feat: more robust belief management

ref: N25B-316

.logging_config.yaml

@@ -8,7 +8,7 @@ formatters:
   # Console output
   colored:
     (): "colorlog.ColoredFormatter"
-    format: "{log_color}{asctime} | {levelname:11} | {name:70} | {message}"
+    format: "{log_color}{asctime}.{msecs:03.0f} | {levelname:11} | {name:70} | {message}"
     style: "{"
     datefmt: "%H:%M:%S"
 

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -13,11 +13,12 @@ from control_backend.schemas.ri_message import SpeechCommand
 
 
 class BDICoreAgent(BaseAgent):
+    bdi_agent: agentspeak.runtime.Agent
+
     def __init__(self, name: str, asl: str):
         super().__init__(name)
         self.asl_file = asl
         self.env = agentspeak.runtime.Environment()
-        self.bdi_agent = None
         self.actions = agentspeak.stdlib.actions
 
     async def setup(self) -> None:
@@ -42,7 +43,6 @@ class BDICoreAgent(BaseAgent):
     async def _bdi_loop(self):
         """Runs the AgentSpeak BDI loop."""
         while self._running:
-            assert self.bdi_agent is not None
             self.bdi_agent.step()
             await asyncio.sleep(0.01)
 
@@ -74,30 +74,72 @@ class BDICoreAgent(BaseAgent):
                 )
                 await self.send(out_msg)
 
-    # TODO: test way of adding beliefs
     def _add_beliefs(self, beliefs: dict[str, list[str]]):
         if not beliefs:
             return
 
-        for belief_name, args in beliefs.items():
-            self._add_belief(belief_name, args)
+        for name, args in beliefs.items():
+            self._add_belief(name, args)
 
-            if belief_name == "user_said":
-                self._add_belief("new_message")
-
-    def _add_belief(self, belief_name: str, arguments: Iterable[str] = []):
-        args = (agentspeak.Literal(arg) for arg in arguments)
-        literal_belief = agentspeak.Literal(belief_name, args)
+    def _add_belief(self, name: str, args: Iterable[str] = []):
+        new_args = (agentspeak.Literal(arg) for arg in args)
+        term = agentspeak.Literal(name, new_args)
 
         assert self.bdi_agent is not None
 
         self.bdi_agent.call(
             agentspeak.Trigger.addition,
             agentspeak.GoalType.belief,
-            literal_belief,
+            term,
             agentspeak.runtime.Intention(),
         )
-        self.logger.debug(f"Added belief {belief_name}({','.join(arguments)})")
+        self.logger.debug(f"Added belief {self.format_belief_string(name, args)}")
+
+    def _remove_belief(self, name: str, args: Iterable[str]):
+        """
+        Removes a specific belief (with arguments), if it exists.
+        """
+        new_args = (agentspeak.Literal(arg) for arg in args)
+        term = agentspeak.Literal(name, new_args)
+
+        assert self.bdi_agent is not None
+
+        result = self.bdi_agent.call(
+            agentspeak.Trigger.removal,
+            agentspeak.GoalType.belief,
+            term,
+            agentspeak.runtime.Intention(),
+        )
+
+        if result:
+            self.logger.debug(f"Removed belief {self.format_belief_string(name, args)}")
+        else:
+            self.logger.debug("Failed to remove belief (it was not in the belief base).")
+
+    # TODO: decide if this is needed
+    def _remove_all_with_name(self, name: str):
+        """
+        Removes all beliefs that match the given `name`.
+        """
+        assert self.bdi_agent is not None
+
+        relevant_groups = []
+        for key in self.bdi_agent.beliefs:
+            if key[0] == name:
+                relevant_groups.append(key)
+
+        removed_count = 0
+        for group in relevant_groups:
+            for belief in self.bdi_agent.beliefs[group]:
+                self.bdi_agent.call(
+                    agentspeak.Trigger.removal,
+                    agentspeak.GoalType.belief,
+                    belief,
+                    agentspeak.runtime.Intention(),
+                )
+                removed_count += 1
+
+        self.logger.debug(f"Removed {removed_count} beliefs.")
 
     def _add_custom_actions(self) -> None:
         """Add any custom actions here."""
@@ -119,3 +161,10 @@ class BDICoreAgent(BaseAgent):
         msg = InternalMessage(to=settings.agent_settings.llm_name, sender=self.name, body=text)
         await self.send(msg)
         self.logger.info("Message sent to LLM agent: %s", text)
+
+    @staticmethod
+    def format_belief_string(name: str, args: Iterable[str] = []):
+        """
+        Given a belief's name and its args, return a string of the form "name(*args)"
+        """
+        return f"{name}{'(' if args else ''}{','.join(args)}{')' if args else ''}"

src/control_backend/agents/bdi/bdi_core_agent/rules.asl

@@ -1,3 +1,3 @@
-+new_message : user_said(Message) <-
-  -new_message;
-  .reply(Message).
++user_said(NewMessage) <-
+  -user_said(NewMessage);
+  .reply(NewMessage).

src/control_backend/agents/perception/vad_agent.py

@@ -67,7 +67,7 @@ class VADAgent(BaseAgent):
         self.model = None
 
     async def setup(self):
-        self.logger.info("Setting up %s", self.jid)
+        self.logger.info("Setting up %s", self.name)
 
         self._connect_audio_in_socket()
 
@@ -99,7 +99,7 @@ class VADAgent(BaseAgent):
         transcriber = TranscriptionAgent(audio_out_address)
         await transcriber.start()
 
-        self.logger.info("Finished setting up %s", self.jid)
+        self.logger.info("Finished setting up %s", self.name)
 
     async def stop(self):
         """