src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -86,8 +86,8 @@ class RobotGestureAgent(BaseAgent):
         :param msg: The internal message containing the command.
         """
         try:
-            speech_command = GestureCommand.model_validate_json(msg.body)
+            gesture_command = GestureCommand.model_validate_json(msg.body)
-            await self.pubsocket.send_json(speech_command.model_dump())
+            await self.pubsocket.send_json(gesture_command.model_dump())
         except Exception:
             self.logger.exception("Error processing internal message.")
 
@@ -107,3 +107,129 @@ class RobotGestureAgent(BaseAgent):
                 await self.pubsocket.send_json(message.model_dump())
             except Exception:
                 self.logger.exception("Error processing ZMQ message.")
+
+    def availableTags(self):
+        """
+        Returns the available gesture tags.
+
+        :return: List of available gesture tags.
+        """
+        return [
+            "above",
+            "affirmative",
+            "afford",
+            "agitated",
+            "all",
+            "allright",
+            "alright",
+            "any",
+            "assuage",
+            "assuage",
+            "attemper",
+            "back",
+            "bashful",
+            "beg",
+            "beseech",
+            "blank",
+            "body language",
+            "bored",
+            "bow",
+            "but",
+            "call",
+            "calm",
+            "choose",
+            "choice",
+            "cloud",
+            "cogitate",
+            "cool",
+            "crazy",
+            "disappointed",
+            "down",
+            "earth",
+            "empty",
+            "embarrassed",
+            "enthusiastic",
+            "entire",
+            "estimate",
+            "except",
+            "exalted",
+            "excited",
+            "explain",
+            "far",
+            "field",
+            "floor",
+            "forlorn",
+            "friendly",
+            "front",
+            "frustrated",
+            "gentle",
+            "gift",
+            "give",
+            "ground",
+            "happy",
+            "hello",
+            "her",
+            "here",
+            "hey",
+            "hi",
+            "him",
+            "hopeless",
+            "hysterical",
+            "I",
+            "implore",
+            "indicate",
+            "joyful",
+            "me",
+            "meditate",
+            "modest",
+            "negative",
+            "nervous",
+            "no",
+            "not know",
+            "nothing",
+            "offer",
+            "ok",
+            "once upon a time",
+            "oppose",
+            "or",
+            "pacify",
+            "pick",
+            "placate",
+            "please",
+            "present",
+            "proffer",
+            "quiet",
+            "reason",
+            "refute",
+            "reject",
+            "rousing",
+            "sad",
+            "select",
+            "shamefaced",
+            "show",
+            "show sky",
+            "sky",
+            "soothe",
+            "sun",
+            "supplicate",
+            "tablet",
+            "tall",
+            "them",
+            "there",
+            "think",
+            "timid",
+            "top",
+            "unless",
+            "up",
+            "upstairs",
+            "void",
+            "warm",
+            "winner",
+            "yeah",
+            "yes",
+            "yoo-hoo",
+            "you",
+            "your",
+            "zero",
+            "zestful",
+        ]

src/control_backend/agents/communication/ri_communication_agent.py

@@ -193,6 +193,7 @@ class RICommunicationAgent(BaseAgent):
                         gesture_data=gesture_data,
                     )
                     await robot_speech_agent.start()
+                    await asyncio.sleep(0.1)  # Small delay
                     await robot_gesture_agent.start()
                 case _:
                     self.logger.warning("Unhandled negotiation id: %s", id)

src/control_backend/schemas/ri_message.py

@@ -1,7 +1,7 @@
 from enum import Enum
-from typing import Any
+from typing import Any, Literal
 
-from pydantic import BaseModel
+from pydantic import BaseModel, model_validator
 
 
 class RIEndpoint(str, Enum):
@@ -48,5 +48,17 @@ class GestureCommand(RIMessage):
     :ivar data: The id of the gesture to be executed.
     """
 
-    endpoint: RIEndpoint = RIEndpoint(RIEndpoint.GESTURE_TAG) or RIEndpoint(RIEndpoint.GESTURE_TAG)
+    endpoint: Literal[  # pyright: ignore[reportIncompatibleVariableOverride] - We validate this stricter rule ourselves
+        RIEndpoint.GESTURE_SINGLE, RIEndpoint.GESTURE_TAG
+    ]
     data: str
+
+    @model_validator(mode="after")
+    def check_endpoint(self):
+        allowed = {
+            RIEndpoint.GESTURE_SINGLE,
+            RIEndpoint.GESTURE_TAG,
+        }
+        if self.endpoint not in allowed:
+            raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
+        return self

test/unit/agents/communication/test_ri_communication_agent.py

@@ -10,6 +10,10 @@ def speech_agent_path():
     return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"
 
 
+def gesture_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotGestureAgent"
+
+
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
@@ -22,7 +26,7 @@ def zmq_context(mocker):
 def negotiation_message(
     actuation_port: int = 5556,
     bind_main: bool = False,
-    bind_actuation: bool = True,
+    bind_actuation: bool = False,
     main_port: int = 5555,
 ):
     return {
@@ -41,9 +45,12 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
     fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
     fake_socket.send_multipart = AsyncMock()
 
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
+    with (
-        robot_instance = MockRobot.return_value
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
-        robot_instance.start = AsyncMock()
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
 
         agent.add_behavior = MagicMock()
@@ -52,9 +59,17 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
 
     fake_socket.connect.assert_any_call("tcp://localhost:5555")
     fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
-    robot_instance.start.assert_awaited_once()
+    MockSpeech.return_value.start.assert_awaited_once()
-    MockRobot.assert_called_once_with(ANY, address="tcp://*:5556", bind=True)
+    MockGesture.return_value.start.assert_awaited_once()
+    MockSpeech.assert_called_once_with(ANY, address="tcp://localhost:5556", bind=False)
+    MockGesture.assert_called_once_with(
+        ANY,
+        address="tcp://localhost:5556",
+        bind=False,
+        gesture_data=[],
+    )
     agent.add_behavior.assert_called_once()
+
     assert agent.connected is True
 
 
@@ -69,10 +84,13 @@ async def test_setup_binds_when_requested(zmq_context):
 
     agent.add_behavior = MagicMock()
 
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
+    with (
-        MockRobot.return_value.start = AsyncMock()
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         await agent.setup()
-
     fake_socket.bind.assert_any_call("tcp://localhost:5555")
     agent.add_behavior.assert_called_once()
 
@@ -88,7 +106,6 @@ async def test_negotiate_invalid_endpoint_retries(zmq_context):
     agent._req_socket = fake_socket
 
     success = await agent._negotiate_connection(max_retries=1)
-
     assert success is False
 
 
@@ -112,8 +129,12 @@ async def test_handle_negotiation_response_updates_req_socket(zmq_context):
     fake_socket = zmq_context.return_value.socket.return_value
     agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
     agent._req_socket = fake_socket
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
+    with (
-        MockRobot.return_value.start = AsyncMock()
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         await agent._handle_negotiation_response(
             negotiation_message(
                 main_port=6000,
@@ -135,7 +156,6 @@ async def test_handle_disconnection_publishes_and_reconnects():
     agent._negotiate_connection = AsyncMock(return_value=True)
 
     await agent._handle_disconnection()
-
     pub_socket.send_multipart.assert_awaited()
     assert agent.connected is True
 
@@ -192,7 +212,7 @@ async def test_setup_warns_on_failed_negotiate(zmq_context, mocker):
     fake_socket.recv_json = AsyncMock()
     agent = RICommunicationAgent("ri_comm")
 
-    async def swallow(coro):
+    def swallow(coro):
         coro.close()
 
     agent.add_behavior = swallow

test/unit/schemas/test_ri_message.py

@@ -21,7 +21,21 @@ def invalid_command_1():
 
 
 def invalid_command_2():
-    return GestureCommand(endpoint=RIEndpoint.PING, data="Hey!")
+    return RIMessage(endpoint=RIEndpoint.PING, data="Hey!")
+
+
+def invalid_command_3():
+    return RIMessage(endpoint=RIEndpoint.GESTURE_SINGLE, data={1, 2, 3})
+
+
+def invalid_command_4():
+    test: RIMessage = GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="asdsad")
+
+    def change_endpoint(msg: RIMessage):
+        msg.endpoint = RIEndpoint.PING
+
+    change_endpoint(test)
+    return test
 
 
 def test_valid_speech_command_1():
@@ -56,3 +70,19 @@ def test_invalid_gesture_command_1():
 
     with pytest.raises(ValidationError):
         GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_2():
+    command = invalid_command_3()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_3():
+    command = invalid_command_4()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)