Remove command controls - they interrupt the agents state machine

Author: kPatch

coffee_ws/src/coffee_voice_agent/coffee_voice_agent/voice_agent_bridge.py

@@ -112,14 +112,6 @@ def __init__(self):
             callback_group=self.callback_group
         )
 
-        self.command_sub = self.create_subscription(
-            String,
-            'voice_agent/commands',
-            self.handle_command,
-            10,
-            callback_group=self.callback_group
-        )
-        
         # Start WebSocket connection in separate thread
         self.websocket_thread = threading.Thread(target=self._run_websocket_client, daemon=True)
         self.websocket_thread.start()
@@ -323,36 +315,6 @@ def handle_virtual_request(self, msg: String):
         except Exception as e:
             self.get_logger().error(f"Error handling virtual request: {e}")
 
-    def handle_command(self, msg: String):
-        """Handle command from ROS2 and forward to voice agent"""
-        try:
-            # Parse the command
-            command_data = json.loads(msg.data)
-            
-            # Format for voice agent
-            command = {
-                'type': 'COMMAND',
-                'action': command_data.get('action'),
-                'parameters': command_data.get('parameters', {}),
-                'timestamp': command_data.get('timestamp')
-            }
-            
-            # Send to voice agent
-            if self.websocket_loop and not self.websocket_loop.is_closed():
-                asyncio.run_coroutine_threadsafe(
-                    self._send_to_voice_agent(command),
-                    self.websocket_loop
-                )
-            else:
-                self.get_logger().warn("Cannot send command - WebSocket event loop not available")
-            
-            self.get_logger().info(f"Forwarded command: {command_data.get('action')}")
-            
-        except json.JSONDecodeError as e:
-            self.get_logger().error(f"Invalid JSON in command: {e}")
-        except Exception as e:
-            self.get_logger().error(f"Error handling command: {e}")
-    
     async def _send_to_voice_agent(self, data: dict):
         """Send data to voice agent via WebSocket"""
         if self.websocket and self.connection_active:

coffee_ws/src/coffee_voice_agent_ui/coffee_voice_agent_ui/voice_agent_monitor.py

@@ -73,19 +73,13 @@ def __init__(self):
             10
         )
 
-        # Publishers for sending commands
+        # Publisher for sending virtual requests
         self.virtual_request_pub = self.create_publisher(
             String,
             'voice_agent/virtual_requests',
             10
         )
 
-        self.command_pub = self.create_publisher(
-            String, 
-            'voice_agent/commands',
-            10
-        )
-        
         self.get_logger().info("Voice Agent Monitor Node initialized")
 
     def status_callback(self, msg):
@@ -179,7 +173,6 @@ def _init_ros(self):
 
         # Connect control widget signals to publishers
         self.controls_widget.virtual_request_signal.connect(self._send_virtual_request)
-        self.controls_widget.command_signal.connect(self._send_command)
 
         # Start ROS spinning in separate thread
         self.ros_executor = MultiThreadedExecutor()
@@ -320,14 +313,6 @@ def _send_virtual_request(self, request_json):
             msg.data = request_json
             self.ros_node.virtual_request_pub.publish(msg)
 
-    @pyqtSlot(str)
-    def _send_command(self, command_json):
-        """Send command through ROS2"""
-        if self.ros_node:
-            msg = String()
-            msg.data = command_json
-            self.ros_node.command_pub.publish(msg)
-    
     def _periodic_update(self):
         """Periodic UI updates for real-time elements"""
         # Update conversation widget timestamps

coffee_ws/src/coffee_voice_agent_ui/coffee_voice_agent_ui/voice_agent_monitor_app.py

@@ -110,19 +110,13 @@ def __init__(self, ros_bridge):
             10
         )
 
-        # Publishers for sending commands
+        # Publisher for sending virtual requests
         self.virtual_request_pub = self.create_publisher(
             String,
             'voice_agent/virtual_requests',
             10
         )
 
-        self.command_pub = self.create_publisher(
-            String, 
-            'voice_agent/commands',
-            10
-        )
-        
         self.get_logger().info("Voice Agent Monitor Node initialized")
 
     def status_callback(self, msg):
@@ -235,7 +229,6 @@ def _init_ros(self):
 
         # Connect control widget signals to publishers
         self.controls_widget.virtual_request_signal.connect(self._send_virtual_request)
-        self.controls_widget.command_signal.connect(self._send_command)
 
         # Start ROS spinning in separate thread
         self.ros_executor = MultiThreadedExecutor()
@@ -303,14 +296,6 @@ def _send_virtual_request(self, request_json):
             msg.data = request_json
             self.ros_node.virtual_request_pub.publish(msg)
 
-    @pyqtSlot(str)
-    def _send_command(self, command_json):
-        """Send command through ROS2"""
-        if self.ros_node:
-            msg = String()
-            msg.data = command_json
-            self.ros_node.command_pub.publish(msg)
-    
     def _periodic_update(self):
         """Periodic UI updates for real-time elements"""
         # Update conversation widget timestamps