create UserInterruptAgent with connection to UI
This commit is contained in:
Pim Hutting
committed by
Luijkx,S.O.H. (Storm)
Luijkx,S.O.H. (Storm)
parent
3e7f2ef574
commit
0501a9fba3
@@ -0,0 +1,146 @@
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import json
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import zmq
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from zmq.asyncio import Context
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from control_backend.agents import BaseAgent
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from control_backend.core.agent_system import InternalMessage
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from control_backend.core.config import settings
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from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, SpeechCommand
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class UserInterruptAgent(BaseAgent):
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"""
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User Interrupt Agent.
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This agent receives button_pressed events from the external HTTP API
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(via ZMQ) and uses the associated context to trigger one of the following actions:
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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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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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ensuring they are executed immediately after Pepper's current action has been fulfilled.
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:ivar sub_socket: The ZMQ SUB socket used to receive user intterupts.
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"""
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def __init__(self, **kwargs):
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super().__init__(**kwargs)
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self.sub_socket = None
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async def _receive_button_event(self):
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"""
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The behaviour of the UserInterruptAgent.
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Continuous loop that receives button_pressed events from the button_pressed HTTP endpoint.
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These events contain a type and a context.
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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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"""
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while True:
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topic, body = await self.sub_socket.recv_multipart()
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try:
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event_data = json.loads(body)
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event_type = event_data.get("type") # e.g., "speech", "gesture"
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event_context = event_data.get("context") # e.g., "Hello, I am Pepper!"
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except json.JSONDecodeError:
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self.logger.error("Received invalid JSON payload on topic %s", topic)
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continue
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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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await self._send_to_program_manager(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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event_context,
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)
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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 _send_to_speech_agent(self, text_to_say: str):
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"""
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method to send prioritized speech command to RobotSpeechAgent.
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:param text_to_say: The string that the robot has to say.
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"""
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cmd = SpeechCommand(data=text_to_say, is_priority=True)
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out_msg = InternalMessage(
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to=settings.agent_settings.robot_speech_name,
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sender=self.name,
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body=cmd.model_dump_json(),
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)
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await self.send(out_msg)
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async def _send_to_gesture_agent(self, single_gesture_name: str):
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"""
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method to send prioritized gesture command to RobotGestureAgent.
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:param single_gesture_name: The gesture tag that the robot has to perform.
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"""
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# the endpoint is set to always be GESTURE_SINGLE for user interrupts
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cmd = GestureCommand(
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endpoint=RIEndpoint.GESTURE_SINGLE, data=single_gesture_name, is_priority=True
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)
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out_msg = InternalMessage(
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to=settings.agent_settings.robot_gesture_name,
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sender=self.name,
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body=cmd.model_dump_json(),
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)
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await self.send(out_msg)
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async def _send_to_program_manager(self, belief_id: str):
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"""
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Send a button_override belief to the BDIProgramManager.
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:param belief_id: The belief_id that overrides the goal/trigger/conditional norm.
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this id can belong to a basic belief or an inferred belief.
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See also: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-27/UI-components
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"""
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data = {"belief": belief_id}
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message = InternalMessage(
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to=settings.agent_settings.bdi_program_manager_name,
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sender=self.name,
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body=json.dumps(data),
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thread="belief_override_id",
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)
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await self.send(message)
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self.logger.info(
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"Sent button_override belief with id '%s' to Program manager.",
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belief_id,
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)
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async def setup(self):
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"""
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Initialize the agent.
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Connects the internal ZMQ SUB socket and subscribes to the 'button_pressed' topic.
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Starts the background behavior to receive the user interrupts.
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"""
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context = Context.instance()
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self.sub_socket = context.socket(zmq.SUB)
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self.sub_socket.connect(settings.zmq_settings.internal_sub_address)
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self.sub_socket.subscribe("button_pressed")
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self.add_behavior(self._receive_button_event())
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