fix: some bugs and some tests

ref: N25B-429

src/control_backend/agents/bdi/bdi_core_agent.py

@@ -101,7 +101,6 @@ class BDICoreAgent(BaseAgent):
             maybe_more_work = True
             while maybe_more_work:
                 maybe_more_work = False
-                self.logger.debug("Stepping BDI.")
                 if self.bdi_agent.step():
                     maybe_more_work = True
 

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -67,14 +67,14 @@ class BDIProgramManager(BaseAgent):
 
         await self.send(msg)
 
-    def handle_message(self, msg: InternalMessage):
+    async def handle_message(self, msg: InternalMessage):
         match msg.thread:
             case "transition_phase":
                 phases = json.loads(msg.body)
 
-                self._transition_phase(phases["old"], phases["new"])
+                await self._transition_phase(phases["old"], phases["new"])
 
-    def _transition_phase(self, old: str, new: str):
+    async def _transition_phase(self, old: str, new: str):
         assert old == str(self._phase.id)
 
         if new == "end":
@@ -85,8 +85,8 @@ class BDIProgramManager(BaseAgent):
             if str(phase.id) == new:
                 self._phase = phase
 
-        self._send_beliefs_to_semantic_belief_extractor()
-        self._send_goals_to_semantic_belief_extractor()
+        await self._send_beliefs_to_semantic_belief_extractor()
+        await self._send_goals_to_semantic_belief_extractor()
 
         # Notify user interaction agent
         msg = InternalMessage(

src/control_backend/agents/bdi/default_behavior.asl

@@ -1,5 +1,6 @@
 norms("").
 
 +user_said(Message) : norms(Norms) <-
+  .notify_user_said(Message);
   -user_said(Message);
   .reply(Message, Norms).

src/control_backend/agents/bdi/text_belief_extractor_agent.py

@@ -90,7 +90,7 @@ class TextBeliefExtractorAgent(BaseAgent):
                 self.logger.debug("Received text from LLM: %s", msg.body)
                 self._apply_conversation_message(ChatMessage(role="assistant", content=msg.body))
             case settings.agent_settings.bdi_program_manager_name:
-                self._handle_program_manager_message(msg)
+                await self._handle_program_manager_message(msg)
             case _:
                 self.logger.info("Discarding message from %s", sender)
                 return
@@ -105,7 +105,7 @@ class TextBeliefExtractorAgent(BaseAgent):
         length_limit = settings.behaviour_settings.conversation_history_length_limit
         self.conversation.messages = (self.conversation.messages + [message])[-length_limit:]
 
-    def _handle_program_manager_message(self, msg: InternalMessage):
+    async def _handle_program_manager_message(self, msg: InternalMessage):
         """
         Handle a message from the program manager: extract available beliefs and goals from it.
 
@@ -114,8 +114,10 @@ class TextBeliefExtractorAgent(BaseAgent):
         match msg.thread:
             case "beliefs":
                 self._handle_beliefs_message(msg)
+                await self._infer_new_beliefs()
             case "goals":
                 self._handle_goals_message(msg)
+                await self._infer_goal_completions()
             case "conversation_history":
                 if msg.body == "reset":
                     self._reset()
@@ -141,8 +143,9 @@ class TextBeliefExtractorAgent(BaseAgent):
         available_beliefs = [b for b in belief_list.beliefs if isinstance(b, SemanticBelief)]
         self.belief_inferrer.available_beliefs = available_beliefs
         self.logger.debug(
-            "Received %d semantic beliefs from the program manager.",
+            "Received %d semantic beliefs from the program manager: %s",
             len(available_beliefs),
+            ", ".join(b.name for b in available_beliefs),
         )
 
     def _handle_goals_message(self, msg: InternalMessage):
@@ -158,8 +161,9 @@ class TextBeliefExtractorAgent(BaseAgent):
         available_goals = [g for g in goals_list.goals if g.can_fail]
         self.goal_inferrer.goals = available_goals
         self.logger.debug(
-            "Received %d failable goals from the program manager.",
+            "Received %d failable goals from the program manager: %s",
             len(available_goals),
+            ", ".join(g.name for g in available_goals),
         )
 
     async def _user_said(self, text: str):
@@ -183,6 +187,7 @@ class TextBeliefExtractorAgent(BaseAgent):
 
         new_beliefs = conversation_beliefs - self._current_beliefs
         if not new_beliefs:
+            self.logger.debug("No new beliefs detected.")
             return
 
         self._current_beliefs |= new_beliefs
@@ -217,6 +222,7 @@ class TextBeliefExtractorAgent(BaseAgent):
             self._current_goal_completions[goal] = achieved
 
         if not new_achieved and not new_not_achieved:
+            self.logger.debug("No goal achievement changes detected.")
             return
 
         belief_changes = BeliefMessage(

src/control_backend/agents/communication/ri_communication_agent.py

@@ -248,7 +248,7 @@ class RICommunicationAgent(BaseAgent):
                     self._req_socket.recv_json(), timeout=seconds_to_wait_total / 2
                 )
 
-                if message["endpoint"] and message["endpoint"] != "ping":
+                if "endpoint" in message and message["endpoint"] != "ping":
                     self.logger.debug(f'Received message "{message}" from RI.')
                 if "endpoint" not in message:
                     self.logger.warning("No received endpoint in message, expected ping endpoint.")