src/control_backend/agents/ri_command_agent.py

@@ -1,11 +1,12 @@
 import json
 import logging
+
+import zmq
 from spade.agent import Agent
 from spade.behaviour import CyclicBehaviour
-import zmq
+from zmq.asyncio import Context
 
 from control_backend.core.config import settings
-from control_backend.core.zmq_context import context
 from control_backend.schemas.ri_message import SpeechCommand
 
 logger = logging.getLogger(__name__)
@@ -55,6 +56,8 @@ class RICommandAgent(Agent):
         """
         logger.info("Setting up %s", self.jid)
 
+        context = Context.instance()
+
         # To the robot
         self.pubsocket = context.socket(zmq.PUB)
         if self.bind:
@@ -64,7 +67,7 @@ class RICommandAgent(Agent):
 
         # Receive internal topics regarding commands
         self.subsocket = context.socket(zmq.SUB)
-        self.subsocket.connect(settings.zmq_settings.internal_comm_address)
+        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
 
         # Add behaviour to our agent

src/control_backend/agents/ri_communication_agent.py

@@ -1,14 +1,13 @@
 import asyncio
-import json
 import logging
+
+import zmq
 from spade.agent import Agent
 from spade.behaviour import CyclicBehaviour
-import zmq
+from zmq.asyncio import Context
 
-from control_backend.core.config import settings
-from control_backend.core.zmq_context import context
-from control_backend.schemas.message import Message
 from control_backend.agents.ri_command_agent import RICommandAgent
+from control_backend.core.config import settings
 
 logger = logging.getLogger(__name__)
 
@@ -47,7 +46,7 @@ class RICommunicationAgent(Agent):
                 message = await asyncio.wait_for(self.agent.req_socket.recv_json(), timeout=3.0)
 
             # We didnt get a reply :(
-            except asyncio.TimeoutError as e:
+            except TimeoutError:
                 logger.info("No ping retrieved in 3 seconds, killing myself.")
                 self.kill()
 
@@ -75,7 +74,7 @@ class RICommunicationAgent(Agent):
         # Let's try a certain amount of times before failing connection
         while retries < max_retries:
             # Bind request socket
-            self.req_socket = context.socket(zmq.REQ)
+            self.req_socket = Context.instance().socket(zmq.REQ)
             if self._bind:
                 self.req_socket.bind(self._address)
             else:
@@ -88,7 +87,7 @@ class RICommunicationAgent(Agent):
             try:
                 received_message = await asyncio.wait_for(self.req_socket.recv_json(), timeout=20.0)
 
-            except asyncio.TimeoutError:
+            except TimeoutError:
                 logger.warning(
                     "No connection established in 20 seconds (attempt %d/%d)",
                     retries + 1,

src/control_backend/agents/transcription/transcription_agent.py

@@ -10,7 +10,6 @@ from spade.message import Message
 
 from control_backend.agents.transcription.speech_recognizer import SpeechRecognizer
 from control_backend.core.config import settings
-from control_backend.core.zmq_context import context as zmq_context
 
 logger = logging.getLogger(__name__)
 
@@ -47,7 +46,8 @@ class TranscriptionAgent(Agent):
             """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,
+                + "@"
+                + settings.agent_settings.host,
             ]  # Set message receivers here
 
             for receiver_jid in receiver_jids:
@@ -68,7 +68,7 @@ class TranscriptionAgent(Agent):
         return await super().stop()
 
     def _connect_audio_in_socket(self):
-        self.audio_in_socket = zmq_context.socket(zmq.SUB)
+        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)
 

src/control_backend/agents/vad_agent.py

@@ -9,7 +9,6 @@ from spade.behaviour import CyclicBehaviour
 
 from control_backend.agents.transcription import TranscriptionAgent
 from control_backend.core.config import settings
-from control_backend.core.zmq_context import context as zmq_context
 
 logger = logging.getLogger(__name__)
 
@@ -121,7 +120,7 @@ class VADAgent(Agent):
         return await super().stop()
 
     def _connect_audio_in_socket(self):
-        self.audio_in_socket = zmq_context.socket(zmq.SUB)
+        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)
@@ -132,7 +131,7 @@ class VADAgent(Agent):
     def _connect_audio_out_socket(self) -> int | None:
         """Returns the port bound, or None if binding failed."""
         try:
-            self.audio_out_socket = zmq_context.socket(zmq.PUB)
+            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:
             logger.error("Failed to bind an audio output socket after 100 tries.")

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

@@ -1,9 +1,11 @@
-from fastapi import APIRouter, Request
 import logging
 
-from zmq import Socket
+import zmq
+from fastapi import APIRouter, Request
+from zmq.asyncio import Context
 
-from control_backend.schemas.ri_message import SpeechCommand, RIEndpoint
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import SpeechCommand
 
 logger = logging.getLogger(__name__)
 
@@ -15,8 +17,8 @@ async def receive_command(command: SpeechCommand, request: Request):
     # Validate and retrieve data.
     SpeechCommand.model_validate(command)
     topic = b"command"
-    pub_socket: Socket = request.app.state.internal_comm_socket
+    pub_socket = Context.instance().socket(zmq.PUB)
-    pub_socket.send_multipart([topic, command.model_dump_json().encode()])
+    pub_socket.connect(settings.zmq_settings.internal_pub_address)
-    
+    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
 
     return {"status": "Command received"}

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

@@ -1,8 +1,10 @@
 import logging
 
+import zmq
 from fastapi import APIRouter, Request
-from zmq import Socket
+from zmq.asyncio import Context
 
+from control_backend.core.config import settings
 from control_backend.schemas.message import Message
 
 logger = logging.getLogger(__name__)
@@ -17,8 +19,8 @@ async def receive_message(message: Message, request: Request):
     topic = b"message"
     body = message.model_dump_json().encode("utf-8")
 
-    pub_socket: Socket = request.app.state.internal_comm_socket
+    pub_socket = Context.instance().socket(zmq.PUB)
-
+    pub_socket.bind(settings.zmq_settings.internal_pub_address)
-    pub_socket.send_multipart([topic, body])
+    await pub_socket.send_multipart([topic, body])
 
     return {"status": "Message received"}

src/control_backend/core/config.py

@@ -3,7 +3,8 @@ from pydantic_settings import BaseSettings, SettingsConfigDict
 
 
 class ZMQSettings(BaseModel):
-    internal_comm_address: str = "tcp://localhost:5560"
+    internal_pub_address: str = "tcp://localhost:5560"
+    internal_sub_address: str = "tcp://localhost:5561"
 
 
 class AgentSettings(BaseModel):
@@ -24,6 +25,7 @@ class LLMSettings(BaseModel):
     local_llm_url: str = "http://localhost:1234/v1/chat/completions"
     local_llm_model: str = "openai/gpt-oss-20b"
 
+
 class Settings(BaseSettings):
     app_title: str = "PepperPlus"
 
@@ -37,4 +39,5 @@ class Settings(BaseSettings):
 
     model_config = SettingsConfigDict(env_file=".env")
 
+
 settings = Settings()

src/control_backend/core/zmq_context.py

@@ -1,3 +0,0 @@
-from zmq.asyncio import Context
-
-context = Context()

src/control_backend/main.py

@@ -7,17 +7,18 @@ import logging
 import zmq
 from fastapi import FastAPI
 from fastapi.middleware.cors import CORSMiddleware
+from zmq.asyncio import Context
+
+from control_backend.agents.bdi.bdi_core import BDICoreAgent
+from control_backend.agents.bdi.text_extractor import TBeliefExtractor
+from control_backend.agents.belief_collector.belief_collector import BeliefCollectorAgent
+from control_backend.agents.llm.llm import LLMAgent
 
 # Internal imports
 from control_backend.agents.ri_communication_agent import RICommunicationAgent
-from control_backend.agents.bdi.bdi_core import BDICoreAgent
 from control_backend.agents.vad_agent import VADAgent
-from control_backend.agents.llm.llm import LLMAgent
-from control_backend.agents.bdi.text_extractor import TBeliefExtractor
-from control_backend.agents.belief_collector.belief_collector import BeliefCollectorAgent
 from control_backend.api.v1.router import api_router
 from control_backend.core.config import settings
-from control_backend.core.zmq_context import context
 
 logger = logging.getLogger(__name__)
 logging.basicConfig(level=logging.DEBUG)
@@ -28,12 +29,17 @@ async def lifespan(app: FastAPI):
     logger.info("%s starting up.", app.title)
 
     # Initiate sockets
-    internal_comm_socket = context.socket(zmq.PUB)
+    context = Context.instance()
-    internal_comm_address = settings.zmq_settings.internal_comm_address
-    internal_comm_socket.bind(internal_comm_address)
-    app.state.internal_comm_socket = internal_comm_socket
-    logger.info("Internal publishing socket bound to %s", internal_comm_socket)
 
+    internal_pub_socket = context.socket(zmq.XPUB)
+    internal_pub_socket.bind(settings.zmq_settings.internal_pub_address)
+    logger.debug("Internal publishing socket bound to %s", internal_pub_socket)
+
+    internal_sub_socket = context.socket(zmq.XSUB)
+    internal_sub_socket.bind(settings.zmq_settings.internal_sub_address)
+    logger.debug("Internal subscribing socket bound to %s", internal_sub_socket)
+
+    zmq.proxy(internal_pub_socket, internal_sub_socket)
 
     # Initiate agents
     ri_communication_agent = RICommunicationAgent(
@@ -45,26 +51,28 @@ async def lifespan(app: FastAPI):
     await ri_communication_agent.start()
 
     llm_agent = LLMAgent(
-        settings.agent_settings.llm_agent_name + '@' + settings.agent_settings.host,
+        settings.agent_settings.llm_agent_name + "@" + settings.agent_settings.host,
         settings.agent_settings.llm_agent_name,
     )
     await llm_agent.start()
 
     bdi_core = BDICoreAgent(
-        settings.agent_settings.bdi_core_agent_name + '@' + settings.agent_settings.host,
+        settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host,
         settings.agent_settings.bdi_core_agent_name,
         "src/control_backend/agents/bdi/rules.asl",
     )
     await bdi_core.start()
 
     belief_collector = BeliefCollectorAgent(
-        settings.agent_settings.belief_collector_agent_name + '@' + settings.agent_settings.host,
+        settings.agent_settings.belief_collector_agent_name + "@" + settings.agent_settings.host,
         settings.agent_settings.belief_collector_agent_name,
     )
     await belief_collector.start()
 
     text_belief_extractor = TBeliefExtractor(
-        settings.agent_settings.text_belief_extractor_agent_name + '@' + settings.agent_settings.host,
+        settings.agent_settings.text_belief_extractor_agent_name
+        + "@"
+        + settings.agent_settings.host,
         settings.agent_settings.text_belief_extractor_agent_name,
     )
     await text_belief_extractor.start()

test/integration/api/endpoints/test_command_endpoint.py

@@ -1,7 +1,8 @@
+from unittest.mock import AsyncMock, patch
+
 import pytest
 from fastapi import FastAPI
 from fastapi.testclient import TestClient
-from unittest.mock import MagicMock
 
 from control_backend.api.v1.endpoints import command
 from control_backend.schemas.ri_message import SpeechCommand
@@ -15,7 +16,6 @@ def app():
     """
     app = FastAPI()
     app.include_router(command.router)
-    app.state.internal_comm_socket = MagicMock()  # mock ZMQ socket
     return app
 
 
@@ -25,12 +25,42 @@ def client(app):
     return TestClient(app)
 
 
-def test_receive_command_endpoint(client, app):
+@pytest.mark.asyncio
+@patch("control_backend.api.endpoints.command.Context.instance")
+async def test_receive_command_success(mock_context_instance, async_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()
+    mock_context_instance.return_value.socket.return_value = mock_pub_socket
+
+    command_data = {"command": "test_command", "text": "This is a test"}
+    speech_command = SpeechCommand(**command_data)
+
+    # Act
+    response = await async_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_context_instance.return_value.socket.assert_called_once_with(1)  # zmq.PUB is 1
+    mock_pub_socket.connect.assert_called_once()
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", speech_command.model_dump_json().encode()]
+    )
+
+
+def test_receive_command_endpoint(client, app, mocker):
     """
     Test that a POST to /command sends the right multipart message
     and returns a 202 with the expected JSON body.
     """
-    mock_socket = app.state.internal_comm_socket
+    mock_socket = mocker.patch.object()
 
     # Prepare test payload that matches SpeechCommand
     payload = {"endpoint": "actuate/speech", "data": "yooo"}