feat: make the pipeline work with Program and AgentSpeak

ref: N25B-429

src/control_backend/agents/bdi/agentspeak_generator.py

@@ -42,9 +42,9 @@ class AgentSpeakGenerator:
     def generate(self, program: Program) -> str:
         self._asp = AstProgram()
 
-        self._asp.rules.append(AstRule(AstLiteral("phase", [AstString("start")])))
+        self._asp.rules.append(AstRule(self._astify(program.phases[0])))
         self._add_keyword_inference()
-        self._add_response_goal()
+        self._add_default_plans()
 
         self._process_phases(program.phases)
 
@@ -66,11 +66,16 @@ class AgentSpeakGenerator:
             )
         )
 
-    def _add_response_goal(self):
+    def _add_default_plans(self):
+        self._add_reply_with_goal_plan()
+        self._add_say_plan()
+        self._add_reply_plan()
+
+    def _add_reply_with_goal_plan(self):
         self._asp.plans.append(
             AstPlan(
                 TriggerType.ADDED_GOAL,
-                AstLiteral("generate_response_with_goal", [AstVar("Goal")]),
+                AstLiteral("reply_with_goal", [AstVar("Goal")]),
                 [AstLiteral("user_said", [AstVar("Message")])],
                 [
                     AstStatement(StatementType.ADD_BELIEF, AstLiteral("responded_this_turn")),
@@ -91,12 +96,59 @@ class AgentSpeakGenerator:
             )
         )
 
+    def _add_say_plan(self):
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("say", [AstVar("Text")]),
+                [],
+                [
+                    AstStatement(StatementType.ADD_BELIEF, AstLiteral("responded_this_turn")),
+                    AstStatement(StatementType.DO_ACTION, AstLiteral("say", [AstVar("Text")])),
+                ],
+            )
+        )
+
+    def _add_reply_plan(self):
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("reply"),
+                [AstLiteral("user_said", [AstVar("Message")])],
+                [
+                    AstStatement(StatementType.ADD_BELIEF, AstLiteral("responded_this_turn")),
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral(
+                            "findall",
+                            [AstVar("Norm"), AstLiteral("norm", [AstVar("Norm")]), AstVar("Norms")],
+                        ),
+                    ),
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral("reply", [AstVar("Message"), AstVar("Norms")]),
+                    ),
+                ],
+            )
+        )
+
     def _process_phases(self, phases: list[Phase]) -> None:
         for curr_phase, next_phase in zip([None] + phases, phases + [None], strict=True):
             if curr_phase:
                 self._process_phase(curr_phase)
             self._add_phase_transition(curr_phase, next_phase)
 
+        # End phase behavior
+        # When deleting this, the entire `reply` plan and action can be deleted
+        self._asp.plans.append(
+            AstPlan(
+                type=TriggerType.ADDED_BELIEF,
+                trigger_literal=AstLiteral("user_said", [AstVar("Message")]),
+                context=[AstLiteral("phase", [AstString("end")])],
+                body=[AstStatement(StatementType.ACHIEVE_GOAL, AstLiteral("reply"))],
+            )
+        )
+
     def _process_phase(self, phase: Phase) -> None:
         for norm in phase.norms:
             self._process_norm(norm, phase)
@@ -112,14 +164,14 @@ class AgentSpeakGenerator:
             self._process_trigger(trigger, phase)
 
     def _add_phase_transition(self, from_phase: Phase | None, to_phase: Phase | None) -> None:
-        from_phase_ast = (
-            self._astify(from_phase) if from_phase else AstLiteral("phase", [AstString("start")])
-        )
+        if from_phase is None:
+            return
+        from_phase_ast = self._astify(from_phase)
         to_phase_ast = (
             self._astify(to_phase) if to_phase else AstLiteral("phase", [AstString("end")])
         )
 
-        context = [from_phase_ast]
+        context = [from_phase_ast, ~AstLiteral("responded_this_turn")]
         if from_phase and from_phase.goals:
             context.append(self._astify(from_phase.goals[-1], achieved=True))
 
@@ -221,14 +273,10 @@ class AgentSpeakGenerator:
 
     def _step_to_statement(self, step: PlanElement) -> AstStatement:
         match step:
-            case Goal() as g:
-                return AstStatement(StatementType.ACHIEVE_GOAL, self._astify(g))
-            case SpeechAction() | GestureAction() as a:
+            case Goal() | SpeechAction() | LLMAction() as a:
+                return AstStatement(StatementType.ACHIEVE_GOAL, self._astify(a))
+            case GestureAction() as a:
                 return AstStatement(StatementType.DO_ACTION, self._astify(a))
-            case LLMAction() as la:
-                return AstStatement(
-                    StatementType.ACHIEVE_GOAL, self._astify(la)
-                )  # LLM action is a goal in ASL
 
     # TODO: separate handling of keyword and others
     def _process_trigger(self, trigger: Trigger, phase: Phase) -> None:
@@ -318,7 +366,7 @@ class AgentSpeakGenerator:
 
     @_astify.register
     def _(self, la: LLMAction) -> AstExpression:
-        return AstLiteral("generate_response_with_goal", [AstString(la.goal)])
+        return AstLiteral("reply_with_goal", [AstString(la.goal)])
 
     @staticmethod
     def _slugify_str(text: str) -> str: