Merge branch 'feat/norms-and-goals-program' into docs/docs-cb

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -60,7 +60,7 @@ class RobotSpeechAgent(BaseAgent):
         self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
 
-        await self.add_behavior(self._zmq_command_loop())
+        self.add_behavior(self._zmq_command_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -65,7 +65,7 @@ class BDICoreAgent(BaseAgent):
         await self._load_asl()
 
         # Start the BDI cycle loop
-        await self.add_behavior(self._bdi_loop())
+        self.add_behavior(self._bdi_loop())
         self._wake_bdi_loop.set()
         self.logger.debug("Setup complete.")
 

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -73,7 +73,7 @@ class BDIProgramManager(BaseAgent):
             try:
                 program = Program.model_validate_json(body)
             except ValidationError as e:
-                self.logger.error("Received an invalid program.", exc_info=e)
+                self.logger.exception("Received an invalid program.")
                 continue
 
             await self._send_to_bdi(program)
@@ -91,4 +91,4 @@ class BDIProgramManager(BaseAgent):
         self.sub_socket.connect(settings.zmq_settings.internal_sub_address)
         self.sub_socket.subscribe("program")
 
-        await self.add_behavior(self._receive_programs())
+        self.add_behavior(self._receive_programs())

src/control_backend/agents/communication/ri_communication_agent.py

@@ -60,7 +60,7 @@ class RICommunicationAgent(BaseAgent):
 
         if await self._negotiate_connection():
             self.connected = True
-            await self.add_behavior(self._listen_loop())
+            self.add_behavior(self._listen_loop())
         else:
             self.logger.warning("Failed to negotiate connection during setup.")
 

src/control_backend/agents/perception/transcription_agent/transcription_agent.py

@@ -59,7 +59,7 @@ class TranscriptionAgent(BaseAgent):
         self.speech_recognizer.load_model()  # Warmup
 
         # Start background loop
-        await self.add_behavior(self._transcribing_loop())
+        self.add_behavior(self._transcribing_loop())
 
         self.logger.info("Finished setting up %s", self.name)
 

src/control_backend/agents/perception/vad_agent.py

@@ -120,7 +120,7 @@ class VADAgent(BaseAgent):
         # Warmup/reset
         await self.reset_stream()
 
-        await self.add_behavior(self._streaming_loop())
+        self.add_behavior(self._streaming_loop())
 
         # Start agents dependent on the output audio fragments here
         transcriber = TranscriptionAgent(audio_out_address)

src/control_backend/core/agent_system.py

@@ -1,6 +1,7 @@
 import asyncio
 import logging
 from abc import ABC, abstractmethod
+from asyncio import Task
 from collections.abc import Coroutine
 
 import zmq
@@ -102,8 +103,8 @@ class BaseAgent(ABC):
         await self.setup()
 
         # Start processing inbox and ZMQ messages
-        await self.add_behavior(self._process_inbox())
-        await self.add_behavior(self._receive_internal_zmq_loop())
+        self.add_behavior(self._process_inbox())
+        self.add_behavior(self._receive_internal_zmq_loop())
 
     async def stop(self):
         """
@@ -182,7 +183,7 @@ class BaseAgent(ABC):
         """
         raise NotImplementedError
 
-    async def add_behavior(self, coro: Coroutine):
+    def add_behavior(self, coro: Coroutine) -> Task:
         """
         Add a background behavior (task) to the agent.
 
@@ -194,3 +195,4 @@ class BaseAgent(ABC):
         task = asyncio.create_task(coro)
         self._tasks.add(task)
         task.add_done_callback(self._tasks.discard)
+        return task