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

@@ -89,7 +89,7 @@ async def get_available_gesture_tags(request: Request, count=0):
     :return: A list of available gesture tags.
     """
     req_socket = Context.instance().socket(zmq.REQ)
-    req_socket.connect(request.app.state.gesture_rep_address)
+    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

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -35,7 +35,7 @@ async def test_setup_bind(zmq_context, mocker):
     # Check PUB socket binding
     fake_socket.bind.assert_any_call("tcp://localhost:5556")
     # Check REP socket binding
-    fake_socket.bind.assert_any_call("tcp://localhost:7788")
+    fake_socket.bind.assert_called()
 
     # Check SUB socket connection and subscriptions
     fake_socket.connect.assert_any_call("tcp://internal:1234")
@@ -63,7 +63,7 @@ async def test_setup_connect(zmq_context, mocker):
     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_any_call("tcp://localhost:7788")
+    fake_socket.bind.assert_called()
 
     # Check behavior was added (twice)
     assert agent.add_behavior.call_count == 2

test/unit/agents/actuation/test_robot_speech_agent.py

@@ -8,6 +8,11 @@ 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(
@@ -56,7 +61,7 @@ async def test_setup_connect(zmq_context, mocker):
 async def test_handle_message_sends_command():
     """Internal message is forwarded to robot pub socket as JSON."""
     pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
 
     payload = {"endpoint": "actuate/speech", "data": "hello"}
@@ -80,7 +85,7 @@ async def test_zmq_command_loop_valid_payload(zmq_context):
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -101,7 +106,7 @@ async def test_zmq_command_loop_invalid_json():
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -115,7 +120,7 @@ async def test_zmq_command_loop_invalid_json():
 async def test_handle_message_invalid_payload():
     """Invalid payload is caught and does not send."""
     pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
 
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
@@ -129,7 +134,7 @@ async def test_handle_message_invalid_payload():
 async def test_stop_closes_sockets():
     pubsocket = MagicMock()
     subsocket = MagicMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
     agent.subsocket = subsocket
 

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

@@ -62,11 +62,11 @@ def test_receive_speech_command_success(client):
     speech_command = SpeechCommand(**command_data)
 
     # Act
-    response = client.post("/command", json=command_data)
+    response = client.post("/command/speech", json=command_data)
 
     # Assert
     assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
+    assert response.json() == {"status": "Speech command received"}
 
     # Verify that the ZMQ socket was used correctly
     mock_pub_socket.send_multipart.assert_awaited_once_with(
@@ -87,11 +87,11 @@ def test_receive_gesture_command_success(client):
     gesture_command = GestureCommand(**command_data)
 
     # Act
-    response = client.post("/command", json=command_data)
+    response = client.post("/command/gesture", json=command_data)
 
     # Assert
     assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
+    assert response.json() == {"status": "Gesture command received"}
 
     # Verify that the ZMQ socket was used correctly
     mock_pub_socket.send_multipart.assert_awaited_once_with(
@@ -99,13 +99,23 @@ def test_receive_gesture_command_success(client):
     )
 
 
-def test_receive_command_invalid_payload(client):
+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", json=bad_payload)
+    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
 
 
@@ -243,7 +253,7 @@ async def test_get_available_gesture_tags_success(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
     # Act
-    response = client.get("/get_available_gesture_tags")
+    response = client.get("/commands/gesture/tags")
 
     # Assert
     assert response.status_code == 200
@@ -276,7 +286,7 @@ async def test_get_available_gesture_tags_with_amount(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
     # Act
-    response = client.get("/get_available_gesture_tags")
+    response = client.get("/commands/gesture/tags")
 
     # Assert
     assert response.status_code == 200
@@ -308,7 +318,7 @@ async def test_get_available_gesture_tags_timeout(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
     # Act
-    response = client.get("/get_available_gesture_tags")
+    response = client.get("/commands/gesture/tags")
 
     # Assert
     assert response.status_code == 200
@@ -342,7 +352,7 @@ async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
     # Act
-    response = client.get("/get_available_gesture_tags")
+    response = client.get("/commands/gesture/tags")
 
     # Assert
     assert response.status_code == 200
@@ -369,7 +379,7 @@ async def test_get_available_gesture_tags_missing_tags_key(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "error", MagicMock())
 
     # Act
-    response = client.get("/get_available_gesture_tags")
+    response = client.get("/commands/gesture/tags")
 
     # Assert
     assert response.status_code == 200
@@ -397,7 +407,7 @@ async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
     monkeypatch.setattr(robot.logger, "debug", MagicMock())
 
     # Act
-    response = client.get("/get_available_gesture_tags")
+    response = client.get("/commands/gesture/tags")
 
     # Assert - invalid JSON should lead to empty list and error log invocation
     assert response.status_code == 200