chore: cond_norms unachieve and via belief msg

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -26,7 +26,7 @@ class UserInterruptAgent(BaseAgent):
 
     - Send a prioritized message to the `RobotSpeechAgent`
     - Send a prioritized gesture to the `RobotGestureAgent`
-    - Send a belief override to the `BDIProgramManager`in order to activate a
+    - Send a belief override to the `BDI Core` in order to activate a
         trigger/conditional norm or complete a goal.
 
     Prioritized actions clear the current RI queue before inserting the new item,
@@ -75,7 +75,9 @@ class UserInterruptAgent(BaseAgent):
         These are the different types and contexts:
         - type: "speech", context: string that the robot has to say.
         - type: "gesture", context: single gesture name that the robot has to perform.
-        - type: "override", context: belief_id that overrides the goal/trigger/conditional norm.
+        - type: "override", context: id that belongs to the goal/trigger/conditional norm.
+        - type: "override_unachieve", context: id that belongs to the conditional norm to unachieve.
+        - type: "next_phase", context: None, indicates to the BDI Core to
         - type: "pause", context: boolean indicating whether to pause
         - type: "reset_phase", context: None, indicates to the BDI Core to
         - type: "reset_experiment", context: None, indicates to the BDI Core to
@@ -93,19 +95,20 @@ class UserInterruptAgent(BaseAgent):
 
             self.logger.debug("Received event type %s", event_type)
 
-            if event_type == "speech":
+            match event_type:
+                case "speech":
                     await self._send_to_speech_agent(event_context)
                     self.logger.info(
                         "Forwarded button press (speech) with context '%s' to RobotSpeechAgent.",
                         event_context,
                     )
-            elif event_type == "gesture":
+                case "gesture":
                     await self._send_to_gesture_agent(event_context)
                     self.logger.info(
                         "Forwarded button press (gesture) with context '%s' to RobotGestureAgent.",
                         event_context,
                     )
-            elif event_type == "override":
+                case "override":
                     ui_id = str(event_context)
                     if asl_trigger := self._trigger_map.get(ui_id):
                         await self._send_to_bdi("force_trigger", asl_trigger)
@@ -114,9 +117,9 @@ class UserInterruptAgent(BaseAgent):
                             event_context,
                         )
                     elif asl_cond_norm := self._cond_norm_map.get(ui_id):
-                    await self._send_to_bdi("force_norm", asl_cond_norm)
+                        await self._send_to_bdi_belief(asl_cond_norm)
                         self.logger.info(
-                        "Forwarded button press (override) with context '%s' to BDIProgramManager.",
+                            "Forwarded button press (override) with context '%s' to BDI Core.",
                             event_context,
                         )
                     elif asl_goal := self._goal_map.get(ui_id):
@@ -125,7 +128,7 @@ class UserInterruptAgent(BaseAgent):
                             "Forwarded button press (override) with context '%s' to BDI Core.",
                             event_context,
                         )
-
+                        # Send achieve_goal to program manager to update semantic belief extractor
                         goal_achieve_msg = InternalMessage(
                             to=settings.agent_settings.bdi_program_manager_name,
                             thread="achieve_goal",
@@ -135,8 +138,21 @@ class UserInterruptAgent(BaseAgent):
                         await self.send(goal_achieve_msg)
                     else:
                         self.logger.warning("Could not determine which element to override.")
+                case "override_unachieve":
+                    ui_id = str(event_context)
+                    if asl_cond_norm := self._cond_norm_map.get(ui_id):
+                        await self._send_to_bdi_belief(asl_cond_norm, True)
+                        self.logger.info(
+                            "Forwarded button press (override_unachieve)"
+                            "with context '%s' to BDI Core.",
+                            event_context,
+                        )
+                    else:
+                        self.logger.warning(
+                            "Could not determine which conditional norm to unachieve."
+                        )
 
-            elif event_type == "pause":
+                case "pause":
                     self.logger.debug(
                         "Received pause/resume button press with context '%s'.", event_context
                     )
@@ -146,9 +162,9 @@ class UserInterruptAgent(BaseAgent):
                     else:
                         self.logger.info("Sent resume command.")
 
-            elif event_type in ["next_phase", "reset_phase", "reset_experiment"]:
+                case "next_phase" | "reset_phase" | "reset_experiment":
                     await self._send_experiment_control_to_bdi_core(event_type)
-            else:
+                case _:
                     self.logger.warning(
                         "Received button press with unknown type '%s' (context: '%s').",
                         event_type,
@@ -195,9 +211,10 @@ class UserInterruptAgent(BaseAgent):
                     await self._send_experiment_update(payload)
                     self.logger.info(f"UI Update: Goal {goal_name} started (ID: {ui_id})")
             case "active_norms_update":
-                norm_list = [s.strip("() '\",") for s in msg.body.split(",") if s.strip("() '\",")]
+                active_norms_asl = [
-
+                    s.strip("() '\",") for s in msg.body.split(",") if s.strip("() '\",")
-                await self._broadcast_cond_norms(norm_list)
+                ]
+                await self._broadcast_cond_norms(active_norms_asl)
             case _:
                 self.logger.debug(f"Received internal message on unhandled thread: {msg.thread}")
 
@@ -308,12 +325,15 @@ class UserInterruptAgent(BaseAgent):
         await self.send(msg)
         self.logger.info(f"Directly forced {thread} in BDI: {body}")
 
-    async def _send_to_bdi_belief(self, asl_goal: str):
+    async def _send_to_bdi_belief(self, asl_goal: str, unachieve: bool = False):
         """Send belief to BDI Core"""
         belief_name = f"achieved_{asl_goal}"
         belief = Belief(name=belief_name, arguments=None)
         self.logger.debug(f"Sending belief to BDI Core: {belief_name}")
-        belief_message = BeliefMessage(create=[belief])
+        # Conditional norms are unachieved by removing the belief
+        belief_message = (
+            BeliefMessage(delete=[belief]) if unachieve else BeliefMessage(create=[belief])
+        )
         msg = InternalMessage(
             to=settings.agent_settings.bdi_core_name,
             thread="beliefs",