src/control_backend/agents/actuation/__init__.py

@@ -1 +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

@@ -54,6 +54,7 @@ class RobotGestureAgent(BaseAgent):
         context = azmq.Context.instance()
 
         # To the robot
+
         self.pubsocket = context.socket(zmq.PUB)
         if self.bind:  # TODO: Should this ever be the case?
             self.pubsocket.bind(self.address)
@@ -64,7 +65,7 @@ class RobotGestureAgent(BaseAgent):
         self.subsocket = context.socket(zmq.SUB)
         self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
-
+        # This one
         self.add_behavior(self._zmq_command_loop())
 
         self.logger.info("Finished setting up %s", self.name)

src/control_backend/agents/communication/ri_communication_agent.py

@@ -187,7 +187,7 @@ class RICommunicationAgent(BaseAgent):
                         bind=bind,
                     )
                     robot_gesture_agent = RobotGestureAgent(
-                        settings.agent_settings.robot_speech_name,
+                        settings.agent_settings.robot_gesture_name,
                         address=addr,
                         bind=bind,
                         gesture_data=gesture_data,

src/control_backend/core/config.py

@@ -47,6 +47,7 @@ class AgentSettings(BaseModel):
     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"
 
 
 class BehaviourSettings(BaseModel):

src/control_backend/schemas/ri_message.py

@@ -10,7 +10,8 @@ class RIEndpoint(str, Enum):
     """
 
     SPEECH = "actuate/speech"
-    GESTURE = "actuate/gesture"
+    GESTURE_SINGLE = "actuate/gesture/single"
+    GESTURE_TAG = "actuate/gesture/tag"
     PING = "ping"
     NEGOTIATE_PORTS = "negotiate/ports"
 
@@ -43,9 +44,9 @@ class GestureCommand(RIMessage):
     """
     A specific command to make the robot do a gesture.
 
-    :ivar endpoint: Fixed to ``RIEndpoint.GESTURE``.
+    :ivar endpoint: Should be ``RIEndpoint.GESTURE_SINGLE`` or ``RIEndpoint.GESTURE_TAG``.
     :ivar data: The id of the gesture to be executed.
     """
 
-    endpoint: RIEndpoint = RIEndpoint(RIEndpoint.SPEECH)
+    endpoint: RIEndpoint = RIEndpoint(RIEndpoint.GESTURE_TAG) or RIEndpoint(RIEndpoint.GESTURE_TAG)
     data: str

test/unit/schemas/test_ri_message.py

@@ -1,26 +1,58 @@
 import pytest
 from pydantic import ValidationError
 
-from control_backend.schemas.ri_message import RIEndpoint, RIMessage, SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, RIMessage, SpeechCommand
 
 
 def valid_command_1():
     return SpeechCommand(data="Hallo?")
 
 
+def valid_command_2():
+    return GestureCommand(endpoint=RIEndpoint.GESTURE_TAG, data="happy")
+
+
+def valid_command_3():
+    return GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="happy_1")
+
+
 def invalid_command_1():
     return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.")
 
 
+def invalid_command_2():
+    return GestureCommand(endpoint=RIEndpoint.PING, data="Hey!")
+
+
 def test_valid_speech_command_1():
     command = valid_command_1()
     RIMessage.model_validate(command)
     SpeechCommand.model_validate(command)
 
 
+def test_valid_gesture_command_1():
+    command = valid_command_2()
+    RIMessage.model_validate(command)
+    GestureCommand.model_validate(command)
+
+
+def test_valid_gesture_command_2():
+    command = valid_command_3()
+    RIMessage.model_validate(command)
+    GestureCommand.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)
+
+
+def test_invalid_gesture_command_1():
+    command = invalid_command_2()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)