per_vad_agent = VADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind)
+
+    per_vad_agent._connect_audio_in_socket()
+
+    assert per_vad_agent.audio_in_socket is not None
+
+    zmq_context.return_value.socket.assert_called_once_with(zmq.SUB)
+    zmq_context.return_value.socket.return_value.setsockopt_string.assert_called_once_with(
+        zmq.SUBSCRIBE,
+        "",
+    )
+
+    if do_bind:
+        zmq_context.return_value.socket.return_value.bind.assert_called_once_with("tcp://*:12345")
+    else:
+        zmq_context.return_value.socket.return_value.connect.assert_called_once_with(
+            "tcp://localhost:12345"
+        )
+
+
+def test_out_socket_creation(zmq_context):
+    """
+    Test that the VAD agent creates an audio output socket correctly.
+    """
+    per_vad_agent = VADAgent("tcp://localhost:12345", False)
+
+    per_vad_agent._connect_audio_out_socket()
+
+    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.assert_called_once_with("inproc://vad_stream")
+
+
+@pytest.mark.asyncio
+async def test_out_socket_creation_failure(zmq_context):
+    """
+    Test setup failure when the audio output socket cannot be created.
+    """
+    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._streaming_loop = AsyncMock()
+    per_vad_agent._connect_audio_out_socket = MagicMock(return_value=None)
+
+    async def swallow_background_task(coro):
+        coro.close()
+
+    per_vad_agent.add_behavior = swallow_background_task
+
+    await per_vad_agent.setup()
+
+    assert per_vad_agent.audio_out_socket is None
+    per_vad_agent.stop.assert_called_once()
+
+
+@pytest.mark.asyncio
+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._streaming_loop = AsyncMock()
+
+    async def swallow_background_task(coro):
+        coro.close()
+
+    per_vad_agent.add_behavior = swallow_background_task
+    zmq_context.return_value.socket.return_value.bind_to_random_port.return_value = random.randint(
+        1000,
+        10000,
+    )
+
+    await per_vad_agent.setup()
+    await per_vad_agent.stop()
+
+    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/integration/agents/perception/vad_agent/test_vad_with_audio.py

@@ -0,0 +1,99 @@
+import os
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import soundfile as sf
+import zmq
+
+from control_backend.agents.perception.vad_agent import VADAgent
+
+
+@pytest.fixture(autouse=True)
+def patch_settings():
+    from control_backend.agents.perception import vad_agent
+
+    vad_agent.settings.behaviour_settings.vad_prob_threshold = 0.5
+    vad_agent.settings.behaviour_settings.vad_non_speech_patience_chunks = 3
+    vad_agent.settings.behaviour_settings.vad_initial_since_speech = 0
+    vad_agent.settings.vad_settings.sample_rate_hz = 16_000
+
+
+@pytest.fixture(autouse=True)
+def mock_torch(mocker):
+    mock_torch = mocker.patch("control_backend.agents.perception.vad_agent.torch")
+    mock_torch.from_numpy.side_effect = lambda arr: arr
+    return mock_torch
+
+
+def get_audio_chunks() -> list[bytes]:
+    curr_file = os.path.realpath(__file__)
+    curr_dir = os.path.dirname(curr_file)
+    file = f"{curr_dir}/speech_with_pauses_16k_1c_float32.wav"
+
+    chunk_size = 512
+
+    chunks = []
+
+    with sf.SoundFile(file, "r") as f:
+        assert f.samplerate == 16000
+        assert f.channels == 1
+        assert f.subtype == "FLOAT"
+
+        while True:
+            data = f.read(chunk_size, dtype="float32")
+            if len(data) != chunk_size:
+                break
+
+            chunks.append(data.tobytes())
+
+    return chunks
+
+
+@pytest.mark.asyncio
+async def test_real_audio(mocker):
+    """
+    Test the VAD agent with only input and output mocked. Using the real model, using real audio as
+    input. Ensure that it outputs some fragments with audio.
+    """
+    audio_chunks = get_audio_chunks()
+    audio_in_socket = AsyncMock()
+    audio_in_socket.recv.side_effect = audio_chunks
+
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Poller")
+    mock_poller.return_value.poll = AsyncMock(return_value=[(audio_in_socket, zmq.POLLIN)])
+
+    audio_out_socket = AsyncMock()
+
+    vad_agent = VADAgent("tcp://localhost:12345", False)
+    vad_agent.audio_out_socket = audio_out_socket
+
+    # Use a fake model that marks most chunks as speech and ends with a few silences
+    silence_padding = 5
+    probabilities = [1.0] * len(audio_chunks) + [0.0] * silence_padding
+    chunk_bytes = audio_chunks + [b"\x00" * len(audio_chunks[0])] * silence_padding
+    model_item = MagicMock()
+    model_item.item.side_effect = probabilities
+    vad_agent.model = MagicMock(return_value=model_item)
+
+    class DummyPoller:
+        def __init__(self, data, agent):
+            self.data = data
+            self.agent = agent
+
+        async def poll(self, timeout_ms=None):
+            if self.data:
+                return self.data.pop(0)
+            self.agent._running = False
+            return None
+
+    vad_agent.audio_in_poller = DummyPoller(chunk_bytes, vad_agent)
+    vad_agent._ready = AsyncMock()
+    vad_agent._running = True
+    vad_agent.i_since_speech = 0
+
+    await vad_agent._streaming_loop()
+
+    audio_out_socket.send.assert_called()
+    for args in audio_out_socket.send.call_args_list:
+        assert isinstance(args[0][0], bytes)
+        assert len(args[0][0]) >= 512 * 4 * 3  # Should be at least 3 chunks of audio

test/integration/agents/test_ri_commands_agent.py

@@ -1,99 +0,0 @@
-import json
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-import zmq
-
-from control_backend.agents.ri_command_agent import RICommandAgent
-
-
-@pytest.fixture
-def zmq_context(mocker):
-    mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance")
-    mock_context.return_value = MagicMock()
-    return mock_context
-
-
-@pytest.mark.asyncio
-async def test_setup_bind(zmq_context, mocker):
-    """Test setup with bind=True"""
-    fake_socket = zmq_context.return_value.socket.return_value
-
-    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=True)
-    settings = mocker.patch("control_backend.agents.ri_command_agent.settings")
-    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
-
-    await agent.setup()
-
-    # Ensure PUB socket bound
-    fake_socket.bind.assert_any_call("tcp://localhost:5555")
-    # Ensure SUB socket connected to internal address and subscribed
-    fake_socket.connect.assert_any_call("tcp://internal:1234")
-    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
-
-    # Ensure behaviour attached
-    assert any(isinstance(b, agent.SendCommandsBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_connect(zmq_context, mocker):
-    """Test setup with bind=False"""
-    fake_socket = zmq_context.return_value.socket.return_value
-
-    agent = RICommandAgent("test@server", "password", address="tcp://localhost:5555", bind=False)
-    settings = mocker.patch("control_backend.agents.ri_command_agent.settings")
-    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
-
-    await agent.setup()
-
-    # Ensure PUB socket connected
-    fake_socket.connect.assert_any_call("tcp://localhost:5555")
-
-
-@pytest.mark.asyncio
-async def test_send_commands_behaviour_valid_message():
-    """Test behaviour with valid JSON message"""
-    fake_socket = AsyncMock()
-    message_dict = {"message": "hello"}
-    fake_socket.recv_multipart = AsyncMock(
-        return_value=(b"command", json.dumps(message_dict).encode("utf-8"))
-    )
-    fake_socket.send_json = AsyncMock()
-
-    agent = RICommandAgent("test@server", "password")
-    agent.subsocket = fake_socket
-    agent.pubsocket = fake_socket
-
-    behaviour = agent.SendCommandsBehaviour()
-    behaviour.agent = agent
-
-    with patch("control_backend.agents.ri_command_agent.SpeechCommand") as MockSpeechCommand:
-        mock_message = MagicMock()
-        MockSpeechCommand.model_validate.return_value = mock_message
-
-        await behaviour.run()
-
-    fake_socket.recv_multipart.assert_awaited()
-    fake_socket.send_json.assert_awaited_with(mock_message.model_dump())
-
-
-@pytest.mark.asyncio
-async def test_send_commands_behaviour_invalid_message(caplog):
-    """Test behaviour with invalid JSON message triggers error logging"""
-    fake_socket = AsyncMock()
-    fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}"))
-    fake_socket.send_json = AsyncMock()
-
-    agent = RICommandAgent("test@server", "password")
-    agent.subsocket = fake_socket
-    agent.pubsocket = fake_socket
-
-    behaviour = agent.SendCommandsBehaviour()
-    behaviour.agent = agent
-
-    with caplog.at_level("ERROR"):
-        await behaviour.run()
-
-    fake_socket.recv_multipart.assert_awaited()
-    fake_socket.send_json.assert_not_awaited()
-    assert "Error processing message" in caplog.text

test/integration/agents/test_ri_communication_agent.py

@@ -1,551 +0,0 @@
-import asyncio
-from unittest.mock import ANY, AsyncMock, MagicMock, patch
-
-import pytest
-
-from control_backend.agents.ri_communication_agent import RICommunicationAgent
-
-
-def fake_json_correct_negototiate_1():
-    return AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "main", "port": 5555, "bind": False},
-                {"id": "actuation", "port": 5556, "bind": True},
-            ],
-        }
-    )
-
-
-def fake_json_correct_negototiate_2():
-    return AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "main", "port": 5555, "bind": False},
-                {"id": "actuation", "port": 5557, "bind": True},
-            ],
-        }
-    )
-
-
-def fake_json_correct_negototiate_3():
-    return AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "main", "port": 5555, "bind": True},
-                {"id": "actuation", "port": 5557, "bind": True},
-            ],
-        }
-    )
-
-
-def fake_json_correct_negototiate_4():
-    # Different port, do bind
-    return AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "main", "port": 4555, "bind": True},
-                {"id": "actuation", "port": 5557, "bind": True},
-            ],
-        }
-    )
-
-
-def fake_json_correct_negototiate_5():
-    # Different port, dont bind.
-    return AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "main", "port": 4555, "bind": False},
-                {"id": "actuation", "port": 5557, "bind": True},
-            ],
-        }
-    )
-
-
-def fake_json_wrong_negototiate_1():
-    return AsyncMock(return_value={"endpoint": "ping", "data": ""})
-
-
-def fake_json_invalid_id_negototiate():
-    return AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "banana", "port": 4555, "bind": False},
-                {"id": "tomato", "port": 5557, "bind": True},
-            ],
-        }
-    )
-
-
-@pytest.fixture
-def zmq_context(mocker):
-    mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance")
-    mock_context.return_value = MagicMock()
-    return mock_context
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_1(zmq_context):
-    """
-    Test the setup of the communication agent
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_correct_negototiate_1()
-
-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        agent = RICommunicationAgent(
-            "test@server", "password", address="tcp://localhost:5555", bind=False
-        )
-        await agent.setup()
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
-        fake_socket.recv_json.assert_awaited()
-        fake_agent_instance.start.assert_awaited()
-        MockCommandAgent.assert_called_once_with(
-            ANY,  # Server Name
-            ANY,  # Server Password
-            address="tcp://*:5556",  # derived from the 'port' value in negotiation
-            bind=True,
-        )
-        # Ensure the agent attached a ListenBehaviour
-        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_2(zmq_context):
-    """
-    Test the setup of the communication agent
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_correct_negototiate_2()
-
-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        agent = RICommunicationAgent(
-            "test@server", "password", address="tcp://localhost:5555", bind=False
-        )
-        await agent.setup()
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
-        fake_socket.recv_json.assert_awaited()
-        fake_agent_instance.start.assert_awaited()
-        MockCommandAgent.assert_called_once_with(
-            ANY,  # Server Name
-            ANY,  # Server Password
-            address="tcp://*:5557",  # derived from the 'port' value in negotiation
-            bind=True,
-        )
-        # Ensure the agent attached a ListenBehaviour
-        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_3(zmq_context, caplog):
-    """
-    Test the functionality of setup with incorrect negotiation message
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_wrong_negototiate_1()
-
-    # Mock RICommandAgent agent startup
-
-    # We are sending wrong negotiation info to the communication agent,
-    # so we should retry and expect a better response, within a limited time.
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        with caplog.at_level("ERROR"):
-            agent = RICommunicationAgent(
-                "test@server", "password", address="tcp://localhost:5555", bind=False
-            )
-            await agent.setup(max_retries=1)
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-        fake_socket.recv_json.assert_awaited()
-
-        # Since it failed, there should not be any command agent.
-        fake_agent_instance.start.assert_not_awaited()
-        assert "Failed to set up RICommunicationAgent" in caplog.text
-
-        # Ensure the agent did not attach a ListenBehaviour
-        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_4(zmq_context):
-    """
-    Test the setup of the communication agent with different bind value
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_correct_negototiate_3()
-
-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        agent = RICommunicationAgent(
-            "test@server", "password", address="tcp://localhost:5555", bind=True
-        )
-        await agent.setup()
-
-        # --- Assert ---
-        fake_socket.bind.assert_any_call("tcp://localhost:5555")
-        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
-        fake_socket.recv_json.assert_awaited()
-        fake_agent_instance.start.assert_awaited()
-        MockCommandAgent.assert_called_once_with(
-            ANY,  # Server Name
-            ANY,  # Server Password
-            address="tcp://*:5557",  # derived from the 'port' value in negotiation
-            bind=True,
-        )
-        # Ensure the agent attached a ListenBehaviour
-        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_5(zmq_context):
-    """
-    Test the setup of the communication agent
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_correct_negototiate_4()
-
-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        agent = RICommunicationAgent(
-            "test@server", "password", address="tcp://localhost:5555", bind=False
-        )
-        await agent.setup()
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
-        fake_socket.recv_json.assert_awaited()
-        fake_agent_instance.start.assert_awaited()
-        MockCommandAgent.assert_called_once_with(
-            ANY,  # Server Name
-            ANY,  # Server Password
-            address="tcp://*:5557",  # derived from the 'port' value in negotiation
-            bind=True,
-        )
-        # Ensure the agent attached a ListenBehaviour
-        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_6(zmq_context):
-    """
-    Test the setup of the communication agent
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_correct_negototiate_5()
-
-    # Mock RICommandAgent agent startup
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        agent = RICommunicationAgent(
-            "test@server", "password", address="tcp://localhost:5555", bind=False
-        )
-        await agent.setup()
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-        fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": None})
-        fake_socket.recv_json.assert_awaited()
-        fake_agent_instance.start.assert_awaited()
-        MockCommandAgent.assert_called_once_with(
-            ANY,  # Server Name
-            ANY,  # Server Password
-            address="tcp://*:5557",  # derived from the 'port' value in negotiation
-            bind=True,
-        )
-        # Ensure the agent attached a ListenBehaviour
-        assert any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_7(zmq_context, caplog):
-    """
-    Test the functionality of setup with incorrect id
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = fake_json_invalid_id_negototiate()
-
-    # Mock RICommandAgent agent startup
-
-    # We are sending wrong negotiation info to the communication agent,
-    # so we should retry and expect a better response, within a limited time.
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        with caplog.at_level("WARNING"):
-            agent = RICommunicationAgent(
-                "test@server", "password", address="tcp://localhost:5555", bind=False
-            )
-            await agent.setup(max_retries=1)
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-        fake_socket.recv_json.assert_awaited()
-
-        # Since it failed, there should not be any command agent.
-        fake_agent_instance.start.assert_not_awaited()
-        assert "Unhandled negotiation id:" in caplog.text
-
-
-@pytest.mark.asyncio
-async def test_setup_creates_socket_and_negotiate_timeout(zmq_context, caplog):
-    """
-    Test the functionality of setup with incorrect negotiation message
-    """
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
-
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        # --- Act ---
-        with caplog.at_level("WARNING"):
-            agent = RICommunicationAgent(
-                "test@server", "password", address="tcp://localhost:5555", bind=False
-            )
-            await agent.setup(max_retries=1)
-
-        # --- Assert ---
-        fake_socket.connect.assert_any_call("tcp://localhost:5555")
-
-        # Since it failed, there should not be any command agent.
-        fake_agent_instance.start.assert_not_awaited()
-        assert "No connection established in 20 seconds" in caplog.text
-
-        # Ensure the agent did not attach a ListenBehaviour
-        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)
-
-
-@pytest.mark.asyncio
-async def test_listen_behaviour_ping_correct(caplog):
-    fake_socket = AsyncMock()
-    fake_socket.send_json = AsyncMock()
-    fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
-
-    # TODO: Integration test between actual server and password needed for spade agents
-    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
-
-    behaviour = agent.ListenBehaviour()
-    agent.add_behaviour(behaviour)
-
-    # Run once (CyclicBehaviour normally loops)
-    with caplog.at_level("DEBUG"):
-        await behaviour.run()
-
-    fake_socket.send_json.assert_awaited()
-    fake_socket.recv_json.assert_awaited()
-    assert "Received message" in caplog.text
-
-
-@pytest.mark.asyncio
-async def test_listen_behaviour_ping_wrong_endpoint(caplog):
-    """
-    Test if our listen behaviour can work with wrong messages (wrong endpoint)
-    """
-    fake_socket = AsyncMock()
-    fake_socket.send_json = AsyncMock()
-
-    # This is a message for the wrong endpoint >:(
-    fake_socket.recv_json = AsyncMock(
-        return_value={
-            "endpoint": "negotiate/ports",
-            "data": [
-                {"id": "main", "port": 5555, "bind": False},
-                {"id": "actuation", "port": 5556, "bind": True},
-            ],
-        }
-    )
-
-    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
-
-    behaviour = agent.ListenBehaviour()
-    agent.add_behaviour(behaviour)
-
-    # Run once (CyclicBehaviour normally loops)
-    with caplog.at_level("INFO"):
-        await behaviour.run()
-
-    assert "Received message with topic different than ping, while ping expected." in caplog.text
-    fake_socket.send_json.assert_awaited()
-    fake_socket.recv_json.assert_awaited()
-
-
-@pytest.mark.asyncio
-async def test_listen_behaviour_timeout(zmq_context, caplog):
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    # recv_json will never resolve, simulate timeout
-    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
-
-    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
-
-    behaviour = agent.ListenBehaviour()
-    agent.add_behaviour(behaviour)
-
-    with caplog.at_level("INFO"):
-        await behaviour.run()
-
-    assert "No ping retrieved in 3 seconds" in caplog.text
-
-
-@pytest.mark.asyncio
-async def test_listen_behaviour_ping_no_endpoint(caplog):
-    """
-    Test if our listen behaviour can work with wrong messages (wrong endpoint)
-    """
-    fake_socket = AsyncMock()
-    fake_socket.send_json = AsyncMock()
-
-    # This is a message without endpoint >:(
-    fake_socket.recv_json = AsyncMock(
-        return_value={
-            "data": "I dont have an endpoint >:)",
-        }
-    )
-
-    agent = RICommunicationAgent("test@server", "password")
-    agent.req_socket = fake_socket
-
-    behaviour = agent.ListenBehaviour()
-    agent.add_behaviour(behaviour)
-
-    # Run once (CyclicBehaviour normally loops)
-    with caplog.at_level("ERROR"):
-        await behaviour.run()
-
-    assert "No received endpoint in message, excepted ping endpoint." in caplog.text
-    fake_socket.send_json.assert_awaited()
-    fake_socket.recv_json.assert_awaited()
-
-
-@pytest.mark.asyncio
-async def test_setup_unexpected_exception(zmq_context, caplog):
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-    # Simulate unexpected exception during recv_json()
-    fake_socket.recv_json = AsyncMock(side_effect=Exception("boom!"))
-
-    agent = RICommunicationAgent(
-        "test@server", "password", address="tcp://localhost:5555", bind=False
-    )
-
-    with caplog.at_level("ERROR"):
-        await agent.setup(max_retries=1)
-
-    # Ensure that the error was logged
-    assert "Unexpected error during negotiation: boom!" in caplog.text
-
-
-@pytest.mark.asyncio
-async def test_setup_unpacking_exception(zmq_context, caplog):
-    # --- Arrange ---
-    fake_socket = zmq_context.return_value.socket.return_value
-    fake_socket.send_json = AsyncMock()
-
-    # Make recv_json return malformed negotiation data to trigger unpacking exception
-    malformed_data = {
-        "endpoint": "negotiate/ports",
-        "data": [{"id": "main"}],
-    }  # missing 'port' and 'bind'
-    fake_socket.recv_json = AsyncMock(return_value=malformed_data)
-
-    # Patch RICommandAgent so it won't actually start
-    with patch(
-        "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True
-    ) as MockCommandAgent:
-        fake_agent_instance = MockCommandAgent.return_value
-        fake_agent_instance.start = AsyncMock()
-
-        agent = RICommunicationAgent(
-            "test@server", "password", address="tcp://localhost:5555", bind=False
-        )
-
-        # --- Act & Assert ---
-        with caplog.at_level("ERROR"):
-            await agent.setup(max_retries=1)
-
-        # Ensure the unpacking exception was logged
-        assert "Error unpacking negotiation data" in caplog.text
-
-        # Ensure no command agent was started
-        fake_agent_instance.start.assert_not_awaited()
-
-        # Ensure no behaviour was attached
-        assert not any(isinstance(b, agent.ListenBehaviour) for b in agent.behaviours)

test/integration/agents/vad_agent/test_vad_agent.py

@@ -1,120 +0,0 @@
-import random
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-import zmq
-from spade.agent import Agent
-
-from control_backend.agents.vad_agent import VADAgent
-
-
-@pytest.fixture
-def zmq_context(mocker):
-    mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance")
-    mock_context.return_value = MagicMock()
-    return mock_context
-
-
-@pytest.fixture
-def streaming(mocker):
-    return mocker.patch("control_backend.agents.vad_agent.Streaming")
-
-
-@pytest.fixture
-def transcription_agent(mocker):
-    return mocker.patch("control_backend.agents.vad_agent.TranscriptionAgent", autospec=True)
-
-
-@pytest.mark.asyncio
-async def test_normal_setup(streaming, transcription_agent):
-    """
-    Test that during normal setup, the VAD agent creates a Streaming behavior and creates audio
-    sockets, and starts the TranscriptionAgent without loading real models.
-    """
-    vad_agent = VADAgent("tcp://localhost:12345", False)
-    vad_agent.add_behaviour = MagicMock()
-
-    await vad_agent.setup()
-
-    streaming.assert_called_once()
-    vad_agent.add_behaviour.assert_called_once_with(streaming.return_value)
-    transcription_agent.assert_called_once()
-    transcription_agent.return_value.start.assert_called_once()
-    assert vad_agent.audio_in_socket is not None
-    assert vad_agent.audio_out_socket is not None
-
-
-@pytest.mark.parametrize("do_bind", [True, False])
-def test_in_socket_creation(zmq_context, do_bind: bool):
-    """
-    Test that the VAD agent creates an audio input socket, differentiating between binding and
-    connecting.
-    """
-    vad_agent = VADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind)
-
-    vad_agent._connect_audio_in_socket()
-
-    assert vad_agent.audio_in_socket is not None
-
-    zmq_context.return_value.socket.assert_called_once_with(zmq.SUB)
-    zmq_context.return_value.socket.return_value.setsockopt_string.assert_called_once_with(
-        zmq.SUBSCRIBE,
-        "",
-    )
-
-    if do_bind:
-        zmq_context.return_value.socket.return_value.bind.assert_called_once_with("tcp://*:12345")
-    else:
-        zmq_context.return_value.socket.return_value.connect.assert_called_once_with(
-            "tcp://localhost:12345"
-        )
-
-
-def test_out_socket_creation(zmq_context):
-    """
-    Test that the VAD agent creates an audio output socket correctly.
-    """
-    vad_agent = VADAgent("tcp://localhost:12345", False)
-
-    vad_agent._connect_audio_out_socket()
-
-    assert 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()
-
-
-@pytest.mark.asyncio
-async def test_out_socket_creation_failure(zmq_context):
-    """
-    Test setup failure when the audio output socket cannot be created.
-    """
-    with patch.object(Agent, "stop", new_callable=AsyncMock) as mock_super_stop:
-        zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = (
-            zmq.ZMQBindError
-        )
-        vad_agent = VADAgent("tcp://localhost:12345", False)
-
-        await vad_agent.setup()
-
-        assert vad_agent.audio_out_socket is None
-        mock_super_stop.assert_called_once()
-
-
-@pytest.mark.asyncio
-async def test_stop(zmq_context, transcription_agent):
-    """
-    Test that when the VAD agent is stopped, the sockets are closed correctly.
-    """
-    vad_agent = VADAgent("tcp://localhost:12345", False)
-    zmq_context.return_value.socket.return_value.bind_to_random_port.return_value = random.randint(
-        1000,
-        10000,
-    )
-
-    await vad_agent.setup()
-    await vad_agent.stop()
-
-    assert zmq_context.return_value.socket.return_value.close.call_count == 2
-    assert vad_agent.audio_in_socket is None
-    assert vad_agent.audio_out_socket is None

test/integration/agents/vad_agent/test_vad_with_audio.py

@@ -1,59 +0,0 @@
-import os
-from unittest.mock import AsyncMock, MagicMock
-
-import pytest
-import soundfile as sf
-import zmq
-
-from control_backend.agents.vad_agent import Streaming
-
-
-def get_audio_chunks() -> list[bytes]:
-    curr_file = os.path.realpath(__file__)
-    curr_dir = os.path.dirname(curr_file)
-    file = f"{curr_dir}/speech_with_pauses_16k_1c_float32.wav"
-
-    chunk_size = 512
-
-    chunks = []
-
-    with sf.SoundFile(file, "r") as f:
-        assert f.samplerate == 16000
-        assert f.channels == 1
-        assert f.subtype == "FLOAT"
-
-        while True:
-            data = f.read(chunk_size, dtype="float32")
-            if len(data) != chunk_size:
-                break
-
-            chunks.append(data.tobytes())
-
-    return chunks
-
-
-@pytest.mark.asyncio
-async def test_real_audio(mocker):
-    """
-    Test the VAD agent with only input and output mocked. Using the real model, using real audio as
-    input. Ensure that it outputs some fragments with audio.
-    """
-    audio_chunks = get_audio_chunks()
-    audio_in_socket = AsyncMock()
-    audio_in_socket.recv.side_effect = audio_chunks
-
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.vad_agent.zmq.Poller")
-    mock_poller.return_value.poll.return_value = [(audio_in_socket, zmq.POLLIN)]
-
-    audio_out_socket = AsyncMock()
-
-    vad_streamer = Streaming(audio_in_socket, audio_out_socket)
-    vad_streamer._ready = True
-    vad_streamer.agent = MagicMock()
-    for _ in audio_chunks:
-        await vad_streamer.run()
-
-    audio_out_socket.send.assert_called()
-    for args in audio_out_socket.send.call_args_list:
-        assert isinstance(args[0][0], bytes)
-        assert len(args[0][0]) >= 512 * 4 * 3  # Should be at least 3 chunks of audio

test/integration/api/endpoints/test_command_endpoint.py

@@ -1,61 +0,0 @@
-from unittest.mock import AsyncMock
-
-import pytest
-from fastapi import FastAPI
-from fastapi.testclient import TestClient
-
-from control_backend.api.v1.endpoints import command
-from control_backend.schemas.ri_message import SpeechCommand
-
-
-@pytest.fixture
-def app():
-    """
-    Creates a FastAPI test app and attaches the router under test.
-    Also sets up a mock internal_comm_socket.
-    """
-    app = FastAPI()
-    app.include_router(command.router)
-    return app
-
-
-@pytest.fixture
-def client(app):
-    """Create a test client for the app."""
-    return TestClient(app)
-
-
-def test_receive_command_success(client):
-    """
-    Test for successful reception of a command. Ensures the status code is 202 and the response body
-    is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
-    expected data.
-    """
-    # Arrange
-    mock_pub_socket = AsyncMock()
-    client.app.state.endpoints_pub_socket = mock_pub_socket
-
-    command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
-    speech_command = SpeechCommand(**command_data)
-
-    # Act
-    response = client.post("/command", json=command_data)
-
-    # Assert
-    assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
-
-    # Verify that the ZMQ socket was used correctly
-    mock_pub_socket.send_multipart.assert_awaited_once_with(
-        [b"command", speech_command.model_dump_json().encode()]
-    )
-
-
-def test_receive_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)
-    assert response.status_code == 422  # validation error

test/integration/schemas/test_ri_message.py

@@ -1,26 +0,0 @@
-import pytest
-from pydantic import ValidationError
-
-from control_backend.schemas.ri_message import RIEndpoint, RIMessage, SpeechCommand
-
-
-def valid_command_1():
-    return SpeechCommand(data="Hallo?")
-
-
-def invalid_command_1():
-    return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.")
-
-
-def test_valid_speech_command_1():
-    command = valid_command_1()
-    RIMessage.model_validate(command)
-    SpeechCommand.model_validate(command)
-
-
-def test_invalid_speech_command_1():
-    command = invalid_command_1()
-    RIMessage.model_validate(command)
-
-    with pytest.raises(ValidationError):
-        SpeechCommand.model_validate(command)

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -0,0 +1,448 @@
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import zmq
+
+from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
+from control_backend.core.agent_system import InternalMessage
+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"
+    )
+    mock_context.return_value = MagicMock()
+    return mock_context
+
+
+@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"
+
+    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"
+
+    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."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    agent.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_TAG,
+        "data": "hello",  # "hello" is in gesture_data
+    }
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_sends_non_gesture_command():
+    """Internal message with non-gesture endpoint is not forwarded by this agent."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    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"}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_invalid_payload():
+    """Invalid payload is caught and does not send."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"], address="")
+    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")
+
+    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_awaited_once()
+
+
+@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"}
+    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_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.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_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"{}"
+
+    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_fetch_gestures_loop_without_amount():
+    """Fetch gestures request without amount returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"{}"  # Empty JSON request
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent(
+        "robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"], address=""
+    )
+    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"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_amount():
+    """Fetch gestures request with amount returns limited tags."""
+    fake_repsocket = AsyncMock()
+    amount = 3
+
+    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", "wave", "point"], 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 "tags" in response
+    assert len(response["tags"]) == amount
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+@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."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"not_json"
+
+    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"]
+
+
+@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()

test/unit/agents/actuation/test_robot_speech_agent.py

@@ -0,0 +1,144 @@
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import zmq
+
+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(
+        "control_backend.agents.actuation.robot_speech_agent.azmq.Context.instance"
+    )
+    mock_context.return_value = MagicMock()
+    return mock_context
+
+
+@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 = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=True)
+    settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
+    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+
+    agent.add_behavior = MagicMock()
+
+    await agent.setup()
+
+    fake_socket.bind.assert_any_call("tcp://localhost:5555")
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
+    agent.add_behavior.assert_called_once()
+
+
+@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 = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=False)
+    settings = mocker.patch("control_backend.agents.actuation.robot_speech_agent.settings")
+    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+
+    agent.add_behavior = MagicMock()
+
+    await agent.setup()
+
+    fake_socket.connect.assert_any_call("tcp://localhost:5555")
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    agent.add_behavior.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_sends_command():
+    """Internal message is forwarded to robot pub socket as JSON."""
+    pubsocket = AsyncMock()
+    agent = mock_speech_agent()
+    agent.pubsocket = pubsocket
+
+    payload = {"endpoint": "actuate/speech", "data": "hello", "is_priority": False}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_awaited_once_with(payload)
+
+
+@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", "is_priority": False}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        # stop after first iteration
+        agent._running = False
+        return (b"command", json.dumps(command).encode("utf-8"))
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+    agent = mock_speech_agent()
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_awaited_once_with(command)
+
+
+@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 = mock_speech_agent()
+    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_handle_message_invalid_payload():
+    """Invalid payload is caught and does not send."""
+    pubsocket = AsyncMock()
+    agent = mock_speech_agent()
+    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_stop_closes_sockets():
+    pubsocket = MagicMock()
+    subsocket = MagicMock()
+    agent = mock_speech_agent()
+    agent.pubsocket = pubsocket
+    agent.subsocket = subsocket
+
+    await agent.stop()
+
+    pubsocket.close.assert_called_once()
+    subsocket.close.assert_called_once()

test/unit/agents/bdi/behaviours/test_belief_setter.py

@@ -1,209 +0,0 @@
-import json
-import logging
-from unittest.mock import AsyncMock, MagicMock, call
-
-import pytest
-
-from control_backend.agents.bdi.behaviours.belief_setter import BeliefSetterBehaviour
-
-# Define a constant for the collector agent name to use in tests
-COLLECTOR_AGENT_NAME = "belief_collector"
-COLLECTOR_AGENT_JID = f"{COLLECTOR_AGENT_NAME}@test"
-
-
-@pytest.fixture
-def mock_agent(mocker):
-    """Fixture to create a mock BDIAgent."""
-    agent = MagicMock()
-    agent.bdi = MagicMock()
-    agent.jid = "bdi_agent@test"
-    return agent
-
-
-@pytest.fixture
-def belief_setter(mock_agent, mocker):
-    """Fixture to create an instance of BeliefSetterBehaviour with a mocked agent."""
-    # Patch the settings to use a predictable agent name
-    mocker.patch(
-        "control_backend.agents.bdi.behaviours.belief_setter.settings.agent_settings.belief_collector_agent_name",
-        COLLECTOR_AGENT_NAME,
-    )
-
-    setter = BeliefSetterBehaviour()
-    setter.agent = mock_agent
-    # Mock the receive method, we will control its return value in each test
-    setter.receive = AsyncMock()
-    return setter
-
-
-def create_mock_message(sender_node: str, body: str, thread: str) -> MagicMock:
-    """Helper function to create a configured mock message."""
-    msg = MagicMock()
-    msg.sender.node = sender_node  # MagicMock automatically creates nested mocks
-    msg.body = body
-    msg.thread = thread
-    return msg
-
-
-@pytest.mark.asyncio
-async def test_run_message_received(belief_setter, mocker):
-    """
-    Test that when a message is received, _process_message is called.
-    """
-    # Arrange
-    msg = MagicMock()
-    belief_setter.receive.return_value = msg
-    mocker.patch.object(belief_setter, "_process_message")
-
-    # Act
-    await belief_setter.run()
-
-    # Assert
-    belief_setter._process_message.assert_called_once_with(msg)
-
-
-def test_process_message_from_belief_collector(belief_setter, mocker):
-    """
-    Test processing a message from the correct belief collector agent.
-    """
-    # Arrange
-    msg = create_mock_message(sender_node=COLLECTOR_AGENT_NAME, body="", thread="")
-    mock_process_belief = mocker.patch.object(belief_setter, "_process_belief_message")
-
-    # Act
-    belief_setter._process_message(msg)
-
-    # Assert
-    mock_process_belief.assert_called_once_with(msg)
-
-
-def test_process_message_from_other_agent(belief_setter, mocker):
-    """
-    Test that messages from other agents are ignored.
-    """
-    # Arrange
-    msg = create_mock_message(sender_node="other_agent", body="", thread="")
-    mock_process_belief = mocker.patch.object(belief_setter, "_process_belief_message")
-
-    # Act
-    belief_setter._process_message(msg)
-
-    # Assert
-    mock_process_belief.assert_not_called()
-
-
-def test_process_belief_message_valid_json(belief_setter, mocker):
-    """
-    Test processing a valid belief message with correct thread and JSON body.
-    """
-    # Arrange
-    beliefs_payload = {"is_hot": ["kitchen"], "is_clean": ["kitchen", "bathroom"]}
-    msg = create_mock_message(
-        sender_node=COLLECTOR_AGENT_JID, body=json.dumps(beliefs_payload), thread="beliefs"
-    )
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
-
-    # Act
-    belief_setter._process_belief_message(msg)
-
-    # Assert
-    mock_set_beliefs.assert_called_once_with(beliefs_payload)
-
-
-def test_process_belief_message_invalid_json(belief_setter, mocker, caplog):
-    """
-    Test that a message with invalid JSON is handled gracefully and an error is logged.
-    """
-    # Arrange
-    msg = create_mock_message(
-        sender_node=COLLECTOR_AGENT_JID, body="this is not a json string", thread="beliefs"
-    )
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
-
-    # Act
-    belief_setter._process_belief_message(msg)
-
-    # Assert
-    mock_set_beliefs.assert_not_called()
-
-
-def test_process_belief_message_wrong_thread(belief_setter, mocker):
-    """
-    Test that a message with an incorrect thread is ignored.
-    """
-    # Arrange
-    msg = create_mock_message(
-        sender_node=COLLECTOR_AGENT_JID, body='{"some": "data"}', thread="not_beliefs"
-    )
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
-
-    # Act
-    belief_setter._process_belief_message(msg)
-
-    # Assert
-    mock_set_beliefs.assert_not_called()
-
-
-def test_process_belief_message_empty_body(belief_setter, mocker):
-    """
-    Test that a message with an empty body is ignored.
-    """
-    # Arrange
-    msg = create_mock_message(sender_node=COLLECTOR_AGENT_JID, body="", thread="beliefs")
-    mock_set_beliefs = mocker.patch.object(belief_setter, "_set_beliefs")
-
-    # Act
-    belief_setter._process_belief_message(msg)
-
-    # Assert
-    mock_set_beliefs.assert_not_called()
-
-
-def test_set_beliefs_success(belief_setter, mock_agent, caplog):
-    """
-    Test that beliefs are correctly set on the agent's BDI.
-    """
-    # Arrange
-    beliefs_to_set = {
-        "is_hot": ["kitchen"],
-        "door_opened": ["front_door", "back_door"],
-    }
-
-    # Act
-    with caplog.at_level(logging.INFO):
-        belief_setter._set_beliefs(beliefs_to_set)
-
-    # Assert
-    expected_calls = [
-        call("is_hot", "kitchen"),
-        call("door_opened", "front_door", "back_door"),
-    ]
-    mock_agent.bdi.set_belief.assert_has_calls(expected_calls, any_order=True)
-    assert mock_agent.bdi.set_belief.call_count == 2
-
-
-# def test_responded_unset(belief_setter, mock_agent):
-#     # Arrange
-#     new_beliefs = {"user_said": ["message"]}
-#
-#     # Act
-#     belief_setter._set_beliefs(new_beliefs)
-#
-#     # Assert
-#     mock_agent.bdi.set_belief.assert_has_calls([call("user_said", "message")])
-#     mock_agent.bdi.remove_belief.assert_has_calls([call("responded")])
-
-# def test_set_beliefs_bdi_not_initialized(belief_setter, mock_agent, caplog):
-#     """
-#     Test that a warning is logged if the agent's BDI is not initialized.
-#     """
-#     # Arrange
-#     mock_agent.bdi = None  # Simulate BDI not being ready
-#     beliefs_to_set = {"is_hot": ["kitchen"]}
-#
-#     # Act
-#     with caplog.at_level(logging.WARNING):
-#         belief_setter._set_beliefs(beliefs_to_set)
-#
-#     # Assert
-#     assert "Cannot set beliefs, since agent's BDI is not yet initialized." in caplog.text

test/unit/agents/bdi/test_bdi_core_agent.py

@@ -0,0 +1,268 @@
+import asyncio
+import json
+import time
+from unittest.mock import AsyncMock, MagicMock, mock_open, patch
+
+import agentspeak
+import pytest
+
+from control_backend.agents.bdi.bdi_core_agent import BDICoreAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief, BeliefMessage
+
+
+@pytest.fixture
+def mock_agentspeak_env():
+    with patch("agentspeak.runtime.Environment") as mock_env:
+        yield mock_env
+
+
+@pytest.fixture
+def agent():
+    agent = BDICoreAgent("bdi_agent", "dummy.asl")
+    agent.send = AsyncMock()
+    agent.bdi_agent = MagicMock()
+    return agent
+
+
+@pytest.mark.asyncio
+async def test_setup_loads_asl(mock_agentspeak_env, agent):
+    # Mock file opening
+    with patch("builtins.open", mock_open(read_data="+initial_goal.")):
+        await agent.setup()
+
+        # Check if environment tried to build agent
+        mock_agentspeak_env.return_value.build_agent.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_setup_no_asl(mock_agentspeak_env, agent):
+    with patch("builtins.open", side_effect=FileNotFoundError):
+        await agent.setup()
+
+        mock_agentspeak_env.return_value.build_agent.assert_not_called()
+
+
+@pytest.mark.asyncio
+async def test_handle_belief_collector_message(agent, mock_settings):
+    """Test that incoming beliefs are added to the BDI agent"""
+    beliefs = [Belief(name="user_said", arguments=["Hello"])]
+    msg = InternalMessage(
+        to="bdi_agent",
+        sender=mock_settings.agent_settings.bdi_belief_collector_name,
+        body=BeliefMessage(beliefs=beliefs).model_dump_json(),
+        thread="beliefs",
+    )
+
+    await agent.handle_message(msg)
+
+    # Expect bdi_agent.call to be triggered to add belief
+    args = agent.bdi_agent.call.call_args.args
+    assert args[0] == agentspeak.Trigger.addition
+    assert args[1] == agentspeak.GoalType.belief
+    assert args[2] == agentspeak.Literal("user_said", (agentspeak.Literal("Hello"),))
+
+
+@pytest.mark.asyncio
+async def test_incorrect_belief_collector_message(agent, mock_settings):
+    """Test that incorrect message format triggers an exception."""
+    msg = InternalMessage(
+        to="bdi_agent",
+        sender=mock_settings.agent_settings.bdi_belief_collector_name,
+        body=json.dumps({"bad_format": "bad_format"}),
+        thread="beliefs",
+    )
+
+    await agent.handle_message(msg)
+
+    agent.bdi_agent.call.assert_not_called()  # did not set belief
+
+
+@pytest.mark.asyncio
+async def test_handle_llm_response(agent):
+    """Test that LLM responses are forwarded to the Robot Speech Agent"""
+    msg = InternalMessage(
+        to="bdi_agent", sender=settings.agent_settings.llm_name, body="This is the LLM reply"
+    )
+
+    await agent.handle_message(msg)
+
+    # Verify forward
+    assert agent.send.called
+    sent_msg = agent.send.call_args[0][0]
+    assert sent_msg.to == settings.agent_settings.robot_speech_name
+    assert "This is the LLM reply" in sent_msg.body
+
+
+@pytest.mark.asyncio
+async def test_custom_actions(agent):
+    agent._send_to_llm = MagicMock(side_effect=agent.send)  # Mock specific method
+
+    # Initialize actions manually since we didn't call setup with real file
+    agent._add_custom_actions()
+
+    # Find the action
+    action_fn = None
+    for (functor, _), fn in agent.actions.actions.items():
+        if functor == ".reply":
+            action_fn = fn
+            break
+
+    assert action_fn is not None
+
+    # Invoke action
+    mock_term = MagicMock()
+    mock_term.args = ["Hello", "Norm", "Goal"]
+    mock_intention = MagicMock()
+
+    # Run generator
+    gen = action_fn(agent, mock_term, mock_intention)
+    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

@@ -0,0 +1,135 @@
+import json
+from unittest.mock import AsyncMock
+
+import pytest
+
+from control_backend.agents.bdi import (
+    BDIBeliefCollectorAgent,
+)
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief
+
+
+@pytest.fixture
+def agent():
+    agent = BDIBeliefCollectorAgent("belief_collector_agent")
+    return agent
+
+
+def make_msg(body: dict, sender: str = "sender"):
+    return InternalMessage(to="collector", sender=sender, body=json.dumps(body))
+
+
+@pytest.mark.asyncio
+async def test_handle_message_routes_belief_text(agent, mocker):
+    """
+    Test that when a message is received, _handle_belief_text is called with that message.
+    """
+    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": [["hi"]]}}
+    spy = mocker.patch.object(agent, "_handle_belief_text", new_callable=AsyncMock)
+
+    await agent.handle_message(make_msg(payload))
+
+    spy.assert_awaited_once_with(payload, "sender")
+
+
+@pytest.mark.asyncio
+async def test_handle_message_routes_emotion(agent, mocker):
+    payload = {"type": "emotion_extraction_text"}
+    spy = mocker.patch.object(agent, "_handle_emo_text", new_callable=AsyncMock)
+
+    await agent.handle_message(make_msg(payload))
+
+    spy.assert_awaited_once_with(payload, "sender")
+
+
+@pytest.mark.asyncio
+async def test_handle_message_bad_json(agent, mocker):
+    agent._handle_belief_text = AsyncMock()
+    bad_msg = InternalMessage(to="collector", sender="sender", body="not json")
+
+    await agent.handle_message(bad_msg)
+
+    agent._handle_belief_text.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_belief_text_sends_when_beliefs_exist(agent, mocker):
+    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": ["hello"]}}
+    spy = mocker.patch.object(agent, "_send_beliefs_to_bdi", new_callable=AsyncMock)
+    expected = [Belief(name="user_said", arguments=["hello"])]
+
+    await agent._handle_belief_text(payload, "origin")
+
+    spy.assert_awaited_once_with(expected, origin="origin")
+
+
+@pytest.mark.asyncio
+async def test_handle_belief_text_no_send_when_empty(agent, mocker):
+    payload = {"type": "belief_extraction_text", "beliefs": {}}
+    spy = mocker.patch.object(agent, "_send_beliefs_to_bdi", new_callable=AsyncMock)
+
+    await agent._handle_belief_text(payload, "origin")
+
+    spy.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_send_beliefs_to_bdi(agent):
+    agent.send = AsyncMock()
+    beliefs = [Belief(name="user_said", arguments=["hello", "world"])]
+
+    await agent._send_beliefs_to_bdi(beliefs, origin="origin")
+
+    agent.send.assert_awaited_once()
+    sent: InternalMessage = agent.send.call_args.args[0]
+    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

@@ -0,0 +1,65 @@
+import json
+from unittest.mock import AsyncMock
+
+import pytest
+
+from control_backend.agents.bdi import (
+    TextBeliefExtractorAgent,
+)
+from control_backend.core.agent_system import InternalMessage
+
+
+@pytest.fixture
+def agent():
+    agent = TextBeliefExtractorAgent("text_belief_agent")
+    agent.send = AsyncMock()
+    return agent
+
+
+def make_msg(sender: str, body: str, thread: str | None = None) -> InternalMessage:
+    return InternalMessage(to="unused", sender=sender, body=body, thread=thread)
+
+
+@pytest.mark.asyncio
+async def test_handle_message_ignores_other_agents(agent):
+    msg = make_msg("unknown", "some data", None)
+
+    await agent.handle_message(msg)
+
+    agent.send.assert_not_called()  # noqa  # `agent.send` has no such property, but we mock it.
+
+
+@pytest.mark.asyncio
+async def test_handle_message_from_transcriber(agent, mock_settings):
+    transcription = "hello world"
+    msg = make_msg(mock_settings.agent_settings.transcription_name, transcription, None)
+
+    await agent.handle_message(msg)
+
+    agent.send.assert_awaited_once()  # noqa  # `agent.send` has no such property, but we mock it.
+    sent: InternalMessage = agent.send.call_args.args[0]  # noqa
+    assert sent.to == mock_settings.agent_settings.bdi_belief_collector_name
+    assert sent.thread == "beliefs"
+    parsed = json.loads(sent.body)
+    assert parsed == {"beliefs": {"user_said": [transcription]}, "type": "belief_extraction_text"}
+
+
+@pytest.mark.asyncio
+async def test_process_transcription_demo(agent, mock_settings):
+    transcription = "this is a test"
+
+    await agent._process_transcription_demo(transcription)
+
+    agent.send.assert_awaited_once()  # noqa  # `agent.send` has no such property, but we mock it.
+    sent: InternalMessage = agent.send.call_args.args[0]  # noqa
+    assert sent.to == mock_settings.agent_settings.bdi_belief_collector_name
+    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/belief_collector/behaviours/test_continuous_collect.py

@@ -1,101 +0,0 @@
-import json
-from unittest.mock import AsyncMock, MagicMock
-
-import pytest
-
-from control_backend.agents.belief_collector.behaviours.continuous_collect import (
-    ContinuousBeliefCollector,
-)
-
-
-def create_mock_message(sender_node: str, body: str) -> MagicMock:
-    """Helper function to create a configured mock message."""
-    msg = MagicMock()
-    msg.sender.node = sender_node  # MagicMock automatically creates nested mocks
-    msg.body = body
-    return msg
-
-
-@pytest.fixture
-def mock_agent(mocker):
-    """Fixture to create a mock Agent."""
-    agent = MagicMock()
-    agent.jid = "belief_collector_agent@test"
-    return agent
-
-
-@pytest.fixture
-def continuous_collector(mock_agent, mocker):
-    """Fixture to create an instance of ContinuousBeliefCollector with a mocked agent."""
-    # Patch asyncio.sleep to prevent tests from actually waiting
-    mocker.patch("asyncio.sleep", return_value=None)
-
-    collector = ContinuousBeliefCollector()
-    collector.agent = mock_agent
-    # Mock the receive method, we will control its return value in each test
-    collector.receive = AsyncMock()
-    return collector
-
-
-@pytest.mark.asyncio
-async def test_run_message_received(continuous_collector, mocker):
-    """
-    Test that when a message is received, _process_message is called with that message.
-    """
-    # Arrange
-    mock_msg = MagicMock()
-    continuous_collector.receive.return_value = mock_msg
-    mocker.patch.object(continuous_collector, "_process_message")
-
-    # Act
-    await continuous_collector.run()
-
-    # Assert
-    continuous_collector._process_message.assert_awaited_once_with(mock_msg)
-
-
-@pytest.mark.asyncio
-async def test_routes_to_handle_belief_text_by_type(continuous_collector, mocker):
-    msg = create_mock_message(
-        "anyone",
-        json.dumps({"type": "belief_extraction_text", "beliefs": {"user_said": [["hi"]]}}),
-    )
-    spy = mocker.patch.object(continuous_collector, "_handle_belief_text", new=AsyncMock())
-    await continuous_collector._process_message(msg)
-    spy.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_routes_to_handle_belief_text_by_sender(continuous_collector, mocker):
-    msg = create_mock_message(
-        "belief_text_agent_mock", json.dumps({"beliefs": {"user_said": [["hi"]]}})
-    )
-    spy = mocker.patch.object(continuous_collector, "_handle_belief_text", new=AsyncMock())
-    await continuous_collector._process_message(msg)
-    spy.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_routes_to_handle_emo_text(continuous_collector, mocker):
-    msg = create_mock_message("anyone", json.dumps({"type": "emotion_extraction_text"}))
-    spy = mocker.patch.object(continuous_collector, "_handle_emo_text", new=AsyncMock())
-    await continuous_collector._process_message(msg)
-    spy.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_belief_text_happy_path_sends(continuous_collector, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": ["hello test", "No"]}}
-    continuous_collector.send = AsyncMock()
-    await continuous_collector._handle_belief_text(payload, "belief_text_agent_mock")
-
-    # make sure we attempted a send
-    continuous_collector.send.assert_awaited_once()
-
-
-@pytest.mark.asyncio
-async def test_belief_text_coerces_non_strings(continuous_collector, mocker):
-    payload = {"type": "belief_extraction_text", "beliefs": {"user_said": [["hi", 123]]}}
-    continuous_collector.send = AsyncMock()
-    await continuous_collector._handle_belief_text(payload, "origin")
-    continuous_collector.send.assert_awaited_once()

test/unit/agents/belief_from_text/behaviours/test_belief_from_text.py

@@ -1,187 +0,0 @@
-import json
-from unittest.mock import AsyncMock, MagicMock, patch
-
-import pytest
-from spade.message import Message
-
-from control_backend.agents.bdi.behaviours.text_belief_extractor import BeliefFromText
-
-
-@pytest.fixture
-def mock_settings():
-    """
-    Mocks the settings object that the behaviour imports.
-    We patch it at the source where it's imported by the module under test.
-    """
-    # Create a mock object that mimics the nested structure
-    settings_mock = MagicMock()
-    settings_mock.agent_settings.transcription_agent_name = "transcriber"
-    settings_mock.agent_settings.belief_collector_agent_name = "collector"
-    settings_mock.agent_settings.host = "fake.host"
-
-    # Use patch to replace the settings object during the test
-    # Adjust 'control_backend.behaviours.belief_from_text.settings' to where
-    # your behaviour file imports it from.
-    with patch(
-        "control_backend.agents.bdi.behaviours.text_belief_extractor.settings", settings_mock
-    ):
-        yield settings_mock
-
-
-@pytest.fixture
-def behavior(mock_settings):
-    """
-    Creates an instance of the BeliefFromText behaviour and mocks its
-    agent, logger, send, and receive methods.
-    """
-    b = BeliefFromText()
-
-    b.agent = MagicMock()
-    b.send = AsyncMock()
-    b.receive = AsyncMock()
-
-    return b
-
-
-def create_mock_message(sender_node: str, body: str, thread: str) -> MagicMock:
-    """Helper function to create a configured mock message."""
-    msg = MagicMock()
-    msg.sender.node = sender_node  # MagicMock automatically creates nested mocks
-    msg.body = body
-    msg.thread = thread
-    return msg
-
-
-@pytest.mark.asyncio
-async def test_run_no_message(behavior):
-    """
-    Tests the run() method when no message is received.
-    """
-    # Arrange: Configure receive to return None
-    behavior.receive.return_value = None
-
-    # Act: Run the behavior
-    await behavior.run()
-
-    # Assert
-    # 1. Check that receive was called
-    behavior.receive.assert_called_once()
-    # 2. Check that no message was sent
-    behavior.send.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_run_message_from_other_agent(behavior):
-    """
-    Tests the run() method when a message is received from an
-    unknown agent (not the transcriber).
-    """
-    # Arrange: Create a mock message from an unknown sender
-    mock_msg = create_mock_message("unknown", "some data", None)
-    behavior.receive.return_value = mock_msg
-    behavior._process_transcription_demo = MagicMock()
-
-    # Act
-    await behavior.run()
-
-    # Assert
-    # 1. Check that receive was called
-    behavior.receive.assert_called_once()
-    # 2. Check that _process_transcription_demo was not sent
-    behavior._process_transcription_demo.assert_not_called()
-
-
-@pytest.mark.asyncio
-async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkeypatch):
-    """
-    Tests the main success path: receiving a message from the
-    transcription agent, which triggers _process_transcription_demo.
-    """
-    # Arrange: Create a mock message from the transcriber
-    transcription_text = "hello world"
-    mock_msg = create_mock_message(
-        mock_settings.agent_settings.transcription_agent_name, transcription_text, None
-    )
-    behavior.receive.return_value = mock_msg
-
-    # Act
-    await behavior.run()
-
-    # Assert
-    # 1. Check that receive was called
-    behavior.receive.assert_called_once()
-
-    # 2. Check that send was called *once*
-    behavior.send.assert_called_once()
-
-    # 3. Deeply inspect the message that was sent
-    sent_msg: Message = behavior.send.call_args[0][0]
-
-    assert (
-        sent_msg.to
-        == mock_settings.agent_settings.belief_collector_agent_name
-        + "@"
-        + mock_settings.agent_settings.host
-    )
-
-    # Check thread
-    assert sent_msg.thread == "beliefs"
-
-    # Parse the received JSON string back into a dict
-    expected_dict = {
-        "beliefs": {"user_said": [transcription_text]},
-        "type": "belief_extraction_text",
-    }
-    sent_dict = json.loads(sent_msg.body)
-
-    # Assert that the dictionaries are equal
-    assert sent_dict == expected_dict
-
-
-@pytest.mark.asyncio
-async def test_process_transcription_success(behavior, mock_settings):
-    """
-    Tests the (currently unused) _process_transcription method's
-    success path, using its hardcoded mock response.
-    """
-    # Arrange
-    test_text = "I am feeling happy"
-    # This is the hardcoded response inside the method
-    expected_response_body = '{"mood": [["happy"]]}'
-
-    # Act
-    await behavior._process_transcription(test_text)
-
-    # Assert
-    # 1. Check that a message was sent
-    behavior.send.assert_called_once()
-
-    # 2. Inspect the sent message
-    sent_msg: Message = behavior.send.call_args[0][0]
-    expected_to = (
-        mock_settings.agent_settings.belief_collector_agent_name
-        + "@"
-        + mock_settings.agent_settings.host
-    )
-    assert str(sent_msg.to) == expected_to
-    assert sent_msg.thread == "beliefs"
-    assert sent_msg.body == expected_response_body
-
-
-@pytest.mark.asyncio
-async def test_process_transcription_json_decode_error(behavior, mock_settings):
-    """
-    Tests the _process_transcription method's error handling
-    when the (mocked) response is invalid JSON.
-    We do this by patching json.loads to raise an error.
-    """
-    # Arrange
-    test_text = "I am feeling happy"
-    # Patch json.loads to raise an error when called
-    with patch("json.loads", side_effect=json.JSONDecodeError("Mock error", "", 0)):
-        # Act
-        await behavior._process_transcription(test_text)
-
-    # Assert
-    # 1. Check that NO message was sent
-    behavior.send.assert_not_called()

test/unit/agents/communication/test_ri_communication_agent.py

@@ -0,0 +1,367 @@
+import asyncio
+from unittest.mock import ANY, AsyncMock, MagicMock, patch
+
+import pytest
+
+from control_backend.agents.communication.ri_communication_agent import RICommunicationAgent
+
+
+def speech_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"
+
+
+def gesture_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotGestureAgent"
+
+
+@pytest.fixture
+def zmq_context(mocker):
+    mock_context = mocker.patch(
+        "control_backend.agents.communication.ri_communication_agent.Context.instance"
+    )
+    mock_context.return_value = MagicMock()
+    return mock_context
+
+
+def negotiation_message(
+    actuation_port: int = 5556,
+    bind_main: bool = False,
+    bind_actuation: bool = False,
+    main_port: int = 5555,
+):
+    return {
+        "endpoint": "negotiate/ports",
+        "data": [
+            {"id": "main", "port": main_port, "bind": bind_main},
+            {"id": "actuation", "port": actuation_port, "bind": bind_actuation},
+        ],
+    }
+
+
+@pytest.mark.asyncio
+async def test_setup_success_connects_and_starts_robot(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
+    fake_socket.send_multipart = AsyncMock()
+
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
+        agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
+
+        agent.add_behavior = MagicMock()
+
+        await agent.setup()
+
+    fake_socket.connect.assert_any_call("tcp://localhost:5555")
+    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=[],
+    )
+    agent.add_behavior.assert_called_once()
+
+    assert agent.connected is True
+
+
+@pytest.mark.asyncio
+async def test_setup_binds_when_requested(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(return_value=negotiation_message(bind_main=True))
+    fake_socket.send_multipart = AsyncMock()
+
+    agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=True)
+
+    agent.add_behavior = MagicMock()
+
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
+        await agent.setup()
+    fake_socket.bind.assert_any_call("tcp://localhost:5555")
+    agent.add_behavior.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_negotiate_invalid_endpoint_retries(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(return_value={"endpoint": "ping", "data": {}})
+    fake_socket.send_multipart = AsyncMock()
+
+    agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
+    agent._req_socket = fake_socket
+
+    success = await agent._negotiate_connection(max_retries=1)
+    assert success is False
+
+
+@pytest.mark.asyncio
+async def test_negotiate_timeout(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError)
+    fake_socket.send_multipart = AsyncMock()
+
+    agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
+    agent._req_socket = fake_socket
+
+    success = await agent._negotiate_connection(max_retries=1)
+
+    assert success is False
+
+
+@pytest.mark.asyncio
+async def test_handle_negotiation_response_updates_req_socket(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
+    agent._req_socket = fake_socket
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
+        await agent._handle_negotiation_response(
+            negotiation_message(
+                main_port=6000,
+                actuation_port=6001,
+                bind_main=False,
+                bind_actuation=False,
+            )
+        )
+
+    fake_socket.connect.assert_any_call("tcp://localhost:6000")
+
+
+@pytest.mark.asyncio
+async def test_handle_disconnection_publishes_and_reconnects():
+    pub_socket = AsyncMock()
+    agent = RICommunicationAgent("ri_comm")
+    agent.pub_socket = pub_socket
+    agent.connected = True
+    agent._negotiate_connection = AsyncMock(return_value=True)
+
+    await agent._handle_disconnection()
+    pub_socket.send_multipart.assert_awaited()
+    assert agent.connected is True
+
+
+@pytest.mark.asyncio
+async def test_listen_loop_handles_non_ping(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return {"endpoint": "negotiate/ports", "data": {}}
+
+    fake_socket.recv_json = recv_once
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = fake_socket
+    agent.pub_socket = AsyncMock()
+    agent.connected = True
+    agent._running = True
+
+    await agent._listen_loop()
+
+    fake_socket.send_json.assert_called()
+
+
+@pytest.mark.asyncio
+async def test_negotiate_unexpected_error(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(side_effect=Exception("boom"))
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = fake_socket
+
+    assert await agent._negotiate_connection(max_retries=1) is False
+
+
+@pytest.mark.asyncio
+async def test_negotiate_handle_response_error(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
+
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = fake_socket
+    agent._handle_negotiation_response = AsyncMock(side_effect=Exception("bad response"))
+
+    assert await agent._negotiate_connection(max_retries=1) is False
+
+
+@pytest.mark.asyncio
+async def test_setup_warns_on_failed_negotiate(zmq_context, mocker):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    fake_socket.recv_json = AsyncMock()
+    agent = RICommunicationAgent("ri_comm")
+
+    def swallow(coro):
+        coro.close()
+
+    agent.add_behavior = swallow
+    agent._negotiate_connection = AsyncMock(return_value=False)
+
+    await agent.setup()
+
+    assert agent.connected is False
+
+
+@pytest.mark.asyncio
+async def test_handle_negotiation_response_unhandled_id():
+    agent = RICommunicationAgent("ri_comm")
+
+    await agent._handle_negotiation_response(
+        {"data": [{"id": "other", "port": 5000, "bind": False}]}
+    )
+
+
+@pytest.mark.asyncio
+async def test_stop_closes_sockets():
+    req = MagicMock()
+    pub = MagicMock()
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = req
+    agent.pub_socket = pub
+
+    await agent.stop()
+
+    req.close.assert_called_once()
+    pub.close.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_listen_loop_not_connected(monkeypatch):
+    agent = RICommunicationAgent("ri_comm")
+    agent._running = True
+    agent.connected = False
+    agent._req_socket = AsyncMock()
+
+    async def fake_sleep(duration):
+        agent._running = False
+
+    monkeypatch.setattr("asyncio.sleep", fake_sleep)
+
+    await agent._listen_loop()
+
+
+@pytest.mark.asyncio
+async def test_listen_loop_send_and_recv_timeout():
+    req = AsyncMock()
+    req.send_json = AsyncMock(side_effect=TimeoutError)
+    req.recv_json = AsyncMock(side_effect=TimeoutError)
+
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = req
+    agent.pub_socket = AsyncMock()
+    agent.connected = True
+    agent._running = True
+
+    async def stop_run():
+        agent._running = False
+
+    agent._handle_disconnection = AsyncMock(side_effect=stop_run)
+
+    await agent._listen_loop()
+
+    agent._handle_disconnection.assert_awaited()
+
+
+@pytest.mark.asyncio
+async def test_listen_loop_missing_endpoint(monkeypatch):
+    req = AsyncMock()
+    req.send_json = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return {"data": {}}
+
+    req.recv_json = recv_once
+
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = req
+    agent.pub_socket = AsyncMock()
+    agent.connected = True
+    agent._running = True
+
+    await agent._listen_loop()
+
+
+@pytest.mark.asyncio
+async def test_listen_loop_generic_exception():
+    req = AsyncMock()
+    req.send_json = AsyncMock()
+    req.recv_json = AsyncMock(side_effect=ValueError("boom"))
+
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = req
+    agent.pub_socket = AsyncMock()
+    agent.connected = True
+    agent._running = True
+
+    with pytest.raises(ValueError):
+        await agent._listen_loop()
+
+
+@pytest.mark.asyncio
+async def test_handle_disconnection_timeout(monkeypatch):
+    pub = AsyncMock()
+    pub.send_multipart = AsyncMock(side_effect=TimeoutError)
+
+    agent = RICommunicationAgent("ri_comm")
+    agent.pub_socket = pub
+    agent._negotiate_connection = AsyncMock(return_value=False)
+
+    await agent._handle_disconnection()
+
+    pub.send_multipart.assert_awaited()
+
+
+@pytest.mark.asyncio
+async def test_listen_loop_ping_sends_internal(zmq_context):
+    fake_socket = zmq_context.return_value.socket.return_value
+    fake_socket.send_json = AsyncMock()
+    pub_socket = AsyncMock()
+
+    agent = RICommunicationAgent("ri_comm")
+    agent._req_socket = fake_socket
+    agent.pub_socket = pub_socket
+    agent.connected = True
+    agent._running = True
+
+    async def recv_once():
+        agent._running = False
+        return {"endpoint": "ping", "data": {}}
+
+    fake_socket.recv_json = recv_once
+
+    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

@@ -0,0 +1,287 @@
+"""Mocks `httpx` and tests chunking logic."""
+
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import httpx
+import pytest
+
+from control_backend.agents.llm.llm_agent import LLMAgent, LLMInstructions
+from control_backend.core.agent_system import InternalMessage
+from control_backend.schemas.llm_prompt_message import LLMPromptMessage
+
+
+@pytest.fixture
+def mock_httpx_client():
+    with patch("httpx.AsyncClient") as mock_cls:
+        mock_client = AsyncMock()
+        mock_cls.return_value.__aenter__.return_value = mock_client
+        yield mock_client
+
+
+@pytest.mark.asyncio
+async def test_llm_processing_success(mock_httpx_client, mock_settings):
+    # Setup the mock response for the stream
+    mock_response = MagicMock()
+    mock_response.raise_for_status = MagicMock()
+
+    # Simulate stream lines
+    lines = [
+        b'data: {"choices": [{"delta": {"content": "Hello"}}]}',
+        b'data: {"choices": [{"delta": {"content": " world"}}]}',
+        b'data: {"choices": [{"delta": {"content": "."}}]}',
+        b"data: [DONE]",
+    ]
+
+    async def aiter_lines_gen():
+        for line in lines:
+            yield line.decode()
+
+    mock_response.aiter_lines.side_effect = aiter_lines_gen
+
+    mock_stream_context = MagicMock()
+    mock_stream_context.__aenter__ = AsyncMock(return_value=mock_response)
+    mock_stream_context.__aexit__ = AsyncMock(return_value=None)
+
+    # Configure the client
+    mock_httpx_client.stream = MagicMock(return_value=mock_stream_context)
+
+    # Setup Agent
+    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(
+        to="llm_agent",
+        sender=mock_settings.agent_settings.bdi_core_name,
+        body=prompt.model_dump_json(),
+    )
+
+    await agent.handle_message(msg)
+
+    # Verification
+    # "Hello world." constitutes one sentence/chunk based on punctuation split
+    # The agent should call send once with the full sentence
+    assert agent.send.called
+    args = agent.send.call_args[0][0]
+    assert args.to == mock_settings.agent_settings.bdi_core_name
+    assert "Hello world." in args.body
+
+
+@pytest.mark.asyncio
+async def test_llm_processing_errors(mock_httpx_client, mock_settings):
+    agent = LLMAgent("llm_agent")
+    agent.send = AsyncMock()
+    prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
+    msg = InternalMessage(
+        to="llm",
+        sender=mock_settings.agent_settings.bdi_core_name,
+        body=prompt.model_dump_json(),
+    )
+
+    # HTTP Error
+    mock_httpx_client.stream = MagicMock(side_effect=httpx.HTTPError("Fail"))
+    await agent.handle_message(msg)
+    assert "LLM service unavailable." in agent.send.call_args[0][0].body
+
+    # General Exception
+    agent.send.reset_mock()
+    mock_httpx_client.stream = MagicMock(side_effect=Exception("Boom"))
+    await agent.handle_message(msg)
+    assert "Error processing the request." in agent.send.call_args[0][0].body
+
+
+@pytest.mark.asyncio
+async def test_llm_json_error(mock_httpx_client, mock_settings):
+    # Test malformed JSON in stream
+    mock_response = MagicMock()
+    mock_response.raise_for_status = MagicMock()
+
+    async def aiter_lines_gen():
+        yield "data: {bad_json"
+        yield "data: [DONE]"
+
+    mock_response.aiter_lines.side_effect = aiter_lines_gen
+
+    mock_stream_context = MagicMock()
+    mock_stream_context.__aenter__ = AsyncMock(return_value=mock_response)
+    mock_stream_context.__aexit__ = AsyncMock(return_value=None)
+    mock_httpx_client.stream = MagicMock(return_value=mock_stream_context)
+
+    agent = LLMAgent("llm_agent")
+    agent.send = AsyncMock()
+
+    with patch.object(agent.logger, "error") as log:
+        prompt = LLMPromptMessage(text="Hi", norms=[], goals=[])
+        msg = InternalMessage(
+            to="llm",
+            sender=mock_settings.agent_settings.bdi_core_name,
+            body=prompt.model_dump_json(),
+        )
+        await agent.handle_message(msg)
+        log.assert_called()  # Should log JSONDecodeError
+
+
+def test_llm_instructions():
+    # Full custom
+    instr = LLMInstructions(norms=["N1", "N2"], goals=["G1", "G2"])
+    text = instr.build_developer_instruction()
+    assert "Norms to follow:\n- N1\n- N2" in text
+    assert "Goals to reach:\n- G1\n- G2" in text
+
+    # Defaults
+    instr_def = LLMInstructions()
+    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_speech_recognizer.py

@@ -1,11 +1,30 @@
 import numpy as np
+import pytest
 
-from control_backend.agents.transcription.speech_recognizer import (
+from control_backend.agents.perception.transcription_agent.speech_recognizer import (
     OpenAIWhisperSpeechRecognizer,
     SpeechRecognizer,
 )
 
 
+@pytest.fixture(autouse=True)
+def patch_sr_settings(monkeypatch):
+    # Patch the *module-local* settings that SpeechRecognizer imported
+    from control_backend.agents.perception.transcription_agent import speech_recognizer as sr
+
+    # Provide real numbers for everything _estimate_max_tokens() reads
+    monkeypatch.setattr(sr.settings.vad_settings, "sample_rate_hz", 16_000, raising=False)
+    monkeypatch.setattr(
+        sr.settings.behaviour_settings, "transcription_words_per_minute", 450, raising=False
+    )
+    monkeypatch.setattr(
+        sr.settings.behaviour_settings, "transcription_words_per_token", 0.75, raising=False
+    )
+    monkeypatch.setattr(
+        sr.settings.behaviour_settings, "transcription_token_buffer", 10, raising=False
+    )
+
+
 def test_estimate_max_tokens():
     """Inputting one minute of audio, assuming 450 words per minute and adding a 10 token padding,
     expecting 610 tokens."""

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

@@ -0,0 +1,202 @@
+import asyncio
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import numpy as np
+import pytest
+
+from control_backend.agents.perception.transcription_agent.speech_recognizer import (
+    MLXWhisperSpeechRecognizer,
+    OpenAIWhisperSpeechRecognizer,
+    SpeechRecognizer,
+)
+from control_backend.agents.perception.transcription_agent.transcription_agent import (
+    TranscriptionAgent,
+)
+
+
+@pytest.mark.asyncio
+async def test_transcription_agent_flow(mock_zmq_context):
+    mock_sub = MagicMock()
+    mock_sub.recv = AsyncMock()
+
+    # Setup context to return this specific mock socket
+    mock_zmq_context.instance.return_value.socket.return_value = mock_sub
+
+    # Data: [Audio Bytes, Cancel Loop]
+    fake_audio = np.zeros(16000, dtype=np.float32).tobytes()
+    mock_sub.recv.side_effect = [fake_audio, asyncio.CancelledError()]
+
+    # Mock Recognizer
+    with patch.object(SpeechRecognizer, "best_type") as mock_best:
+        mock_recognizer = MagicMock()
+        mock_recognizer.recognize_speech.return_value = "Hello"
+        mock_best.return_value = mock_recognizer
+
+        agent = TranscriptionAgent("tcp://in")
+        agent.send = AsyncMock()
+
+        agent._running = True
+        agent.add_behavior = AsyncMock()
+
+        await agent.setup()
+
+        try:
+            await agent._transcribing_loop()
+        except asyncio.CancelledError:
+            pass
+
+        # Check transcription happened
+        assert mock_recognizer.recognize_speech.called
+        # Check sending
+        assert agent.send.called
+        assert agent.send.call_args[0][0].body == "Hello"
+
+        await agent.stop()
+
+
+@pytest.mark.asyncio
+async def test_transcription_empty(mock_zmq_context):
+    mock_sub = MagicMock()
+    mock_sub.recv = AsyncMock()
+    mock_zmq_context.instance.return_value.socket.return_value = mock_sub
+
+    # Return valid audio, but recognizer returns empty string
+    fake_audio = np.zeros(10, 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 = ""
+        mock_best.return_value = mock_recognizer
+
+        agent = TranscriptionAgent("tcp://in")
+        agent.send = AsyncMock()
+        await agent.setup()
+
+        try:
+            await agent._transcribing_loop()
+        except asyncio.CancelledError:
+            pass
+
+        # Should NOT send message
+        agent.send.assert_not_called()
+
+
+def test_speech_recognizer_factory():
+    # Test Factory Logic
+    with patch("torch.mps.is_available", return_value=True):
+        assert isinstance(SpeechRecognizer.best_type(), MLXWhisperSpeechRecognizer)
+
+    with patch("torch.mps.is_available", return_value=False):
+        assert isinstance(SpeechRecognizer.best_type(), OpenAIWhisperSpeechRecognizer)
+
+
+def test_openai_recognizer():
+    with patch("whisper.load_model") as load_mock:
+        with patch("whisper.transcribe") as trans_mock:
+            rec = OpenAIWhisperSpeechRecognizer()
+            rec.load_model()
+            load_mock.assert_called()
+
+            trans_mock.return_value = {"text": "Hi"}
+            res = rec.recognize_speech(np.zeros(10))
+            assert res == "Hi"
+
+
+def test_mlx_recognizer():
+    # Fix: On Linux, 'mlx_whisper' isn't imported by the module, so it's missing from dir().
+    # We must use create=True to inject it into the module namespace during the test.
+    module_path = "control_backend.agents.perception.transcription_agent.speech_recognizer"
+
+    with patch("sys.platform", "darwin"):
+        with patch(f"{module_path}.mlx_whisper", create=True) as mlx_mock:
+            with patch(f"{module_path}.ModelHolder", create=True) as holder_mock:
+                # We also need to mock mlx.core if it's used for types/constants
+                with patch(f"{module_path}.mx", create=True):
+                    rec = MLXWhisperSpeechRecognizer()
+                    rec.load_model()
+                    holder_mock.get_model.assert_called()
+
+                    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_socket_poller.py

@@ -3,7 +3,7 @@ from unittest.mock import AsyncMock, MagicMock
 import pytest
 import zmq
 
-from control_backend.agents.vad_agent import SocketPoller
+from control_backend.agents.perception.vad_agent import SocketPoller
 
 
 @pytest.fixture
@@ -16,8 +16,8 @@ async def test_socket_poller_with_data(socket, mocker):
     socket_data = b"test"
     socket.recv.return_value = socket_data
 
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.vad_agent.zmq.Poller")
-    mock_poller.return_value.poll.return_value = [(socket, zmq.POLLIN)]
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Poller")
+    mock_poller.return_value.poll = AsyncMock(return_value=[(socket, zmq.POLLIN)])
 
     poller = SocketPoller(socket)
     # Calling `poll` twice to be able to check that the poller is reused
@@ -35,8 +35,8 @@ async def test_socket_poller_with_data(socket, mocker):
 
 @pytest.mark.asyncio
 async def test_socket_poller_no_data(socket, mocker):
-    mock_poller: MagicMock = mocker.patch("control_backend.agents.vad_agent.zmq.Poller")
-    mock_poller.return_value.poll.return_value = []
+    mock_poller: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.azmq.Poller")
+    mock_poller.return_value.poll = AsyncMock(return_value=[])
 
     poller = SocketPoller(socket)
     data = await poller.poll()

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

@@ -0,0 +1,174 @@
+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()
+
+
+@pytest.fixture
+def vad_agent(audio_out_socket):
+    return VADAgent("tcp://localhost:5555", False)
+
+
+@pytest.fixture(autouse=True)
+def patch_settings(monkeypatch):
+    # Patch the settings that vad_agent.run() reads
+    from control_backend.agents.perception import vad_agent
+
+    monkeypatch.setattr(
+        vad_agent.settings.behaviour_settings, "vad_prob_threshold", 0.5, raising=False
+    )
+    monkeypatch.setattr(
+        vad_agent.settings.behaviour_settings, "vad_non_speech_patience_chunks", 2, raising=False
+    )
+    monkeypatch.setattr(
+        vad_agent.settings.behaviour_settings, "vad_initial_since_speech", 0, raising=False
+    )
+    monkeypatch.setattr(vad_agent.settings.vad_settings, "sample_rate_hz", 16_000, raising=False)
+
+
+async def simulate_streaming_with_probabilities(streaming, probabilities: list[float]):
+    """
+    Simulates a streaming scenario with given VAD model probabilities for testing purposes.
+
+    :param streaming: The streaming component to be tested.
+    :param probabilities: A list of probabilities representing the outputs of the VAD model.
+    """
+    model_item = MagicMock()
+    model_item.item.side_effect = probabilities
+    streaming.model = MagicMock(return_value=model_item)
+
+    # Prepare deterministic audio chunks and a poller that stops the loop when exhausted
+    chunk_bytes = np.empty(shape=512, dtype=np.float32).tobytes()
+    chunks = [chunk_bytes for _ in probabilities]
+
+    class DummyPoller:
+        def __init__(self, data, agent):
+            self.data = data
+            self.agent = agent
+
+        async def poll(self, timeout_ms=None):
+            if self.data:
+                return self.data.pop(0)
+            # Stop the loop cleanly once we've consumed all chunks
+            self.agent._running = False
+            return None
+
+    streaming.audio_in_poller = DummyPoller(chunks, streaming)
+    streaming._ready = AsyncMock()
+    streaming._running = True
+
+    await streaming._streaming_loop()
+
+
+@pytest.mark.asyncio
+async def test_voice_activity_detected(audio_out_socket, vad_agent):
+    """
+    Test a scenario where there is voice activity detected between silences.
+    """
+    speech_chunk_count = 5
+    probabilities = [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] * 5
+    vad_agent.audio_out_socket = audio_out_socket
+    await simulate_streaming_with_probabilities(vad_agent, probabilities)
+
+    audio_out_socket.send.assert_called_once()
+    data = audio_out_socket.send.call_args[0][0]
+    assert isinstance(data, bytes)
+    assert len(data) == 512 * 4 * (speech_chunk_count + 1)
+
+
+@pytest.mark.asyncio
+async def test_voice_activity_short_pause(audio_out_socket, vad_agent):
+    """
+    Test a scenario where there is a short pause between speech, checking whether it ignores the
+    short pause.
+    """
+    speech_chunk_count = 5
+    probabilities = (
+        [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] + [1.0] * speech_chunk_count + [0.0] * 5
+    )
+    vad_agent.audio_out_socket = audio_out_socket
+    await simulate_streaming_with_probabilities(vad_agent, probabilities)
+
+    audio_out_socket.send.assert_called_once()
+    data = audio_out_socket.send.call_args[0][0]
+    assert isinstance(data, bytes)
+    # Expecting 13 chunks (2*5 with speech, 1 pause between, 1 as padding)
+    assert len(data) == 512 * 4 * (speech_chunk_count * 2 + 1 + 1)
+
+
+@pytest.mark.asyncio
+async def test_no_data(audio_out_socket, vad_agent):
+    """
+    Test a scenario where there is no data received. This should not cause errors.
+    """
+
+    class DummyPoller:
+        async def poll(self, timeout_ms=None):
+            vad_agent._running = False
+            return None
+
+    vad_agent.audio_out_socket = audio_out_socket
+    vad_agent.audio_in_poller = DummyPoller()
+    vad_agent._ready = AsyncMock()
+    vad_agent._running = True
+
+    await vad_agent._streaming_loop()
+
+    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/test_vad_streaming.py

@@ -1,106 +0,0 @@
-from unittest.mock import AsyncMock, MagicMock
-
-import numpy as np
-import pytest
-
-from control_backend.agents.vad_agent import Streaming
-
-
-@pytest.fixture
-def audio_in_socket():
-    return AsyncMock()
-
-
-@pytest.fixture
-def audio_out_socket():
-    return AsyncMock()
-
-
-@pytest.fixture
-def mock_agent(mocker):
-    """Fixture to create a mock BDIAgent."""
-    agent = MagicMock()
-    agent.jid = "vad_agent@test"
-    return agent
-
-
-@pytest.fixture
-def streaming(audio_in_socket, audio_out_socket, mock_agent):
-    import torch
-
-    torch.hub.load.return_value = (..., ...)  # Mock
-    streaming = Streaming(audio_in_socket, audio_out_socket)
-    streaming._ready = True
-    streaming.agent = mock_agent
-    return streaming
-
-
-async def simulate_streaming_with_probabilities(streaming, probabilities: list[float]):
-    """
-    Simulates a streaming scenario with given VAD model probabilities for testing purposes.
-
-    :param streaming: The streaming component to be tested.
-    :param probabilities: A list of probabilities representing the outputs of the VAD model.
-    """
-    model_item = MagicMock()
-    model_item.item.side_effect = probabilities
-    streaming.model = MagicMock()
-    streaming.model.return_value = model_item
-
-    audio_in_poller = AsyncMock()
-    audio_in_poller.poll.return_value = np.empty(shape=512, dtype=np.float32)
-    streaming.audio_in_poller = audio_in_poller
-
-    for _ in probabilities:
-        await streaming.run()
-
-
-@pytest.mark.asyncio
-async def test_voice_activity_detected(audio_in_socket, audio_out_socket, streaming):
-    """
-    Test a scenario where there is voice activity detected between silences.
-    :return:
-    """
-    speech_chunk_count = 5
-    probabilities = [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] * 5
-    await simulate_streaming_with_probabilities(streaming, probabilities)
-
-    audio_out_socket.send.assert_called_once()
-    data = audio_out_socket.send.call_args[0][0]
-    assert isinstance(data, bytes)
-    # each sample has 512 frames of 4 bytes, expecting 7 chunks (5 with speech, 2 as padding)
-    assert len(data) == 512 * 4 * (speech_chunk_count + 2)
-
-
-@pytest.mark.asyncio
-async def test_voice_activity_short_pause(audio_in_socket, audio_out_socket, streaming):
-    """
-    Test a scenario where there is a short pause between speech, checking whether it ignores the
-    short pause.
-    """
-    speech_chunk_count = 5
-    probabilities = (
-        [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] + [1.0] * speech_chunk_count + [0.0] * 5
-    )
-    await simulate_streaming_with_probabilities(streaming, probabilities)
-
-    audio_out_socket.send.assert_called_once()
-    data = audio_out_socket.send.call_args[0][0]
-    assert isinstance(data, bytes)
-    # Expecting 13 chunks (2*5 with speech, 1 pause between, 2 as padding)
-    assert len(data) == 512 * 4 * (speech_chunk_count * 2 + 1 + 2)
-
-
-@pytest.mark.asyncio
-async def test_no_data(audio_in_socket, audio_out_socket, streaming):
-    """
-    Test a scenario where there is no data received. This should not cause errors.
-    """
-    audio_in_poller = AsyncMock()
-    audio_in_poller.poll.return_value = None
-    streaming.audio_in_poller = audio_in_poller
-
-    await streaming.run()
-
-    audio_out_socket.send.assert_not_called()
-    assert len(streaming.audio_buffer) == 0

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_program_endpoint.py

@@ -0,0 +1,125 @@
+import json
+from unittest.mock import AsyncMock
+
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.endpoints import program
+from control_backend.schemas.program import Program
+
+
+@pytest.fixture
+def app():
+    """Create a FastAPI app with the /program route and mock socket."""
+    app = FastAPI()
+    app.include_router(program.router)
+    return app
+
+
+@pytest.fixture
+def client(app):
+    """Create a TestClient."""
+    return TestClient(app)
+
+
+def make_valid_program_dict():
+    """Helper to create a valid Program JSON structure."""
+    return {
+        "phases": [
+            {
+                "id": "phase1",
+                "label": "basephase",
+                "norms": [{"id": "n1", "label": "norm", "norm": "be nice"}],
+                "goals": [
+                    {"id": "g1", "label": "goal", "description": "test goal", "achieved": False}
+                ],
+                "triggers": [
+                    {
+                        "id": "t1",
+                        "label": "trigger",
+                        "type": "keywords",
+                        "keywords": [
+                            {"id": "kw1", "keyword": "keyword1"},
+                            {"id": "kw2", "keyword": "keyword2"},
+                        ],
+                    },
+                ],
+            }
+        ]
+    }
+
+
+def test_receive_program_success(client):
+    """Valid Program JSON should be parsed and sent through the socket."""
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    program_dict = make_valid_program_dict()
+
+    response = client.post("/program", json=program_dict)
+
+    assert response.status_code == 202
+    assert response.json() == {"status": "Program parsed"}
+
+    # Verify socket call
+    mock_pub_socket.send_multipart.assert_awaited_once()
+    args, kwargs = mock_pub_socket.send_multipart.await_args
+
+    assert args[0][0] == b"program"
+
+    sent_bytes = args[0][1]
+    sent_obj = json.loads(sent_bytes.decode())
+
+    expected_obj = Program.model_validate(program_dict).model_dump()
+    assert sent_obj == expected_obj
+
+
+def test_receive_program_invalid_json(client):
+    """
+    Invalid JSON (malformed) -> FastAPI never calls endpoint.
+    It returns a 422 Unprocessable Entity.
+    """
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    # FastAPI only accepts valid JSON bodies, so send raw string
+    response = client.post("/program", content="{invalid json}")
+
+    assert response.status_code == 422
+    mock_pub_socket.send_multipart.assert_not_called()
+
+
+def test_receive_program_invalid_deep_structure(client):
+    """
+    Valid JSON but schema invalid -> Pydantic throws validation error -> 422.
+    """
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    # Missing "value" in norms element
+    bad_program = {
+        "phases": [
+            {
+                "id": "phase1",
+                "name": "deepfail",
+                "nextPhaseId": "phase2",
+                "phaseData": {
+                    "norms": [
+                        {"id": "n1", "name": "norm"}  # INVALID: missing "value"
+                    ],
+                    "goals": [
+                        {"id": "g1", "name": "goal", "description": "desc", "achieved": False}
+                    ],
+                    "triggers": [
+                        {"id": "t1", "label": "trigger", "type": "keyword", "value": ["start"]}
+                    ],
+                },
+            }
+        ]
+    }
+
+    response = client.post("/program", json=bad_program)
+
+    assert response.status_code == 422
+    mock_pub_socket.send_multipart.assert_not_called()

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

@@ -0,0 +1,415 @@
+# tests/test_robot_endpoints.py
+import json
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import pytest
+import zmq.asyncio
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+
+from control_backend.api.v1.endpoints import robot
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand
+
+
+@pytest.fixture
+def app():
+    """
+    Creates a FastAPI test app and attaches the router under test.
+    Also sets up a mock internal_comm_socket.
+    """
+    app = FastAPI()
+    app.include_router(robot.router)
+    return app
+
+
+@pytest.fixture
+def client(app):
+    """Create a test client for the app."""
+    return TestClient(app)
+
+
+@pytest.fixture
+def mock_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
+        yield context_instance
+
+
+@pytest.fixture
+def mock_sockets(mock_zmq_context):
+    """Optional helper if you want both a sub and req/push socket available."""
+    mock_sub_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, "req": mock_req_socket}
+
+
+def test_receive_speech_command_success(client):
+    """
+    Test for successful reception of a command. Ensures the status code is 202 and the response body
+    is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
+    expected data.
+    """
+    # Arrange
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    command_data = {"endpoint": "actuate/speech", "data": "This is a test"}
+    speech_command = SpeechCommand(**command_data)
+
+    # Act
+    response = client.post("/command/speech", json=command_data)
+
+    # Assert
+    assert response.status_code == 202
+    assert response.json() == {"status": "Speech command received"}
+
+    # Verify that the ZMQ socket was used correctly
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", speech_command.model_dump_json().encode()]
+    )
+
+
+def test_receive_gesture_command_success(client):
+    """
+    Test for successful reception of a command that is a gesture command.
+    Ensures the status code is 202 and the response body is correct.
+    """
+    # Arrange
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    command_data = {"endpoint": "actuate/gesture/tag", "data": "happy"}
+    gesture_command = GestureCommand(**command_data)
+
+    # Act
+    response = client.post("/command/gesture", json=command_data)
+
+    # Assert
+    assert response.status_code == 202
+    assert response.json() == {"status": "Gesture command received"}
+
+    # Verify that the ZMQ socket was used correctly
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", gesture_command.model_dump_json().encode()]
+    )
+
+
+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/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
+
+
+def test_ping_check_returns_none(client):
+    """Ensure /ping_check returns 200 and None (currently unimplemented)."""
+    response = client.get("/ping_check")
+    assert response.status_code == 200
+    assert response.json() is None
+
+
+# ----------------------------
+# 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."""
+    mock_sub_socket = AsyncMock()
+    mock_sub_socket.connect = MagicMock()
+    mock_sub_socket.setsockopt = MagicMock()
+    mock_sub_socket.recv_multipart = AsyncMock(return_value=[b"ping", b"true"])
+
+    mock_context = MagicMock()
+    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])
+
+    response = await robot.ping_stream(mock_request)
+    generator = aiter(response.body_iterator)
+
+    event = await anext(generator)
+    event_text = event.decode() if isinstance(event, bytes) else str(event)
+    assert event_text.strip() == "data: true"
+
+    with pytest.raises(StopAsyncIteration):
+        await anext(generator)
+
+    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()
+
+
+@pytest.mark.asyncio
+async def test_ping_stream_handles_timeout(monkeypatch):
+    """Test that ping_stream continues looping on TimeoutError."""
+    mock_sub_socket = AsyncMock()
+    mock_sub_socket.connect = MagicMock()
+    mock_sub_socket.setsockopt = MagicMock()
+    mock_sub_socket.recv_multipart.side_effect = TimeoutError()
+
+    mock_context = MagicMock()
+    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)
+
+    response = await robot.ping_stream(mock_request)
+    generator = aiter(response.body_iterator)
+
+    with pytest.raises(StopAsyncIteration):
+        await anext(generator)
+
+    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()
+
+
+@pytest.mark.asyncio
+async def test_ping_stream_yields_json_values(monkeypatch):
+    """Ensure ping_stream correctly parses and yields JSON body values."""
+    mock_sub_socket = AsyncMock()
+    mock_sub_socket.connect = MagicMock()
+    mock_sub_socket.setsockopt = MagicMock()
+    mock_sub_socket.recv_multipart = AsyncMock(
+        return_value=[b"ping", json.dumps({"connected": True}).encode()]
+    )
+
+    mock_context = MagicMock()
+    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])
+
+    response = await robot.ping_stream(mock_request)
+    generator = aiter(response.body_iterator)
+
+    event = await anext(generator)
+    event_text = event.decode() if isinstance(event, bytes) else str(event)
+
+    assert "connected" in event_text
+    assert "true" in event_text
+
+    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()
+
+
+# ----------------------------
+# 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):
+    """
+    Test successful retrieval of available gesture tags using a REQ socket.
+    """
+    # 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.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")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": ["wave", "nod", "point", "dance"]}
+
+    # 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.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
+    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.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())
+
+    # 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()
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
+    """
+    Test scenario when response contains an empty 'tags' list.
+    """
+    # 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_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_missing_tags_key(client, monkeypatch):
+    """
+    Test scenario when response JSON doesn't contain 'tags' key.
+    """
+    # 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_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())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert - invalid JSON should lead to empty list and error log invocation
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+    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/conftest.py

@@ -1,66 +1,43 @@
-import sys
-from unittest.mock import MagicMock
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from control_backend.core.agent_system import _agent_directory
 
 
-def pytest_configure(config):
+@pytest.fixture(autouse=True)
+def reset_agent_directory():
     """
-    This hook runs at the start of the pytest session, before any tests are
-    collected. It mocks heavy or unavailable modules to prevent ImportErrors.
+    Automatically clears the global agent directory before and after each test
+    to prevent state leakage between tests.
     """
-    # --- Mock spade and spade-bdi ---
-    mock_agentspeak = MagicMock()
-    mock_httpx = MagicMock()
-    mock_pydantic = MagicMock()
-    mock_spade = MagicMock()
-    mock_spade.agent = MagicMock()
-    mock_spade.behaviour = MagicMock()
-    mock_spade.message = MagicMock()
-    mock_spade_bdi = MagicMock()
-    mock_spade_bdi.bdi = MagicMock()
+    _agent_directory.clear()
+    yield
+    _agent_directory.clear()
 
-    mock_spade.agent.Message = MagicMock()
-    mock_spade.behaviour.CyclicBehaviour = type("CyclicBehaviour", (object,), {})
-    mock_spade_bdi.bdi.BDIAgent = type("BDIAgent", (object,), {})
 
-    sys.modules["agentspeak"] = mock_agentspeak
-    sys.modules["httpx"] = mock_httpx
-    sys.modules["pydantic"] = mock_pydantic
-    sys.modules["spade"] = mock_spade
-    sys.modules["spade.agent"] = mock_spade.agent
-    sys.modules["spade.behaviour"] = mock_spade.behaviour
-    sys.modules["spade.message"] = mock_spade.message
-    sys.modules["spade_bdi"] = mock_spade_bdi
-    sys.modules["spade_bdi.bdi"] = mock_spade_bdi.bdi
+@pytest.fixture
+def mock_settings():
+    with patch("control_backend.core.config.settings") as mock:
+        # Set default values that match the pydantic model defaults
+        # to avoid AttributeErrors during tests
+        mock.zmq_settings.internal_pub_address = "tcp://localhost:5560"
+        mock.zmq_settings.internal_sub_address = "tcp://localhost:5561"
+        mock.zmq_settings.ri_command_address = "tcp://localhost:0000"
+        mock.agent_settings.bdi_core_name = "bdi_core_agent"
+        mock.agent_settings.bdi_belief_collector_name = "belief_collector_agent"
+        mock.agent_settings.llm_name = "llm_agent"
+        mock.agent_settings.robot_speech_name = "robot_speech_agent"
+        mock.agent_settings.transcription_name = "transcription_agent"
+        mock.agent_settings.text_belief_extractor_name = "text_belief_extractor_agent"
+        mock.agent_settings.vad_name = "vad_agent"
+        mock.behaviour_settings.sleep_s = 0.01  # Speed up tests
+        mock.behaviour_settings.comm_setup_max_retries = 1
+        yield mock
 
-    # --- Mock the config module to prevent Pydantic ImportError ---
-    mock_config_module = MagicMock()
 
-    # The code under test does `from ... import settings`, so our mock module
-    # must have a `settings` attribute. We'll make it a MagicMock so we can
-    # configure it later in our tests using mocker.patch.
-    mock_config_module.settings = MagicMock()
-
-    sys.modules["control_backend.core.config"] = mock_config_module
-
-    # --- Mock torch and zmq for VAD ---
-    mock_torch = MagicMock()
-    mock_zmq = MagicMock()
-    mock_zmq.asyncio = mock_zmq
-
-    # In individual tests, these can be imported and the return values changed
-    sys.modules["torch"] = mock_torch
-    sys.modules["zmq"] = mock_zmq
-    sys.modules["zmq.asyncio"] = mock_zmq.asyncio
-
-    # --- Mock whisper ---
-    mock_whisper = MagicMock()
-    mock_mlx = MagicMock()
-    mock_mlx.core = MagicMock()
-    mock_mlx_whisper = MagicMock()
-    mock_mlx_whisper.transcribe = MagicMock()
-
-    sys.modules["whisper"] = mock_whisper
-    sys.modules["mlx"] = mock_mlx
-    sys.modules["mlx.core"] = mock_mlx
-    sys.modules["mlx_whisper"] = mock_mlx_whisper
-    sys.modules["mlx_whisper.transcribe"] = mock_mlx_whisper.transcribe
+@pytest.fixture
+def mock_zmq_context():
+    with patch("zmq.asyncio.Context") as mock:
+        mock.instance.return_value = MagicMock()
+        yield mock

test/unit/core/test_agent_system.py

@@ -0,0 +1,274 @@
+"""Test the base class logic, message passing and background task handling."""
+
+import asyncio
+import logging
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+
+from control_backend.core.agent_system import AgentDirectory, BaseAgent, InternalMessage
+
+
+class ConcreteTestAgent(BaseAgent):
+    logger = logging.getLogger("test")
+
+    def __init__(self, name: str):
+        super().__init__(name)
+        self.received = []
+
+    async def setup(self):
+        pass
+
+    async def handle_message(self, msg: InternalMessage):
+        self.received.append(msg)
+        if msg.body == "stop":
+            await self.stop()
+
+
+@pytest.mark.asyncio
+async def test_agent_lifecycle():
+    agent = ConcreteTestAgent("lifecycle_agent")
+    await agent.start()
+    assert agent._running is True
+
+    # Test background task
+    async def dummy_task():
+        pass
+
+    task = agent.add_behavior(dummy_task())
+    assert task in agent._tasks
+
+    await task
+
+    # Wait for task to finish
+    assert task not in agent._tasks
+    assert len(agent._tasks) == 2  # message handling tasks are still running
+
+    await agent.stop()
+    assert agent._running is False
+
+    await asyncio.sleep(0.01)
+
+    # Tasks should be cancelled
+    assert len(agent._tasks) == 0
+
+
+@pytest.mark.asyncio
+async def test_send_unknown_agent():
+    agent = ConcreteTestAgent("sender")
+    msg = InternalMessage(to="unknown_receiver", sender="sender", body="boo")
+
+    agent._internal_pub_socket = AsyncMock()
+
+    await agent.send(msg)
+
+    agent._internal_pub_socket.send_multipart.assert_called()
+
+
+@pytest.mark.asyncio
+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=target.name, sender=sender.name, body="hello")
+
+    await sender.send(message)
+
+    target.inbox.put.assert_awaited_once_with(message)
+
+
+@pytest.mark.asyncio
+async def test_send_to_zmq_agent(monkeypatch):
+    sender = DummyAgent("sender")
+    target = "remote_receiver"
+
+    # Fake logger
+    sender.logger = MagicMock()
+
+    # Fake zmq
+    sender._internal_pub_socket = AsyncMock()
+
+    message = InternalMessage(to=target, sender=sender.name, body="hello")
+
+    await sender.send(message)
+
+    zmq_calls = sender._internal_pub_socket.send_multipart.call_args[0][0]
+    assert zmq_calls[0] == f"internal/{target}".encode()
+
+
+@pytest.mark.asyncio
+async def test_send_to_multiple_local_agents(monkeypatch):
+    sender = DummyAgent("sender")
+    target1 = DummyAgent("receiver1")
+    target2 = DummyAgent("receiver2")
+
+    # Fake logger
+    sender.logger = MagicMock()
+
+    # Patch inbox.put
+    target1.inbox.put = AsyncMock()
+    target2.inbox.put = AsyncMock()
+
+    message = InternalMessage(to=[target1.name, target2.name], sender=sender.name, body="hello")
+
+    await sender.send(message)
+
+    target1.inbox.put.assert_awaited_once_with(message)
+    target2.inbox.put.assert_awaited_once_with(message)
+
+
+@pytest.mark.asyncio
+async def test_send_to_multiple_agents(monkeypatch):
+    sender = DummyAgent("sender")
+    target1 = DummyAgent("receiver1")
+    target2 = "remote_receiver"
+
+    # Fake logger
+    sender.logger = MagicMock()
+
+    # Fake zmq
+    sender._internal_pub_socket = AsyncMock()
+
+    # Patch inbox.put
+    target1.inbox.put = AsyncMock()
+
+    message = InternalMessage(to=[target1.name, target2], sender=sender.name, body="hello")
+
+    await sender.send(message)
+
+    target1.inbox.put.assert_awaited_once_with(message)
+    zmq_calls = sender._internal_pub_socket.send_multipart.call_args[0][0]
+    assert zmq_calls[0] == f"internal/{target2}".encode()
+
+
+@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_config.py

@@ -0,0 +1,14 @@
+"""Test if settings load correctly and environment variables override defaults."""
+
+from control_backend.core.config import Settings
+
+
+def test_default_settings():
+    settings = Settings()
+    assert settings.app_title == "PepperPlus"
+
+
+def test_env_override(monkeypatch):
+    monkeypatch.setenv("APP_TITLE", "TestPepper")
+    settings = Settings()
+    assert settings.app_title == "TestPepper"

test/unit/core/test_logging.py

@@ -0,0 +1,119 @@
+import logging
+from unittest.mock import mock_open, patch
+
+import pytest
+
+from control_backend.logging.setup_logging import add_logging_level, setup_logging
+
+
+def test_add_logging_level():
+    # Add a unique level to avoid conflicts with other tests/libraries
+    level_name = "TESTLEVEL"
+    level_num = 35
+
+    add_logging_level(level_name, level_num)
+
+    assert logging.getLevelName(level_num) == level_name
+    assert hasattr(logging, level_name)
+    assert hasattr(logging.getLoggerClass(), level_name.lower())
+
+    # Test functionality
+    logger = logging.getLogger("test_custom_level")
+    with patch.object(logger, "_log") as mock_log:
+        getattr(logger, level_name.lower())("message")
+        mock_log.assert_called_with(level_num, "message", ())
+
+    # Test duplicates
+    with pytest.raises(AttributeError):
+        add_logging_level(level_name, level_num)
+
+    with pytest.raises(AttributeError):
+        add_logging_level("INFO", 20)  # Existing level
+
+
+def test_setup_logging_no_file(caplog):
+    with patch("os.path.exists", return_value=False):
+        setup_logging("dummy.yaml")
+    assert "Logging config file not found" in caplog.text
+
+
+def test_setup_logging_yaml_error(caplog):
+    with patch("os.path.exists", return_value=True):
+        with patch("builtins.open", mock_open(read_data="invalid: [yaml")):
+            with patch("logging.config.dictConfig") as mock_dict_config:
+                setup_logging("config.yaml")
+
+                # Verify we logged the warning
+                assert "Could not load logging configuration" in caplog.text
+                # Verify dictConfig was called with empty dict (which would crash real dictConfig)
+                mock_dict_config.assert_called_with({})
+    assert "Could not load logging configuration" in caplog.text
+
+
+def test_setup_logging_success():
+    config_data = """
+    version: 1
+    handlers:
+      console:
+        class: logging.StreamHandler
+    root:
+      handlers: [console]
+      level: INFO
+    custom_levels:
+      MYLEVEL: 15
+    """
+    with patch("os.path.exists", return_value=True):
+        with patch("builtins.open", mock_open(read_data=config_data)):
+            with patch("logging.config.dictConfig") as mock_dict_config:
+                setup_logging("config.yaml")
+                mock_dict_config.assert_called()
+                assert hasattr(logging, "MYLEVEL")
+
+
+def test_setup_logging_zmq_handler(mock_zmq_context):
+    config_data = """
+    version: 1
+    handlers:
+      ui:
+        class: logging.NullHandler 
+        # In real config this would be a zmq handler, but for unit test logic
+        # we just want to see if the socket injection happens
+    """
+    with patch("os.path.exists", return_value=True):
+        with patch("builtins.open", mock_open(read_data=config_data)):
+            with patch("logging.config.dictConfig") as mock_dict_config:
+                setup_logging("config.yaml")
+
+                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")