diff --git a/src/control_backend/agents/__init__.py b/src/control_backend/agents/__init__.py index 65ee335..1618d55 100644 --- a/src/control_backend/agents/__init__.py +++ b/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 diff --git a/src/control_backend/agents/actuation/__init__.py b/src/control_backend/agents/actuation/__init__.py new file mode 100644 index 0000000..e745333 --- /dev/null +++ b/src/control_backend/agents/actuation/__init__.py @@ -0,0 +1 @@ +from .robot_speech_agent import RobotSpeechAgent as RobotSpeechAgent diff --git a/src/control_backend/agents/ri_command_agent.py b/src/control_backend/agents/actuation/robot_speech_agent.py similarity index 89% rename from src/control_backend/agents/ri_command_agent.py rename to src/control_backend/agents/actuation/robot_speech_agent.py index 030e5f9..d540698 100644 --- a/src/control_backend/agents/ri_command_agent.py +++ b/src/control_backend/agents/actuation/robot_speech_agent.py @@ -10,7 +10,7 @@ from control_backend.core.config import settings from control_backend.schemas.ri_message import SpeechCommand -class RICommandAgent(BaseAgent): +class RobotSpeechAgent(BaseAgent): subsocket: zmq.Socket pubsocket: zmq.Socket address = "" @@ -29,7 +29,7 @@ class RICommandAgent(BaseAgent): self.address = address self.bind = bind - class SendCommandsBehaviour(CyclicBehaviour): + class SendZMQCommandsBehaviour(CyclicBehaviour): """Behaviour for sending commands received from the UI.""" async def run(self): @@ -50,7 +50,7 @@ class RICommandAgent(BaseAgent): except Exception as e: self.agent.logger.error("Error processing message: %s", e) - class SendPythonCommandsBehaviour(CyclicBehaviour): + class SendSpadeCommandsBehaviour(CyclicBehaviour): """Behaviour for sending commands received from other Python agents.""" async def run(self): @@ -64,7 +64,7 @@ class RICommandAgent(BaseAgent): async def setup(self): """ - Setup the command agent + Setup the robot speech command agent """ self.logger.info("Setting up %s", self.jid) @@ -83,8 +83,8 @@ class RICommandAgent(BaseAgent): self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command") # Add behaviour to our agent - commands_behaviour = self.SendCommandsBehaviour() + commands_behaviour = self.SendZMQCommandsBehaviour() self.add_behaviour(commands_behaviour) - self.add_behaviour(self.SendPythonCommandsBehaviour()) + self.add_behaviour(self.SendSpadeCommandsBehaviour()) self.logger.info("Finished setting up %s", self.jid) diff --git a/src/control_backend/agents/bdi/__init__.py b/src/control_backend/agents/bdi/__init__.py index ec48472..a7f6082 100644 --- a/src/control_backend/agents/bdi/__init__.py +++ b/src/control_backend/agents/bdi/__init__.py @@ -1,2 +1,7 @@ -from .bdi_core import BDICoreAgent as BDICoreAgent -from .text_extractor import TBeliefExtractorAgent as TBeliefExtractorAgent +from .bdi_core_agent.bdi_core_agent import BDICoreAgent as BDICoreAgent +from .belief_collector_agent.belief_collector_agent import ( + BDIBeliefCollectorAgent as BDIBeliefCollectorAgent, +) +from .text_belief_extractor_agent.text_belief_extractor_agent import ( + TextBeliefExtractorAgent as TextBeliefExtractorAgent, +) diff --git a/src/control_backend/agents/bdi/bdi_core.py b/src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py similarity index 92% rename from src/control_backend/agents/bdi/bdi_core.py rename to src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py index 4d68e26..b20c872 100644 --- a/src/control_backend/agents/bdi/bdi_core.py +++ b/src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py @@ -7,7 +7,7 @@ from spade_bdi.bdi import BDIAgent from control_backend.core.config import settings -from .behaviours.belief_setter import BeliefSetterBehaviour +from .behaviours.belief_setter_behaviour import BeliefSetterBehaviour from .behaviours.receive_llm_resp_behaviour import ReceiveLLMResponseBehaviour @@ -57,7 +57,7 @@ class BDICoreAgent(BDIAgent): class SendBehaviour(OneShotBehaviour): async def run(self) -> None: msg = Message( - to=settings.agent_settings.llm_agent_name + "@" + settings.agent_settings.host, + to=settings.agent_settings.llm_name + "@" + settings.agent_settings.host, body=text, ) diff --git a/src/control_backend/agents/bdi/behaviours/belief_setter.py b/src/control_backend/agents/bdi/bdi_core_agent/behaviours/belief_setter_behaviour.py similarity index 97% rename from src/control_backend/agents/bdi/behaviours/belief_setter.py rename to src/control_backend/agents/bdi/bdi_core_agent/behaviours/belief_setter_behaviour.py index 195fb76..105d6d2 100644 --- a/src/control_backend/agents/bdi/behaviours/belief_setter.py +++ b/src/control_backend/agents/bdi/bdi_core_agent/behaviours/belief_setter_behaviour.py @@ -32,7 +32,7 @@ class BeliefSetterBehaviour(CyclicBehaviour): self.agent.logger.debug("Processing message from sender: %s", sender) match sender: - case settings.agent_settings.belief_collector_agent_name: + case settings.agent_settings.bdi_belief_collector_name: self.agent.logger.debug( "Message is from the belief collector agent. Processing as belief message." ) diff --git a/src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py b/src/control_backend/agents/bdi/bdi_core_agent/behaviours/receive_llm_resp_behaviour.py similarity index 89% rename from src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py rename to src/control_backend/agents/bdi/bdi_core_agent/behaviours/receive_llm_resp_behaviour.py index a891eca..cf5cc03 100644 --- a/src/control_backend/agents/bdi/behaviours/receive_llm_resp_behaviour.py +++ b/src/control_backend/agents/bdi/bdi_core_agent/behaviours/receive_llm_resp_behaviour.py @@ -15,14 +15,14 @@ class ReceiveLLMResponseBehaviour(CyclicBehaviour): sender = msg.sender.node match sender: - case settings.agent_settings.llm_agent_name: + case settings.agent_settings.llm_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 + to=settings.agent_settings.robot_speech_name + "@" + settings.agent_settings.host, sender=self.agent.jid, diff --git a/src/control_backend/agents/bdi/rules.asl b/src/control_backend/agents/bdi/bdi_core_agent/rules.asl similarity index 100% rename from src/control_backend/agents/bdi/rules.asl rename to src/control_backend/agents/bdi/bdi_core_agent/rules.asl diff --git a/src/control_backend/agents/belief_collector/behaviours/continuous_collect.py b/src/control_backend/agents/bdi/belief_collector_agent/behaviours/belief_collector_behaviour.py similarity index 94% rename from src/control_backend/agents/belief_collector/behaviours/continuous_collect.py rename to src/control_backend/agents/bdi/belief_collector_agent/behaviours/belief_collector_behaviour.py index 4dc62e8..7dfee28 100644 --- a/src/control_backend/agents/belief_collector/behaviours/continuous_collect.py +++ b/src/control_backend/agents/bdi/belief_collector_agent/behaviours/belief_collector_behaviour.py @@ -7,7 +7,7 @@ from spade.behaviour import CyclicBehaviour from control_backend.core.config import settings -class ContinuousBeliefCollector(CyclicBehaviour): +class BeliefCollectorBehaviour(CyclicBehaviour): """ Continuously collects beliefs/emotions from extractor agents: Then we send a unified belief packet to the BDI agent. @@ -35,7 +35,7 @@ class ContinuousBeliefCollector(CyclicBehaviour): msg_type = payload.get("type") # Prefer explicit 'type' field - if msg_type == "belief_extraction_text" or sender_node == "belief_text_agent_mock": + if msg_type == "belief_extraction_text" or sender_node == "bel_text_agent_mock": self.agent.logger.debug( "Message routed to _handle_belief_text (sender=%s)", sender_node ) @@ -83,7 +83,7 @@ class ContinuousBeliefCollector(CyclicBehaviour): if not beliefs: return - to_jid = f"{settings.agent_settings.bdi_core_agent_name}@{settings.agent_settings.host}" + to_jid = f"{settings.agent_settings.bdi_core_name}@{settings.agent_settings.host}" msg = Message(to=to_jid, sender=self.agent.jid, thread="beliefs") msg.body = json.dumps(beliefs) diff --git a/src/control_backend/agents/bdi/belief_collector_agent/belief_collector_agent.py b/src/control_backend/agents/bdi/belief_collector_agent/belief_collector_agent.py new file mode 100644 index 0000000..a82e230 --- /dev/null +++ b/src/control_backend/agents/bdi/belief_collector_agent/belief_collector_agent.py @@ -0,0 +1,11 @@ +from control_backend.agents.base import BaseAgent + +from .behaviours.belief_collector_behaviour import BeliefCollectorBehaviour + + +class BDIBeliefCollectorAgent(BaseAgent): + async def setup(self): + self.logger.info("BDIBeliefCollectorAgent starting (%s)", self.jid) + # Attach the continuous collector behaviour (listens and forwards to BDI) + self.add_behaviour(BeliefCollectorBehaviour()) + self.logger.info("BDIBeliefCollectorAgent ready.") diff --git a/src/control_backend/agents/bdi/behaviours/text_belief_extractor.py b/src/control_backend/agents/bdi/text_belief_extractor_agent/behaviours/text_belief_extractor_behaviour.py similarity index 93% rename from src/control_backend/agents/bdi/behaviours/text_belief_extractor.py rename to src/control_backend/agents/bdi/text_belief_extractor_agent/behaviours/text_belief_extractor_behaviour.py index 8a8273e..e09ed0c 100644 --- a/src/control_backend/agents/bdi/behaviours/text_belief_extractor.py +++ b/src/control_backend/agents/bdi/text_belief_extractor_agent/behaviours/text_belief_extractor_behaviour.py @@ -7,7 +7,7 @@ from spade.message import Message from control_backend.core.config import settings -class BeliefFromText(CyclicBehaviour): +class TextBeliefExtractorBehaviour(CyclicBehaviour): logger = logging.getLogger(__name__) # TODO: LLM prompt nog hardcoded @@ -44,7 +44,7 @@ class BeliefFromText(CyclicBehaviour): sender = msg.sender.node match sender: - case settings.agent_settings.transcription_agent_name: + case settings.agent_settings.transcription_name: self.logger.debug("Received text from transcriber: %s", msg.body) await self._process_transcription_demo(msg.body) case _: @@ -71,7 +71,7 @@ class BeliefFromText(CyclicBehaviour): belief_message = Message() belief_message.to = ( - settings.agent_settings.belief_collector_agent_name + settings.agent_settings.bdi_belief_collector_name + "@" + settings.agent_settings.host ) @@ -95,7 +95,7 @@ class BeliefFromText(CyclicBehaviour): belief_msg = Message() belief_msg.to = ( - settings.agent_settings.belief_collector_agent_name + "@" + settings.agent_settings.host + settings.agent_settings.bdi_belief_collector_name + "@" + settings.agent_settings.host ) belief_msg.body = payload belief_msg.thread = "beliefs" diff --git a/src/control_backend/agents/bdi/text_belief_extractor_agent/text_belief_extractor_agent.py b/src/control_backend/agents/bdi/text_belief_extractor_agent/text_belief_extractor_agent.py new file mode 100644 index 0000000..4baa420 --- /dev/null +++ b/src/control_backend/agents/bdi/text_belief_extractor_agent/text_belief_extractor_agent.py @@ -0,0 +1,8 @@ +from control_backend.agents.base import BaseAgent + +from .behaviours.text_belief_extractor_behaviour import TextBeliefExtractorBehaviour + + +class TextBeliefExtractorAgent(BaseAgent): + async def setup(self): + self.add_behaviour(TextBeliefExtractorBehaviour()) diff --git a/src/control_backend/agents/bdi/text_extractor.py b/src/control_backend/agents/bdi/text_extractor.py deleted file mode 100644 index 9f77d36..0000000 --- a/src/control_backend/agents/bdi/text_extractor.py +++ /dev/null @@ -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()) diff --git a/src/control_backend/agents/belief_collector/belief_collector.py b/src/control_backend/agents/belief_collector/belief_collector.py deleted file mode 100644 index 17aacb8..0000000 --- a/src/control_backend/agents/belief_collector/belief_collector.py +++ /dev/null @@ -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.") diff --git a/src/control_backend/agents/communication/__init__.py b/src/control_backend/agents/communication/__init__.py new file mode 100644 index 0000000..2aa1535 --- /dev/null +++ b/src/control_backend/agents/communication/__init__.py @@ -0,0 +1 @@ +from .ri_communication_agent import RICommunicationAgent as RICommunicationAgent diff --git a/src/control_backend/agents/ri_communication_agent.py b/src/control_backend/agents/communication/ri_communication_agent.py similarity index 94% rename from src/control_backend/agents/ri_communication_agent.py rename to src/control_backend/agents/communication/ri_communication_agent.py index 93fbf6c..3e52df3 100644 --- a/src/control_backend/agents/ri_communication_agent.py +++ b/src/control_backend/agents/communication/ri_communication_agent.py @@ -8,7 +8,7 @@ from zmq.asyncio import Context from control_backend.agents import BaseAgent from control_backend.core.config import settings -from .ri_command_agent import RICommandAgent +from ..actuation.robot_speech_agent import RobotSpeechAgent class RICommunicationAgent(BaseAgent): @@ -87,8 +87,7 @@ class RICommunicationAgent(BaseAgent): ) except TimeoutError: self.agent.logger.warning( - "Initial connection ping for router timed" - " out in ri_communication_agent." + "Initial connection ping for router timed out in com_ri_agent." ) # Try to reboot. @@ -205,11 +204,11 @@ class RICommunicationAgent(BaseAgent): else: self._req_socket.bind(addr) case "actuation": - ri_commands_agent = RICommandAgent( - settings.agent_settings.ri_command_agent_name + ri_commands_agent = RobotSpeechAgent( + settings.agent_settings.robot_speech_name + "@" + settings.agent_settings.host, - settings.agent_settings.ri_command_agent_name, + settings.agent_settings.robot_speech_name, address=addr, bind=bind, ) @@ -243,9 +242,7 @@ class RICommunicationAgent(BaseAgent): try: await asyncio.wait_for(self.pub_socket.send_multipart([topic, data]), 5) except TimeoutError: - self.logger.warning( - "Initial connection ping for router timed out in ri_communication_agent." - ) + self.logger.warning("Initial connection ping for router timed out in com_ri_agent.") # Make sure to start listening now that we're connected. self.connected = True diff --git a/src/control_backend/agents/llm/__init__.py b/src/control_backend/agents/llm/__init__.py new file mode 100644 index 0000000..e12ff29 --- /dev/null +++ b/src/control_backend/agents/llm/__init__.py @@ -0,0 +1 @@ +from .llm_agent import LLMAgent as LLMAgent diff --git a/src/control_backend/agents/llm/llm.py b/src/control_backend/agents/llm/llm_agent.py similarity index 97% rename from src/control_backend/agents/llm/llm.py rename to src/control_backend/agents/llm/llm_agent.py index 4aec46b..eae41fd 100644 --- a/src/control_backend/agents/llm/llm.py +++ b/src/control_backend/agents/llm/llm_agent.py @@ -39,7 +39,7 @@ class LLMAgent(BaseAgent): sender, ) - if sender == settings.agent_settings.bdi_core_agent_name: + if sender == settings.agent_settings.bdi_core_name: self.agent.logger.debug("Processing message from BDI Core Agent") await self._process_bdi_message(msg) else: @@ -63,7 +63,7 @@ class LLMAgent(BaseAgent): Sends a response message back to the BDI Core Agent. """ reply = Message( - to=settings.agent_settings.bdi_core_agent_name + "@" + settings.agent_settings.host, + to=settings.agent_settings.bdi_core_name + "@" + settings.agent_settings.host, body=msg, ) await self.send(reply) diff --git a/src/control_backend/agents/mock_agents/belief_text_mock.py b/src/control_backend/agents/mock_agents/belief_text_mock.py deleted file mode 100644 index 27c5e49..0000000 --- a/src/control_backend/agents/mock_agents/belief_text_mock.py +++ /dev/null @@ -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) diff --git a/src/control_backend/agents/perception/__init__.py b/src/control_backend/agents/perception/__init__.py new file mode 100644 index 0000000..e18361a --- /dev/null +++ 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 diff --git a/src/control_backend/agents/transcription/speech_recognizer.py b/src/control_backend/agents/perception/transcription_agent/speech_recognizer.py similarity index 100% rename from src/control_backend/agents/transcription/speech_recognizer.py rename to src/control_backend/agents/perception/transcription_agent/speech_recognizer.py diff --git a/src/control_backend/agents/transcription/transcription_agent.py b/src/control_backend/agents/perception/transcription_agent/transcription_agent.py similarity index 90% rename from src/control_backend/agents/transcription/transcription_agent.py rename to src/control_backend/agents/perception/transcription_agent/transcription_agent.py index 64edf79..d6c1207 100644 --- a/src/control_backend/agents/transcription/transcription_agent.py +++ b/src/control_backend/agents/perception/transcription_agent/transcription_agent.py @@ -19,13 +19,13 @@ class TranscriptionAgent(BaseAgent): """ 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) + jid = settings.agent_settings.transcription_name + "@" + settings.agent_settings.host + super().__init__(jid, settings.agent_settings.transcription_name) self.audio_in_address = audio_in_address self.audio_in_socket: azmq.Socket | None = None - class Transcribing(CyclicBehaviour): + class TranscribingBehaviour(CyclicBehaviour): def __init__(self, audio_in_socket: azmq.Socket): super().__init__() self.audio_in_socket = audio_in_socket @@ -43,7 +43,7 @@ class TranscriptionAgent(BaseAgent): 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.text_belief_extractor_name + "@" + settings.agent_settings.host, ] # Set message receivers here @@ -79,7 +79,7 @@ class TranscriptionAgent(BaseAgent): self._connect_audio_in_socket() - transcribing = self.Transcribing(self.audio_in_socket) + transcribing = self.TranscribingBehaviour(self.audio_in_socket) transcribing.warmup() self.add_behaviour(transcribing) diff --git a/src/control_backend/agents/vad_agent.py b/src/control_backend/agents/perception/vad_agent.py similarity index 93% rename from src/control_backend/agents/vad_agent.py rename to src/control_backend/agents/perception/vad_agent.py index c49613b..cab27c2 100644 --- a/src/control_backend/agents/vad_agent.py +++ b/src/control_backend/agents/perception/vad_agent.py @@ -7,7 +7,7 @@ from spade.behaviour import CyclicBehaviour from control_backend.agents import BaseAgent from control_backend.core.config import settings -from .transcription.transcription_agent import TranscriptionAgent +from .transcription_agent.transcription_agent import TranscriptionAgent class SocketPoller[T]: @@ -40,7 +40,7 @@ class SocketPoller[T]: return None -class Streaming(CyclicBehaviour): +class StreamingBehaviour(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) @@ -109,8 +109,8 @@ class VADAgent(BaseAgent): """ 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) + jid = settings.agent_settings.vad_name + "@" + settings.agent_settings.host + super().__init__(jid, settings.agent_settings.vad_name) self.audio_in_address = audio_in_address self.audio_in_bind = audio_in_bind @@ -118,7 +118,7 @@ class VADAgent(BaseAgent): self.audio_in_socket: azmq.Socket | None = None self.audio_out_socket: azmq.Socket | None = None - self.streaming_behaviour: Streaming | None = None + self.streaming_behaviour: StreamingBehaviour | None = None async def stop(self): """ @@ -162,7 +162,7 @@ class VADAgent(BaseAgent): return audio_out_address = f"tcp://localhost:{audio_out_port}" - self.streaming_behaviour = Streaming(self.audio_in_socket, self.audio_out_socket) + self.streaming_behaviour = StreamingBehaviour(self.audio_in_socket, self.audio_out_socket) self.add_behaviour(self.streaming_behaviour) # Start agents dependent on the output audio fragments here diff --git a/src/control_backend/core/config.py b/src/control_backend/core/config.py index 8de2403..e0f1292 100644 --- a/src/control_backend/core/config.py +++ b/src/control_backend/core/config.py @@ -9,16 +9,16 @@ class ZMQSettings(BaseModel): 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" + bdi_core_name: str = "bdi_core_agent" + bdi_belief_collector_name: str = "belief_collector_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_agent_name: str = "ri_communication_agent" - ri_command_agent_name: str = "ri_command_agent" + ri_communication_name: str = "ri_communication_agent" + robot_speech_name: str = "robot_speech_agent" class LLMSettings(BaseModel): diff --git a/src/control_backend/main.py b/src/control_backend/main.py index 4bb8ded..5a38f39 100644 --- a/src/control_backend/main.py +++ b/src/control_backend/main.py @@ -7,13 +7,25 @@ from fastapi import FastAPI from fastapi.middleware.cors import CORSMiddleware from zmq.asyncio import Context -from control_backend.agents import ( - BeliefCollectorAgent, - LLMAgent, - RICommunicationAgent, - VADAgent, +# Act agents +# BDI agents +from control_backend.agents.bdi import ( + BDIBeliefCollectorAgent, + BDICoreAgent, + TextBeliefExtractorAgent, ) -from control_backend.agents.bdi import BDICoreAgent, TBeliefExtractorAgent + +# Communication agents +from control_backend.agents.communication import RICommunicationAgent + +# Emotional Agents +# LLM Agents +from control_backend.agents.llm import LLMAgent + +# Perceive agents +from control_backend.agents.perception import VADAgent + +# 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 @@ -67,10 +79,10 @@ async def lifespan(app: FastAPI): "RICommunicationAgent": ( RICommunicationAgent, { - "name": settings.agent_settings.ri_communication_agent_name, - "jid": f"{settings.agent_settings.ri_communication_agent_name}" + "name": settings.agent_settings.ri_communication_name, + "jid": f"{settings.agent_settings.ri_communication_name}" f"@{settings.agent_settings.host}", - "password": settings.agent_settings.ri_communication_agent_name, + "password": settings.agent_settings.ri_communication_name, "address": "tcp://*:5555", "bind": True, }, @@ -78,37 +90,36 @@ async def lifespan(app: FastAPI): "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, + "jid": f"{settings.agent_settings.llm_name}@{settings.agent_settings.host}", + "password": 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, - "asl": "src/control_backend/agents/bdi/rules.asl", + "name": settings.agent_settings.bdi_core_name, + "jid": f"{settings.agent_settings.bdi_core_name}@{settings.agent_settings.host}", + "password": settings.agent_settings.bdi_core_name, + "asl": "src/control_backend/agents/bdi/bdi_core_agent/rules.asl", }, ), "BeliefCollectorAgent": ( - BeliefCollectorAgent, + BDIBeliefCollectorAgent, { - "name": settings.agent_settings.belief_collector_agent_name, - "jid": f"{settings.agent_settings.belief_collector_agent_name}@" + "name": settings.agent_settings.bdi_belief_collector_name, + "jid": f"{settings.agent_settings.bdi_belief_collector_name}@" f"{settings.agent_settings.host}", - "password": settings.agent_settings.belief_collector_agent_name, + "password": 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}@" + "name": settings.agent_settings.text_belief_extractor_name, + "jid": f"{settings.agent_settings.text_belief_extractor_name}@" f"{settings.agent_settings.host}", - "password": settings.agent_settings.text_belief_extractor_agent_name, + "password": settings.agent_settings.text_belief_extractor_name, }, ), "VADAgent": ( @@ -117,17 +128,23 @@ async def lifespan(app: FastAPI): ), } + vad_agent = None + 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"}) await agent_instance.start() + if isinstance(agent_instance, VADAgent): + vad_agent = 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 + await vad_agent.streaming_behaviour.reset() + logger.info("Application startup complete.") yield diff --git a/test/integration/agents/test_ri_commands_agent.py b/test/integration/agents/actuation/test_robot_speech_agent.py similarity index 68% rename from test/integration/agents/test_ri_commands_agent.py rename to test/integration/agents/actuation/test_robot_speech_agent.py index 477ab78..327415c 100644 --- a/test/integration/agents/test_ri_commands_agent.py +++ b/test/integration/agents/actuation/test_robot_speech_agent.py @@ -4,12 +4,14 @@ from unittest.mock import AsyncMock, MagicMock, patch import pytest import zmq -from control_backend.agents.ri_command_agent import RICommandAgent +from control_backend.agents.actuation.robot_speech_agent import RobotSpeechAgent @pytest.fixture def zmq_context(mocker): - mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance") + mock_context = mocker.patch( + "control_backend.agents.actuation.robot_speech_agent.zmq.Context.instance" + ) mock_context.return_value = MagicMock() return mock_context @@ -19,8 +21,8 @@ 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") + agent = RobotSpeechAgent("test@server", "password", 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" await agent.setup() @@ -28,7 +30,9 @@ async def test_setup_bind(zmq_context, mocker): 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") - assert any(isinstance(b, agent.SendCommandsBehaviour) for b in agent.behaviours) + + # Ensure behaviour attached + assert any(isinstance(b, agent.SendZMQCommandsBehaviour) for b in agent.behaviours) @pytest.mark.asyncio @@ -36,8 +40,8 @@ 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") + agent = RobotSpeechAgent("test@server", "password", 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" await agent.setup() @@ -55,14 +59,16 @@ async def test_send_commands_behaviour_valid_message(): ) fake_socket.send_json = AsyncMock() - agent = RICommandAgent("test@server", "password") + agent = RobotSpeechAgent("test@server", "password") agent.subsocket = fake_socket agent.pubsocket = fake_socket - behaviour = agent.SendCommandsBehaviour() + behaviour = agent.SendZMQCommandsBehaviour() behaviour.agent = agent - with patch("control_backend.agents.ri_command_agent.SpeechCommand") as MockSpeechCommand: + with patch( + "control_backend.agents.actuation.robot_speech_agent.SpeechCommand" + ) as MockSpeechCommand: mock_message = MagicMock() MockSpeechCommand.model_validate.return_value = mock_message @@ -79,11 +85,11 @@ async def test_send_commands_behaviour_invalid_message(): fake_socket.recv_multipart = AsyncMock(return_value=(b"command", b"{invalid_json}")) fake_socket.send_json = AsyncMock() - agent = RICommandAgent("test@server", "password") + agent = RobotSpeechAgent("test@server", "password") agent.subsocket = fake_socket agent.pubsocket = fake_socket - behaviour = agent.SendCommandsBehaviour() + behaviour = agent.SendZMQCommandsBehaviour() behaviour.agent = agent await behaviour.run() diff --git a/test/integration/agents/test_ri_communication_agent.py b/test/integration/agents/communication/test_ri_communication_agent.py similarity index 91% rename from test/integration/agents/test_ri_communication_agent.py rename to test/integration/agents/communication/test_ri_communication_agent.py index 6e29340..b82234b 100644 --- a/test/integration/agents/test_ri_communication_agent.py +++ b/test/integration/agents/communication/test_ri_communication_agent.py @@ -3,7 +3,11 @@ from unittest.mock import ANY, AsyncMock, MagicMock, patch import pytest -from control_backend.agents.ri_communication_agent import RICommunicationAgent +from control_backend.agents.communication.ri_communication_agent import RICommunicationAgent + + +def speech_agent_path(): + return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent" def fake_json_correct_negototiate_1(): @@ -86,7 +90,9 @@ def fake_json_invalid_id_negototiate(): @pytest.fixture def zmq_context(mocker): - mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance") + mock_context = mocker.patch( + "control_backend.agents.communication.ri_communication_agent.zmq.Context.instance" + ) mock_context.return_value = MagicMock() return mock_context @@ -102,10 +108,8 @@ async def test_setup_creates_socket_and_negotiate_1(zmq_context): fake_socket.recv_json = fake_json_correct_negototiate_1() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + # Mock ActSpeechAgent agent startup + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() @@ -144,10 +148,8 @@ async def test_setup_creates_socket_and_negotiate_2(zmq_context): fake_socket.recv_json = fake_json_correct_negototiate_2() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + # Mock ActSpeechAgent agent startup + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() @@ -186,13 +188,11 @@ async def test_setup_creates_socket_and_negotiate_3(zmq_context): fake_socket.recv_json = fake_json_wrong_negototiate_1() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup + # Mock ActSpeechAgent 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: + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- @@ -227,10 +227,8 @@ async def test_setup_creates_socket_and_negotiate_4(zmq_context): fake_socket.recv_json = fake_json_correct_negototiate_3() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + # Mock ActSpeechAgent agent startup + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- @@ -268,10 +266,8 @@ async def test_setup_creates_socket_and_negotiate_5(zmq_context): fake_socket.recv_json = fake_json_correct_negototiate_4() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + # Mock ActSpeechAgent agent startup + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- @@ -309,10 +305,8 @@ async def test_setup_creates_socket_and_negotiate_6(zmq_context): fake_socket.recv_json = fake_json_correct_negototiate_5() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + # Mock ActSpeechAgent agent startup + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() # --- Act --- @@ -350,13 +344,11 @@ async def test_setup_creates_socket_and_negotiate_7(zmq_context): fake_socket.recv_json = fake_json_invalid_id_negototiate() fake_socket.send_multipart = AsyncMock() - # Mock RICommandAgent agent startup + # Mock ActSpeechAgent 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: + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() @@ -389,9 +381,7 @@ async def test_setup_creates_socket_and_negotiate_timeout(zmq_context): fake_socket.recv_json = AsyncMock(side_effect=asyncio.TimeoutError) fake_socket.send_multipart = AsyncMock() - with patch( - "control_backend.agents.ri_communication_agent.RICommandAgent", autospec=True - ) as MockCommandAgent: + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() @@ -554,10 +544,8 @@ async def test_setup_unpacking_exception(zmq_context): } # 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: + # Patch ActSpeechAgent so it won't actually start + with patch(speech_agent_path(), autospec=True) as MockCommandAgent: fake_agent_instance = MockCommandAgent.return_value fake_agent_instance.start = AsyncMock() diff --git a/test/integration/agents/vad_agent/speech_with_pauses_16k_1c_float32.wav b/test/integration/agents/perception/vad_agent/speech_with_pauses_16k_1c_float32.wav similarity index 100% rename from test/integration/agents/vad_agent/speech_with_pauses_16k_1c_float32.wav rename to test/integration/agents/perception/vad_agent/speech_with_pauses_16k_1c_float32.wav diff --git a/test/integration/agents/vad_agent/test_vad_agent.py b/test/integration/agents/perception/vad_agent/test_vad_agent.py similarity index 57% rename from test/integration/agents/vad_agent/test_vad_agent.py rename to test/integration/agents/perception/vad_agent/test_vad_agent.py index 0e1fae2..ecf9634 100644 --- a/test/integration/agents/vad_agent/test_vad_agent.py +++ b/test/integration/agents/perception/vad_agent/test_vad_agent.py @@ -5,43 +5,45 @@ import pytest import zmq from spade.agent import Agent -from control_backend.agents.vad_agent import VADAgent +from control_backend.agents.perception.vad_agent import VADAgent @pytest.fixture def zmq_context(mocker): - mock_context = mocker.patch("control_backend.agents.vad_agent.azmq.Context.instance") + mock_context = mocker.patch("control_backend.agents.perception.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") + return mocker.patch("control_backend.agents.perception.vad_agent.StreamingBehaviour") @pytest.fixture -def transcription_agent(mocker): - return mocker.patch("control_backend.agents.vad_agent.TranscriptionAgent", autospec=True) +def per_transcription_agent(mocker): + return mocker.patch( + "control_backend.agents.perception.vad_agent.TranscriptionAgent", autospec=True + ) @pytest.mark.asyncio -async def test_normal_setup(streaming, transcription_agent): +async def test_normal_setup(streaming, 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. """ - vad_agent = VADAgent("tcp://localhost:12345", False) - vad_agent.add_behaviour = MagicMock() + per_vad_agent = VADAgent("tcp://localhost:12345", False) + per_vad_agent.add_behaviour = MagicMock() - await vad_agent.setup() + await per_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 + per_vad_agent.add_behaviour.assert_called_once_with(streaming.return_value) + per_transcription_agent.assert_called_once() + per_transcription_agent.return_value.start.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]) @@ -50,11 +52,11 @@ 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) + per_vad_agent = VADAgent(f"tcp://{'*' if do_bind else 'localhost'}:12345", do_bind) - vad_agent._connect_audio_in_socket() + per_vad_agent._connect_audio_in_socket() - assert vad_agent.audio_in_socket is not None + 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( @@ -74,11 +76,11 @@ 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) + per_vad_agent = VADAgent("tcp://localhost:12345", False) - vad_agent._connect_audio_out_socket() + per_vad_agent._connect_audio_out_socket() - assert vad_agent.audio_out_socket is not None + assert per_vad_agent.audio_out_socket is not None zmq_context.return_value.socket.assert_called_once_with(zmq.PUB) zmq_context.return_value.socket.return_value.bind_to_random_port.assert_called_once() @@ -93,28 +95,28 @@ async def test_out_socket_creation_failure(zmq_context): zmq_context.return_value.socket.return_value.bind_to_random_port.side_effect = ( zmq.ZMQBindError ) - vad_agent = VADAgent("tcp://localhost:12345", False) + per_vad_agent = VADAgent("tcp://localhost:12345", False) - await vad_agent.setup() + await per_vad_agent.setup() - assert vad_agent.audio_out_socket is None + assert per_vad_agent.audio_out_socket is None mock_super_stop.assert_called_once() @pytest.mark.asyncio -async def test_stop(zmq_context, transcription_agent): +async def test_stop(zmq_context, per_transcription_agent): """ Test that when the VAD agent is stopped, the sockets are closed correctly. """ - vad_agent = VADAgent("tcp://localhost:12345", False) + per_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() + await per_vad_agent.setup() + await per_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 + assert per_vad_agent.audio_in_socket is None + assert per_vad_agent.audio_out_socket is None diff --git a/test/integration/agents/vad_agent/test_vad_with_audio.py b/test/integration/agents/perception/vad_agent/test_vad_with_audio.py similarity index 89% rename from test/integration/agents/vad_agent/test_vad_with_audio.py rename to test/integration/agents/perception/vad_agent/test_vad_with_audio.py index bae15af..b197c31 100644 --- a/test/integration/agents/vad_agent/test_vad_with_audio.py +++ b/test/integration/agents/perception/vad_agent/test_vad_with_audio.py @@ -5,7 +5,7 @@ import pytest import soundfile as sf import zmq -from control_backend.agents.vad_agent import Streaming +from control_backend.agents.perception.vad_agent import StreamingBehaviour def get_audio_chunks() -> list[bytes]: @@ -42,12 +42,12 @@ async def test_real_audio(mocker): 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: MagicMock = mocker.patch("control_backend.agents.perception.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 = StreamingBehaviour(audio_in_socket, audio_out_socket) vad_streamer._ready = True vad_streamer.agent = MagicMock() for _ in audio_chunks: diff --git a/test/unit/agents/bdi/behaviours/test_belief_setter.py b/test/unit/agents/bdi/bdi_core_agent/behaviours/test_belief_setter.py similarity index 63% rename from test/unit/agents/bdi/behaviours/test_belief_setter.py rename to test/unit/agents/bdi/bdi_core_agent/behaviours/test_belief_setter.py index b0e76ec..53b991e 100644 --- a/test/unit/agents/bdi/behaviours/test_belief_setter.py +++ b/test/unit/agents/bdi/bdi_core_agent/behaviours/test_belief_setter.py @@ -4,10 +4,12 @@ from unittest.mock import AsyncMock, MagicMock, call import pytest -from control_backend.agents.bdi.behaviours.belief_setter import BeliefSetterBehaviour +from control_backend.agents.bdi.bdi_core_agent.behaviours.belief_setter_behaviour import ( + BeliefSetterBehaviour, +) # Define a constant for the collector agent name to use in tests -COLLECTOR_AGENT_NAME = "belief_collector" +COLLECTOR_AGENT_NAME = "belief_collector_agent" COLLECTOR_AGENT_JID = f"{COLLECTOR_AGENT_NAME}@test" @@ -21,11 +23,12 @@ def mock_agent(mocker): @pytest.fixture -def belief_setter(mock_agent, mocker): +def belief_setter_behaviour(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", + "control_backend.agents.bdi.bdi_core_agent." + "behaviours.belief_setter_behaviour.settings.agent_settings.bdi_belief_collector_name", COLLECTOR_AGENT_NAME, ) @@ -46,53 +49,53 @@ def create_mock_message(sender_node: str, body: str, thread: str) -> MagicMock: @pytest.mark.asyncio -async def test_run_message_received(belief_setter, mocker): +async def test_run_message_received(belief_setter_behaviour, 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") + belief_setter_behaviour.receive.return_value = msg + mocker.patch.object(belief_setter_behaviour, "_process_message") # Act - await belief_setter.run() + await belief_setter_behaviour.run() # Assert - belief_setter._process_message.assert_called_once_with(msg) + belief_setter_behaviour._process_message.assert_called_once_with(msg) -def test_process_message_from_belief_collector(belief_setter, mocker): +def test_process_message_from_bdi_belief_collector_agent(belief_setter_behaviour, 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") + mock_process_belief = mocker.patch.object(belief_setter_behaviour, "_process_belief_message") # Act - belief_setter._process_message(msg) + belief_setter_behaviour._process_message(msg) # Assert mock_process_belief.assert_called_once_with(msg) -def test_process_message_from_other_agent(belief_setter, mocker): +def test_process_message_from_other_agent(belief_setter_behaviour, 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") + mock_process_belief = mocker.patch.object(belief_setter_behaviour, "_process_belief_message") # Act - belief_setter._process_message(msg) + belief_setter_behaviour._process_message(msg) # Assert mock_process_belief.assert_not_called() -def test_process_belief_message_valid_json(belief_setter, mocker): +def test_process_belief_message_valid_json(belief_setter_behaviour, mocker): """ Test processing a valid belief message with correct thread and JSON body. """ @@ -101,16 +104,16 @@ def test_process_belief_message_valid_json(belief_setter, mocker): 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") + mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs") # Act - belief_setter._process_belief_message(msg) + belief_setter_behaviour._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): +def test_process_belief_message_invalid_json(belief_setter_behaviour, mocker, caplog): """ Test that a message with invalid JSON is handled gracefully and an error is logged. """ @@ -118,16 +121,16 @@ def test_process_belief_message_invalid_json(belief_setter, mocker, caplog): 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") + mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs") # Act - belief_setter._process_belief_message(msg) + belief_setter_behaviour._process_belief_message(msg) # Assert mock_set_beliefs.assert_not_called() -def test_process_belief_message_wrong_thread(belief_setter, mocker): +def test_process_belief_message_wrong_thread(belief_setter_behaviour, mocker): """ Test that a message with an incorrect thread is ignored. """ @@ -135,31 +138,31 @@ def test_process_belief_message_wrong_thread(belief_setter, mocker): 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") + mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs") # Act - belief_setter._process_belief_message(msg) + belief_setter_behaviour._process_belief_message(msg) # Assert mock_set_beliefs.assert_not_called() -def test_process_belief_message_empty_body(belief_setter, mocker): +def test_process_belief_message_empty_body(belief_setter_behaviour, 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") + mock_set_beliefs = mocker.patch.object(belief_setter_behaviour, "_set_beliefs") # Act - belief_setter._process_belief_message(msg) + belief_setter_behaviour._process_belief_message(msg) # Assert mock_set_beliefs.assert_not_called() -def test_set_beliefs_success(belief_setter, mock_agent, caplog): +def test_set_beliefs_success(belief_setter_behaviour, mock_agent, caplog): """ Test that beliefs are correctly set on the agent's BDI. """ @@ -171,7 +174,7 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog): # Act with caplog.at_level(logging.INFO): - belief_setter._set_beliefs(beliefs_to_set) + belief_setter_behaviour._set_beliefs(beliefs_to_set) # Assert expected_calls = [ @@ -182,18 +185,18 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog): assert mock_agent.bdi.set_belief.call_count == 2 -# def test_responded_unset(belief_setter, mock_agent): +# def test_responded_unset(belief_setter_behaviour, mock_agent): # # Arrange # new_beliefs = {"user_said": ["message"]} # # # Act -# belief_setter._set_beliefs(new_beliefs) +# belief_setter_behaviour._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): +# def test_set_beliefs_bdi_not_initialized(belief_setter_behaviour, mock_agent, caplog): # """ # Test that a warning is logged if the agent's BDI is not initialized. # """ @@ -203,7 +206,7 @@ def test_set_beliefs_success(belief_setter, mock_agent, caplog): # # # Act # with caplog.at_level(logging.WARNING): -# belief_setter._set_beliefs(beliefs_to_set) +# belief_setter_behaviour._set_beliefs(beliefs_to_set) # # # Assert # assert "Cannot set beliefs, since agent's BDI is not yet initialized." in caplog.text diff --git a/test/unit/agents/bdi/belief_collector_agent/behaviours/test_continuous_collect.py b/test/unit/agents/bdi/belief_collector_agent/behaviours/test_continuous_collect.py new file mode 100644 index 0000000..4cb5ba1 --- /dev/null +++ b/test/unit/agents/bdi/belief_collector_agent/behaviours/test_continuous_collect.py @@ -0,0 +1,101 @@ +import json +from unittest.mock import AsyncMock, MagicMock + +import pytest + +from control_backend.agents.bdi.belief_collector_agent.behaviours.belief_collector_behaviour import ( # noqa: E501 + BeliefCollectorBehaviour, +) + + +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 bel_collector_behaviouror(mock_agent, mocker): + """Fixture to create an instance of BelCollectorBehaviour with a mocked agent.""" + # Patch asyncio.sleep to prevent tests from actually waiting + mocker.patch("asyncio.sleep", return_value=None) + + collector = BeliefCollectorBehaviour() + 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(bel_collector_behaviouror, mocker): + """ + Test that when a message is received, _process_message is called with that message. + """ + # Arrange + mock_msg = MagicMock() + bel_collector_behaviouror.receive.return_value = mock_msg + mocker.patch.object(bel_collector_behaviouror, "_process_message") + + # Act + await bel_collector_behaviouror.run() + + # Assert + bel_collector_behaviouror._process_message.assert_awaited_once_with(mock_msg) + + +@pytest.mark.asyncio +async def test_routes_to_handle_belief_text_by_type(bel_collector_behaviouror, mocker): + msg = create_mock_message( + "anyone", + json.dumps({"type": "belief_extraction_text", "beliefs": {"user_said": [["hi"]]}}), + ) + spy = mocker.patch.object(bel_collector_behaviouror, "_handle_belief_text", new=AsyncMock()) + await bel_collector_behaviouror._process_message(msg) + spy.assert_awaited_once() + + +@pytest.mark.asyncio +async def test_routes_to_handle_belief_text_by_sender(bel_collector_behaviouror, mocker): + msg = create_mock_message( + "bel_text_agent_mock", json.dumps({"beliefs": {"user_said": [["hi"]]}}) + ) + spy = mocker.patch.object(bel_collector_behaviouror, "_handle_belief_text", new=AsyncMock()) + await bel_collector_behaviouror._process_message(msg) + spy.assert_awaited_once() + + +@pytest.mark.asyncio +async def test_routes_to_handle_emo_text(bel_collector_behaviouror, mocker): + msg = create_mock_message("anyone", json.dumps({"type": "emotion_extraction_text"})) + spy = mocker.patch.object(bel_collector_behaviouror, "_handle_emo_text", new=AsyncMock()) + await bel_collector_behaviouror._process_message(msg) + spy.assert_awaited_once() + + +@pytest.mark.asyncio +async def test_belief_text_happy_path_sends(bel_collector_behaviouror, mocker): + payload = {"type": "belief_extraction_text", "beliefs": {"user_said": ["hello test", "No"]}} + bel_collector_behaviouror.send = AsyncMock() + await bel_collector_behaviouror._handle_belief_text(payload, "bel_text_agent_mock") + + # make sure we attempted a send + bel_collector_behaviouror.send.assert_awaited_once() + + +@pytest.mark.asyncio +async def test_belief_text_coerces_non_strings(bel_collector_behaviouror, mocker): + payload = {"type": "belief_extraction_text", "beliefs": {"user_said": [["hi", 123]]}} + bel_collector_behaviouror.send = AsyncMock() + await bel_collector_behaviouror._handle_belief_text(payload, "origin") + bel_collector_behaviouror.send.assert_awaited_once() diff --git a/test/unit/agents/belief_from_text/behaviours/test_belief_from_text.py b/test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py similarity index 86% rename from test/unit/agents/belief_from_text/behaviours/test_belief_from_text.py rename to test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py index 7a3eacd..294f00d 100644 --- a/test/unit/agents/belief_from_text/behaviours/test_belief_from_text.py +++ b/test/unit/agents/bdi/text_belief_agent/behaviours/test_belief_from_text.py @@ -4,7 +4,9 @@ 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 +from control_backend.agents.bdi.text_belief_extractor_agent.behaviours.text_belief_extractor_behaviour import ( # noqa: E501, We can't shorten this import. + TextBeliefExtractorBehaviour, +) @pytest.fixture @@ -15,15 +17,17 @@ def mock_settings(): """ # 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.transcription_name = "transcriber" + settings_mock.agent_settings.bdi_belief_collector_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 + "control_backend.agents.bdi.text_belief_extractor_agent.behaviours" + ".text_belief_extractor_behaviour.settings", + settings_mock, ): yield settings_mock @@ -31,10 +35,10 @@ def mock_settings(): @pytest.fixture def behavior(mock_settings): """ - Creates an instance of the BeliefFromText behaviour and mocks its + Creates an instance of the BDITextBeliefBehaviour behaviour and mocks its agent, logger, send, and receive methods. """ - b = BeliefFromText() + b = TextBeliefExtractorBehaviour() b.agent = MagicMock() b.send = AsyncMock() @@ -100,7 +104,7 @@ async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkey # 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 + mock_settings.agent_settings.transcription_name, transcription_text, None ) behavior.receive.return_value = mock_msg @@ -119,7 +123,7 @@ async def test_run_message_from_transcriber_demo(behavior, mock_settings, monkey assert ( sent_msg.to - == mock_settings.agent_settings.belief_collector_agent_name + == mock_settings.agent_settings.bdi_belief_collector_name + "@" + mock_settings.agent_settings.host ) @@ -159,7 +163,7 @@ async def test_process_transcription_success(behavior, mock_settings): # 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.bdi_belief_collector_name + "@" + mock_settings.agent_settings.host ) diff --git a/test/unit/agents/belief_collector/behaviours/test_continuous_collect.py b/test/unit/agents/belief_collector/behaviours/test_continuous_collect.py deleted file mode 100644 index 706a5b8..0000000 --- a/test/unit/agents/belief_collector/behaviours/test_continuous_collect.py +++ /dev/null @@ -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() diff --git a/test/unit/agents/transcription/test_speech_recognizer.py b/test/unit/agents/perception/transcription_agent/test_speech_recognizer.py similarity index 93% rename from test/unit/agents/transcription/test_speech_recognizer.py rename to test/unit/agents/perception/transcription_agent/test_speech_recognizer.py index d0dfdea..d0b8df6 100644 --- a/test/unit/agents/transcription/test_speech_recognizer.py +++ b/test/unit/agents/perception/transcription_agent/test_speech_recognizer.py @@ -1,6 +1,6 @@ import numpy as np -from control_backend.agents.transcription.speech_recognizer import ( +from control_backend.agents.perception.transcription_agent.speech_recognizer import ( OpenAIWhisperSpeechRecognizer, SpeechRecognizer, ) diff --git a/test/unit/agents/test_vad_socket_poller.py b/test/unit/agents/perception/vad_agent/test_vad_socket_poller.py similarity index 88% rename from test/unit/agents/test_vad_socket_poller.py rename to test/unit/agents/perception/vad_agent/test_vad_socket_poller.py index aaf8d0f..6ac074f 100644 --- a/test/unit/agents/test_vad_socket_poller.py +++ b/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 @@ -16,7 +16,7 @@ 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: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller") mock_poller.return_value.poll.return_value = [(socket, zmq.POLLIN)] poller = SocketPoller(socket) @@ -35,7 +35,7 @@ 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: MagicMock = mocker.patch("control_backend.agents.perception.vad_agent.zmq.Poller") mock_poller.return_value.poll.return_value = [] poller = SocketPoller(socket) diff --git a/test/unit/agents/test_vad_streaming.py b/test/unit/agents/perception/vad_agent/test_vad_streaming.py similarity index 95% rename from test/unit/agents/test_vad_streaming.py rename to test/unit/agents/perception/vad_agent/test_vad_streaming.py index 0cd8161..de488ff 100644 --- a/test/unit/agents/test_vad_streaming.py +++ b/test/unit/agents/perception/vad_agent/test_vad_streaming.py @@ -3,7 +3,7 @@ from unittest.mock import AsyncMock, MagicMock import numpy as np import pytest -from control_backend.agents.vad_agent import Streaming +from control_backend.agents.perception.vad_agent import StreamingBehaviour @pytest.fixture @@ -29,7 +29,7 @@ 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 = StreamingBehaviour(audio_in_socket, audio_out_socket) streaming._ready = True streaming.agent = mock_agent return streaming