Merge branch 'fix/trigger-subgoal-error' into 'main'

Allow subgoals in triggers and empty plan

See merge request ics/sp/2025/n25b/pepperplus-cb!50

src/control_backend/agents/bdi/agentspeak_generator.py

@@ -4,6 +4,7 @@ University within the Software Project course.
 © Copyright Utrecht University (Department of Information and Computing Sciences)
 """
 
+import logging
 from functools import singledispatchmethod
 
 from slugify import slugify
@@ -66,6 +67,7 @@ class AgentSpeakGenerator:
     """
 
     _asp: AstProgram
+    logger = logging.getLogger(__name__)
 
     def generate(self, program: Program) -> str:
         """
@@ -479,7 +481,8 @@ class AgentSpeakGenerator:
         :param main_goal: Whether this is a main goal (for UI notification purposes).
         """
         context: list[AstExpression] = [self._astify(phase)]
-        context.append(~self._astify(goal, achieved=True))
+        if goal.can_fail:
+            context.append(~self._astify(goal, achieved=True))
         if previous_goal and previous_goal.can_fail:
             context.append(self._astify(previous_goal, achieved=True))
         if not continues_response:
@@ -503,6 +506,10 @@ class AgentSpeakGenerator:
         if not goal.can_fail and not continues_response:
             body.append(AstStatement(StatementType.ADD_BELIEF, self._astify(goal, achieved=True)))
 
+        if len(body) == 0:
+            self.logger.warning("Goal with no plan detected: %s", goal.name)
+            body.append(AstStatement(StatementType.EMPTY, AstLiteral("true")))
+
         self._asp.plans.append(AstPlan(TriggerType.ADDED_GOAL, self._astify(goal), context, body))
 
         self._asp.plans.append(
@@ -563,10 +570,10 @@ class AgentSpeakGenerator:
             )
         )
         for step in trigger.plan.steps:
-            body.append(self._step_to_statement(step))
             if isinstance(step, Goal):
-                step.can_fail = False  # triggers are continuous sequence
+                new_step = step.model_copy(update={"can_fail": False})  # triggers are sequence
-                subgoals.append(step)
+                subgoals.append(new_step)
+            body.append(self._step_to_statement(step))
 
         # Arbitrary wait for UI to display nicely
         body.append(

src/control_backend/schemas/program.py

@@ -7,7 +7,7 @@ University within the Software Project course.
 from enum import Enum
 from typing import Literal
 
-from pydantic import UUID4, BaseModel
+from pydantic import UUID4, BaseModel, field_validator
 
 
 class ProgramElement(BaseModel):
@@ -24,6 +24,13 @@ class ProgramElement(BaseModel):
     # To make program elements hashable
     model_config = {"frozen": True}
 
+    @field_validator("name")
+    @classmethod
+    def name_must_not_start_with_number(cls, v: str) -> str:
+        if v and v[0].isdigit():
+            raise ValueError('Field "name" must not start with a number.')
+        return v
+
 
 class LogicalOperator(Enum):
     """
@@ -105,6 +112,7 @@ class InferredBelief(ProgramElement):
     left: Belief
     right: Belief
 
+
 class EmotionBelief(ProgramElement):
     """
     Represents a belief that is set when a certain emotion is detected.
@@ -115,6 +123,7 @@ class EmotionBelief(ProgramElement):
     name: str = ""
     emotion: str
 
+
 class Norm(ProgramElement):
     """
     Base class for behavioral norms that guide the robot's interactions.