src/control_backend/agents/communication/ri_communication_agent.py

@@ -268,6 +268,30 @@ class RICommunicationAgent(BaseAgent):
                         if self.pub_socket is not None:
                             await self.pub_socket.send_multipart([topic, data])
                         await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                    case "face":
+                        # Ask the RI for current face status
+                        request = {"endpoint": "face", "data": {}}
+                        try:
+                            assert self._req_socket is not None
+                            await self._req_socket.send_json(request)
+                            response = await asyncio.wait_for(
+                                self._req_socket.recv_json(), timeout=2.0
+                            )
+
+                            # Expect response: {"endpoint": "face", "data": True/False}
+                            face_status = response.get("data", False)
+
+                            topic = b"face"
+                            data = json.dumps(face_status).encode()
+
+                            if self.pub_socket is not None:
+                                await self.pub_socket.send_multipart([topic, data])
+
+                            self.logger.debug(f"Face status: {face_status}")
+
+                        except Exception as e:
+                            self.logger.warning(f"Failed to get face status: {e}")
+
                     case _:
                         self.logger.debug(
                             "Received message with topic different than ping, while ping expected."

src/control_backend/agents/perception/face_rec_agent

@@ -1,53 +0,0 @@
-import asyncio
-import zmq
-import zmq.asyncio as azmq
-
-from control_backend.agents import BaseAgent
-from control_backend.core.config import settings
-
-
-class FacePerceptionAgent(BaseAgent):
-    """
-    Receives and processes face detection events from Pepper.
-    """
-
-    def __init__(self, name, address, bind=False):
-        super().__init__(name)
-        self._address = address
-        self._bind = bind
-        self._socket: azmq.Socket | None = None
-
-    async def setup(self):
-        self.logger.info("Starting FacePerceptionAgent")
-
-        ctx = azmq.Context.instance()
-        self._socket = ctx.socket(zmq.SUB)
-        self._socket.setsockopt_string(zmq.SUBSCRIBE, "")
-
-        if self._bind:
-            self._socket.bind(self._address)
-        else:
-            self._socket.connect(self._address)
-
-        self.add_behavior(self._listen_loop())
-
-    async def _listen_loop(self):
-        while self._running:
-            try:
-                msg = await self._socket.recv_json()
-                await self._process_face_data(msg)
-            except Exception:
-                self.logger.exception("Error receiving face data")
-
-    async def _process_face_data(self, data: dict):
-        """
-        Central place to handle face perception.
-        """
-        face_count = data.get("face_count", 0)
-
-        if face_count > 0:
-            self.logger.debug("Detected %d face(s)", face_count)
-
-            #Post belief
-        else:
-            self.logger.debug("No faces detected")

src/control_backend/agents/perception/face_rec_agent.py

@@ -0,0 +1,74 @@
+import zmq
+import zmq.asyncio as azmq
+
+from control_backend.agents import BaseAgent
+
+
+class FacePerceptionAgent(BaseAgent):
+    """
+    Receives and processes face detection / recognition events
+    coming from Pepper (via a NAOqi -> ZMQ bridge).
+    """
+
+    def __init__(self, name: str):
+        super().__init__(name)
+        self._address = "tcp://127.0.0.1:5559"
+        self._socket: azmq.Socket | None = None
+
+    async def setup(self):
+        self.logger.info("Starting FacePerceptionAgent")
+
+        ctx = azmq.Context.instance()
+        self._socket = ctx.socket(zmq.SUB)
+        self._socket.setsockopt_string(zmq.SUBSCRIBE, "")
+
+        self._socket.connect(self._address)
+
+        self.add_behavior(self._listen_loop())
+
+    async def _listen_loop(self):
+        while self._running:
+            try:
+                msg = await self._socket.recv_json()
+                await self._process_face_data(msg)
+            except Exception:
+                self.logger.exception("Error receiving face data")
+
+    async def _process_face_data(self, data: dict):
+        """
+        Processes NAOqi FaceDetected-derived data.
+        """
+
+        faces = data.get("faces", [])
+        new_recognitions = data.get("new_recognitions", [])
+
+        if not faces:
+            self.logger.debug("No faces detected")
+            return
+
+        self.logger.debug("Detected %d face(s)", len(faces))
+
+        for face in faces:
+            face_id = face.get("face_id")
+            alpha = face.get("alpha")
+            beta = face.get("beta")
+            # size_x = face.get("size_x")
+            # size_y = face.get("size_y")
+
+            recognized = face.get("recognized", False)
+            label = face.get("label")
+            score = face.get("score", 0.0)
+
+            if recognized:
+                self.logger.info("Recognized %s (score=%.2f, id=%s)", label, score, face_id)
+            else:
+                self.logger.debug(
+                    "Unrecognized face id=%s at (α=%.2f, β=%.2f)", face_id, alpha, beta
+                )
+
+        # Temporal-filtered recognition (important!)
+        for name in new_recognitions:
+            self.logger.info("New person recognized: %s", name)
+
+            # 🔮 Example belief posting hook
+            # await self.post_belief("person_present", name=name)

src/control_backend/api/v1/router.py

@@ -8,7 +8,7 @@ api_router.include_router(message.router, tags=["Messages"])
 
 api_router.include_router(sse.router, tags=["SSE"])
 
-api_router.include_router(robot.router, prefix="/robot", tags=["Pings", "Commands"])
+api_router.include_router(robot.router, prefix="/robot", tags=["Pings", "Commands", "Face"])
 
 api_router.include_router(logs.router, tags=["Logs"])