test: create tests for belief extractor agent

Includes changes in schemas. Change type of `norms` in `Program` imperceptibly, big changes in schema of `BeliefMessage` to support deleting beliefs.

ref: N25B-380

src/control_backend/agents/bdi/bdi_core_agent.py

@@ -11,7 +11,7 @@ from pydantic import ValidationError
 from control_backend.agents.base import BaseAgent
 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.belief_message import BeliefMessage
 from control_backend.schemas.llm_prompt_message import LLMPromptMessage
 from control_backend.schemas.ri_message import SpeechCommand
 
@@ -124,8 +124,8 @@ class BDICoreAgent(BaseAgent):
 
         if msg.thread == "beliefs":
             try:
-                beliefs = BeliefMessage.model_validate_json(msg.body).beliefs
-                self._apply_beliefs(beliefs)
+                belief_changes = BeliefMessage.model_validate_json(msg.body)
+                self._apply_belief_changes(belief_changes)
             except ValidationError:
                 self.logger.exception("Error processing belief.")
             return
@@ -145,21 +145,28 @@ class BDICoreAgent(BaseAgent):
                 )
                 await self.send(out_msg)
 
-    def _apply_beliefs(self, beliefs: list[Belief]):
+    def _apply_belief_changes(self, belief_changes: BeliefMessage):
         """
         Update the belief base with a list of new beliefs.
 
-        If ``replace=True`` is set on a belief, it removes all existing beliefs with that name
-        before adding the new one.
+        For beliefs in ``belief_changes.replace``, it removes all existing beliefs with that name
+        before adding one new one.
+
+        :param belief_changes: The changes in beliefs to apply.
         """
-        if not beliefs:
+        if not belief_changes.create and not belief_changes.replace and not belief_changes.delete:
             return
 
-        for belief in beliefs:
-            if belief.replace:
-                self._remove_all_with_name(belief.name)
+        for belief in belief_changes.create:
             self._add_belief(belief.name, belief.arguments)
 
+        for belief in belief_changes.replace:
+            self._remove_all_with_name(belief.name)
+            self._add_belief(belief.name, belief.arguments)
+
+        for belief in belief_changes.delete:
+            self._remove_belief(belief.name, belief.arguments)
+
     def _add_belief(self, name: str, args: list[str] = None):
         """
         Add a single belief to the BDI agent.

src/control_backend/agents/bdi/belief_collector_agent.py

@@ -144,7 +144,7 @@ class BDIBeliefCollectorAgent(BaseAgent):
         msg = InternalMessage(
             to=settings.agent_settings.bdi_core_name,
             sender=self.name,
-            body=BeliefMessage(beliefs=beliefs).model_dump_json(),
+            body=BeliefMessage(create=beliefs).model_dump_json(),
             thread="beliefs",
         )
 

src/control_backend/agents/bdi/text_belief_extractor_agent.py

@@ -34,8 +34,8 @@ class TextBeliefExtractorAgent(BaseAgent):
 
     def __init__(self, name: str):
         super().__init__(name)
-        self.beliefs = {}
-        self.available_beliefs = []
+        self.beliefs: dict[str, bool] = {}
+        self.available_beliefs: list[SemanticBelief] = []
         self.conversation = ChatHistory(messages=[])
 
     async def setup(self):
@@ -151,23 +151,30 @@ class TextBeliefExtractorAgent(BaseAgent):
             return
 
         candidate_beliefs = await self._infer_turn()
-        new_beliefs: list[InternalBelief] = []
+        belief_changes = BeliefMessage()
         for belief_key, belief_value in candidate_beliefs.items():
             if belief_value is None:
                 continue
             old_belief_value = self.beliefs.get(belief_key)
-            # TODO: Do we need this check? Can we send the same beliefs multiple times?
             if belief_value == old_belief_value:
                 continue
+
             self.beliefs[belief_key] = belief_value
-            new_beliefs.append(
-                InternalBelief(name=belief_key, arguments=[belief_value], replace=True),
-            )
+
+            belief = InternalBelief(name=belief_key, arguments=None)
+            if belief_value:
+                belief_changes.create.append(belief)
+            else:
+                belief_changes.delete.append(belief)
+
+        # Return if there were no changes in beliefs
+        if not belief_changes.has_values():
+            return
 
         beliefs_message = InternalMessage(
             to=settings.agent_settings.bdi_core_name,
             sender=self.name,
-            body=BeliefMessage(beliefs=new_beliefs).model_dump_json(),
+            body=belief_changes.model_dump_json(),
             thread="beliefs",
         )
         await self.send(beliefs_message)
@@ -184,7 +191,7 @@ class TextBeliefExtractorAgent(BaseAgent):
 
         :return: A dict mapping belief names to a value ``True``, ``False`` or ``None``.
         """
-        n_parallel = min(settings.llm_settings.n_parallel - 1, len(self.available_beliefs))
+        n_parallel = max(1, min(settings.llm_settings.n_parallel - 1, len(self.available_beliefs)))
         all_beliefs = await asyncio.gather(
             *[
                 self._infer_beliefs(self.conversation, beliefs)
@@ -286,7 +293,7 @@ Respond with a JSON similar to the following, but with the property names as giv
 
             try:
                 return await self._query_llm(prompt, schema)
-            except (httpx.HTTPStatusError, json.JSONDecodeError, KeyError) as e:
+            except (httpx.HTTPError, json.JSONDecodeError, KeyError) as e:
                 if try_count < tries:
                     continue
                 self.logger.exception(