src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -36,10 +36,7 @@ class RobotGestureAgent(BaseAgent):
         bind=False,
         gesture_data=None,
     ):
-        if gesture_data is None:
+        self.gesture_data = gesture_data or []
-            self.gesture_data = []
-        else:
-            self.gesture_data = gesture_data
         super().__init__(name)
         self.address = address
         self.bind = bind
@@ -71,7 +68,7 @@ class RobotGestureAgent(BaseAgent):
 
         # REP socket for replying to gesture requests
         self.repsocket = context.socket(zmq.REP)
-        self.repsocket.bind("tcp://localhost:7788")
+        self.repsocket.bind(settings.zmq_settings.internal_gesture_rep_adress)
 
         self.add_behavior(self._zmq_command_loop())
         self.add_behavior(self._fetch_gestures_loop())

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -29,7 +29,7 @@ class RobotSpeechAgent(BaseAgent):
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_command_address,
+        address: str,
         bind=False,
     ):
         super().__init__(name)

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

@@ -16,14 +16,40 @@ logger = logging.getLogger(__name__)
 router = APIRouter()
 
 
-@router.post("/command", status_code=202)
+@router.post("/command/speech", status_code=202)
-async def receive_command(command: SpeechCommand, request: Request):
+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`
-    or
+    will forward this to the robot.
+
+    :param command: The speech command payload.
+    :param request: The FastAPI request object.
+    """
+    # Validate and retrieve data.
+    try:
+        validated = SpeechCommand.model_validate(command)
+    except ValidationError as e:
+        raise HTTPException(
+            status_code=422, detail=f"Payload is not valid SpeechCommand: {e}"
+        ) from e
+
+    topic = b"command"
+
+    pub_socket: Socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, validated.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.
 
@@ -31,23 +57,19 @@ async def receive_command(command: SpeechCommand, request: Request):
     :param request: The FastAPI request object.
     """
     # Validate and retrieve data.
-    validated = None
+    try:
-    valid_commands = (GestureCommand, SpeechCommand)
+        validated = GestureCommand.model_validate(command)
-    for command_model in valid_commands:
+    except ValidationError as e:
-        try:
+        raise HTTPException(
-            validated = command_model.model_validate(command)
+            status_code=422, detail=f"Payload is not valid GestureCommand: {e}"
-        except ValidationError:
+        ) from e
-            continue
-
-    if validated is None:
-        raise HTTPException(status_code=422, detail="Payload is not valid for command models")
 
     topic = b"command"
 
     pub_socket: Socket = request.app.state.endpoints_pub_socket
     await pub_socket.send_multipart([topic, validated.model_dump_json().encode()])
 
-    return {"status": "Command received"}
+    return {"status": "Gesture command received"}
 
 
 @router.get("/ping_check")
@@ -58,8 +80,8 @@ async def ping(request: Request):
     pass
 
 
-@router.get("/get_available_gesture_tags")
+@router.get("/commands/gesture/tags")
-async def get_available_gesture_tags(request: Request):
+async def get_available_gesture_tags(request: Request, count=0):
     """
     Endpoint to retrieve the available gesture tags for the robot.
 
@@ -67,10 +89,10 @@ async def get_available_gesture_tags(request: Request):
     :return: A list of available gesture tags.
     """
     req_socket = Context.instance().socket(zmq.REQ)
-    req_socket.connect("tcp://localhost:7788")
+    req_socket.connect(request.app.state.gesture_rep_address)
 
-    # TODO: Implement a way to get a certain ammount from the UI, rather than everything.
+    # Check to see if we've got any count given in the query parameter
-    amount = None
+    amount = count or None
     timeout = 5  # seconds
 
     await req_socket.send(f"{amount}".encode() if amount else b"None")

src/control_backend/core/config.py

@@ -17,6 +17,7 @@ class ZMQSettings(BaseModel):
     internal_sub_address: str = "tcp://localhost:5561"
     ri_command_address: str = "tcp://localhost:0000"
     ri_communication_address: str = "tcp://*:5555"
+    internal_gesture_rep_adress: str = "tcp://localhost:7788"
 
 
 class AgentSettings(BaseModel):