chore: cond_norms unachieve and via belief msg
This commit is contained in:
Pim Hutting
@@ -26,7 +26,7 @@ class UserInterruptAgent(BaseAgent):
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- Send a prioritized message to the `RobotSpeechAgent`
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- Send a prioritized gesture to the `RobotGestureAgent`
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- Send a belief override to the `BDIProgramManager`in order to activate a
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- Send a belief override to the `BDI Core` in order to activate a
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trigger/conditional norm or complete a goal.
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Prioritized actions clear the current RI queue before inserting the new item,
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@@ -75,7 +75,9 @@ class UserInterruptAgent(BaseAgent):
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These are the different types and contexts:
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- type: "speech", context: string that the robot has to say.
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- type: "gesture", context: single gesture name that the robot has to perform.
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- type: "override", context: belief_id that overrides the goal/trigger/conditional norm.
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- type: "override", context: id that belongs to the goal/trigger/conditional norm.
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- type: "override_unachieve", context: id that belongs to the conditional norm to unachieve.
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- type: "next_phase", context: None, indicates to the BDI Core to
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- type: "pause", context: boolean indicating whether to pause
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- type: "reset_phase", context: None, indicates to the BDI Core to
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- type: "reset_experiment", context: None, indicates to the BDI Core to
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@@ -93,68 +95,82 @@ class UserInterruptAgent(BaseAgent):
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self.logger.debug("Received event type %s", event_type)
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if event_type == "speech":
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await self._send_to_speech_agent(event_context)
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self.logger.info(
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"Forwarded button press (speech) with context '%s' to RobotSpeechAgent.",
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event_context,
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)
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elif event_type == "gesture":
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await self._send_to_gesture_agent(event_context)
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self.logger.info(
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"Forwarded button press (gesture) with context '%s' to RobotGestureAgent.",
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event_context,
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)
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elif event_type == "override":
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ui_id = str(event_context)
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if asl_trigger := self._trigger_map.get(ui_id):
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await self._send_to_bdi("force_trigger", asl_trigger)
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match event_type:
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case "speech":
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await self._send_to_speech_agent(event_context)
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self.logger.info(
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"Forwarded button press (override) with context '%s' to BDI Core.",
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"Forwarded button press (speech) with context '%s' to RobotSpeechAgent.",
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event_context,
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)
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elif asl_cond_norm := self._cond_norm_map.get(ui_id):
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await self._send_to_bdi("force_norm", asl_cond_norm)
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case "gesture":
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await self._send_to_gesture_agent(event_context)
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self.logger.info(
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"Forwarded button press (override) with context '%s' to BDIProgramManager.",
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"Forwarded button press (gesture) with context '%s' to RobotGestureAgent.",
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event_context,
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)
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elif asl_goal := self._goal_map.get(ui_id):
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await self._send_to_bdi_belief(asl_goal)
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self.logger.info(
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"Forwarded button press (override) with context '%s' to BDI Core.",
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case "override":
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ui_id = str(event_context)
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if asl_trigger := self._trigger_map.get(ui_id):
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await self._send_to_bdi("force_trigger", asl_trigger)
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self.logger.info(
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"Forwarded button press (override) with context '%s' to BDI Core.",
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event_context,
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)
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elif asl_cond_norm := self._cond_norm_map.get(ui_id):
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await self._send_to_bdi_belief(asl_cond_norm)
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self.logger.info(
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"Forwarded button press (override) with context '%s' to BDI Core.",
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event_context,
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)
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elif asl_goal := self._goal_map.get(ui_id):
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await self._send_to_bdi_belief(asl_goal)
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self.logger.info(
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"Forwarded button press (override) with context '%s' to BDI Core.",
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event_context,
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)
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# Send achieve_goal to program manager to update semantic belief extractor
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goal_achieve_msg = InternalMessage(
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to=settings.agent_settings.bdi_program_manager_name,
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thread="achieve_goal",
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body=ui_id,
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)
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await self.send(goal_achieve_msg)
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else:
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self.logger.warning("Could not determine which element to override.")
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case "override_unachieve":
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ui_id = str(event_context)
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if asl_cond_norm := self._cond_norm_map.get(ui_id):
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await self._send_to_bdi_belief(asl_cond_norm, True)
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self.logger.info(
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"Forwarded button press (override_unachieve)"
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"with context '%s' to BDI Core.",
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event_context,
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)
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else:
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self.logger.warning(
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"Could not determine which conditional norm to unachieve."
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)
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case "pause":
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self.logger.debug(
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"Received pause/resume button press with context '%s'.", event_context
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)
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await self._send_pause_command(event_context)
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if event_context:
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self.logger.info("Sent pause command.")
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else:
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self.logger.info("Sent resume command.")
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case "next_phase" | "reset_phase" | "reset_experiment":
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await self._send_experiment_control_to_bdi_core(event_type)
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case _:
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self.logger.warning(
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"Received button press with unknown type '%s' (context: '%s').",
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event_type,
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event_context,
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)
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goal_achieve_msg = InternalMessage(
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to=settings.agent_settings.bdi_program_manager_name,
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thread="achieve_goal",
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body=ui_id,
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)
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await self.send(goal_achieve_msg)
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else:
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self.logger.warning("Could not determine which element to override.")
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elif event_type == "pause":
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self.logger.debug(
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"Received pause/resume button press with context '%s'.", event_context
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)
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await self._send_pause_command(event_context)
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if event_context:
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self.logger.info("Sent pause command.")
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else:
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self.logger.info("Sent resume command.")
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elif event_type in ["next_phase", "reset_phase", "reset_experiment"]:
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await self._send_experiment_control_to_bdi_core(event_type)
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else:
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self.logger.warning(
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"Received button press with unknown type '%s' (context: '%s').",
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event_type,
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event_context,
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)
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async def handle_message(self, msg: InternalMessage):
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"""
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Handle commands received from other internal Python agents.
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@@ -195,9 +211,10 @@ class UserInterruptAgent(BaseAgent):
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await self._send_experiment_update(payload)
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self.logger.info(f"UI Update: Goal {goal_name} started (ID: {ui_id})")
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case "active_norms_update":
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norm_list = [s.strip("() '\",") for s in msg.body.split(",") if s.strip("() '\",")]
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await self._broadcast_cond_norms(norm_list)
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active_norms_asl = [
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s.strip("() '\",") for s in msg.body.split(",") if s.strip("() '\",")
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]
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await self._broadcast_cond_norms(active_norms_asl)
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case _:
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self.logger.debug(f"Received internal message on unhandled thread: {msg.thread}")
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@@ -308,12 +325,15 @@ class UserInterruptAgent(BaseAgent):
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await self.send(msg)
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self.logger.info(f"Directly forced {thread} in BDI: {body}")
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async def _send_to_bdi_belief(self, asl_goal: str):
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async def _send_to_bdi_belief(self, asl_goal: str, unachieve: bool = False):
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"""Send belief to BDI Core"""
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belief_name = f"achieved_{asl_goal}"
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belief = Belief(name=belief_name, arguments=None)
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self.logger.debug(f"Sending belief to BDI Core: {belief_name}")
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belief_message = BeliefMessage(create=[belief])
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# Conditional norms are unachieved by removing the belief
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belief_message = (
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BeliefMessage(delete=[belief]) if unachieve else BeliefMessage(create=[belief])
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)
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msg = InternalMessage(
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to=settings.agent_settings.bdi_core_name,
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thread="beliefs",
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