feat: added recursive mapping

ref: N25B-400

src/control_backend/agents/perception/visual_emotion_recognition_agent/visual_emotion_recognition_agent.py

@@ -7,7 +7,6 @@ import numpy as np
 import zmq
 import zmq.asyncio as azmq
 from pydantic_core import ValidationError
-import struct
 
 from control_backend.agents import BaseAgent
 from control_backend.agents.perception.visual_emotion_recognition_agent.visual_emotion_recognizer import (  # noqa
@@ -89,7 +88,7 @@ class VisualEmotionRecognitionAgent(BaseAgent):
         while self._running:
             try:
                 frame_bytes = await self.video_in_socket.recv()
-    
+
                 # Convert bytes to a numpy buffer
                 nparr = np.frombuffer(frame_bytes, np.uint8)
 
@@ -126,7 +125,6 @@ class VisualEmotionRecognitionAgent(BaseAgent):
             except zmq.Again:
                 self.logger.warning("No video frame received within timeout.")
 
-    
     async def update_emotions(self, prev_emotions: set[str], emotions: set[str]):
         """
         Compare emotions from previous window and current emotions,

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -9,7 +9,7 @@ from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
 from control_backend.schemas.belief_message import Belief, BeliefMessage
-from control_backend.schemas.program import ConditionalNorm, Program
+from control_backend.schemas.program import ConditionalNorm, Goal, Program
 from control_backend.schemas.ri_message import (
     GestureCommand,
     PauseCommand,
@@ -250,6 +250,18 @@ class UserInterruptAgent(BaseAgent):
             self._cond_norm_map = {}
             self._cond_norm_reverse_map = {}
 
+            def _register_goal(goal: Goal):
+                """Recursively register goals and their subgoals."""
+                slug = AgentSpeakGenerator.slugify(goal)
+                self._goal_map[str(goal.id)] = slug
+                self._goal_reverse_map[slug] = str(goal.id)
+
+                # Recursively check steps for subgoals
+                if goal.plan and goal.plan.steps:
+                    for step in goal.plan.steps:
+                        if isinstance(step, Goal):
+                            _register_goal(step)
+
             for phase in program.phases:
                 for trigger in phase.triggers:
                     slug = AgentSpeakGenerator.slugify(trigger)
@@ -257,8 +269,7 @@ class UserInterruptAgent(BaseAgent):
                     self._trigger_reverse_map[slug] = str(trigger.id)
 
                 for goal in phase.goals:
-                    self._goal_map[str(goal.id)] = AgentSpeakGenerator.slugify(goal)
-                    self._goal_reverse_map[AgentSpeakGenerator.slugify(goal)] = str(goal.id)
+                    _register_goal(goal)
 
                 for goal, id in self._goal_reverse_map.items():
                     self.logger.debug(f"Goal mapping: UI ID {goal} -> {id}")