From 2404c847aec1f104268cc0abc0adaad8e4728583 Mon Sep 17 00:00:00 2001
From: Pim Hutting <p.r.p.hutting@students.uu.nl>
Date: Tue, 27 Jan 2026 11:25:25 +0100
Subject: [PATCH] feat: added recursive goal mapping and tests

ref: N25B-400
---
 .../user_interrupt/user_interrupt_agent.py    | 17 +++++--
 .../user_interrupt/test_user_interrupt.py     | 50 +++++++++++++++++++
 2 files changed, 64 insertions(+), 3 deletions(-)

diff --git a/src/control_backend/agents/user_interrupt/user_interrupt_agent.py b/src/control_backend/agents/user_interrupt/user_interrupt_agent.py
index 117f83c..2046564 100644
--- a/src/control_backend/agents/user_interrupt/user_interrupt_agent.py
+++ b/src/control_backend/agents/user_interrupt/user_interrupt_agent.py
@@ -8,7 +8,7 @@ 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,
@@ -246,6 +246,18 @@ 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)
@@ -253,8 +265,7 @@ 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}")
diff --git a/test/unit/agents/user_interrupt/test_user_interrupt.py b/test/unit/agents/user_interrupt/test_user_interrupt.py
index a69a830..9f325f3 100644
--- a/test/unit/agents/user_interrupt/test_user_interrupt.py
+++ b/test/unit/agents/user_interrupt/test_user_interrupt.py
@@ -527,3 +527,53 @@ async def test_send_experiment_control_unknown(agent):
     agent.send.assert_awaited()
     msg = agent.send.call_args[0][0]
     assert msg.thread == ""
+
+
+@pytest.mark.asyncio
+async def test_create_mapping_recursive_goals(agent):
+    """Verify that nested subgoals are correctly registered in the mapping."""
+    import uuid
+
+    # 1. Setup IDs
+    parent_goal_id = uuid.uuid4()
+    child_goal_id = uuid.uuid4()
+
+    # 2. Create the child goal
+    child_goal = Goal(
+        id=child_goal_id,
+        name="child_goal",
+        description="I am a subgoal",
+        plan=Plan(id=uuid.uuid4(), name="p_child", steps=[]),
+    )
+
+    # 3. Create the parent goal and put the child goal inside its plan steps
+    parent_goal = Goal(
+        id=parent_goal_id,
+        name="parent_goal",
+        description="I am a parent",
+        plan=Plan(id=uuid.uuid4(), name="p_parent", steps=[child_goal]),  # Nested here
+    )
+
+    # 4. Build the program
+    phase = Phase(
+        id=uuid.uuid4(),
+        name="phase1",
+        norms=[],
+        goals=[parent_goal],  # Only the parent is top-level
+        triggers=[],
+    )
+    prog = Program(phases=[phase])
+
+    # 5. Execute mapping
+    msg = InternalMessage(to="me", thread="new_program", body=prog.model_dump_json())
+    await agent.handle_message(msg)
+
+    # 6. Assertions
+    # Check parent
+    assert str(parent_goal_id) in agent._goal_map
+    assert agent._goal_map[str(parent_goal_id)] == "parent_goal"
+
+    # Check child (This confirms the recursion worked)
+    assert str(child_goal_id) in agent._goal_map
+    assert agent._goal_map[str(child_goal_id)] == "child_goal"
+    assert agent._goal_reverse_map["child_goal"] == str(child_goal_id)