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Merge branch 'feat/monitoringpage-cb' of git.science.uu.nl:ics/sp/2025/n25b/pepperplus-cb into feat/monitoringpage-cb

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This commit is contained in:
Björn Otgaar
2026-01-13 14:03:40 +01:00
parent 2a94a45b34 f87651f691
commit 8f52f8bf0c
4 changed files with 77 additions and 11 deletions
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54
src/control_backend/agents/bdi/bdi_program_manager.py
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@@ -42,6 +42,16 @@ class BDIProgramManager(BaseAgent):
def _initialize_internal_state(self, program: Program):
self._program = program
self._phase = program.phases[0] # start in first phase
self._goal_mapping: dict[str, Goal] = {}
for phase in program.phases:
for goal in phase.goals:
self._populate_goal_mapping_with_goal(goal)
def _populate_goal_mapping_with_goal(self, goal: Goal):
self._goal_mapping[str(goal.id)] = goal
for step in goal.plan.steps:
if isinstance(step, Goal):
self._populate_goal_mapping_with_goal(step)
async def _create_agentspeak_and_send_to_bdi(self, program: Program):
"""
@@ -73,6 +83,9 @@ class BDIProgramManager(BaseAgent):
phases = json.loads(msg.body)
await self._transition_phase(phases["old"], phases["new"])
case "achieve_goal":
goal_id = msg.body
await self._send_achieved_goal_to_semantic_belief_extractor(goal_id)
async def _transition_phase(self, old: str, new: str):
if old != str(self._phase.id):
@@ -138,6 +151,19 @@ class BDIProgramManager(BaseAgent):
await self.send(message)
@staticmethod
def _extract_goals_from_goal(goal: Goal) -> list[Goal]:
"""
Extract all goals from a given goal, that is: the goal itself and any subgoals.
:return: All goals within and including the given goal.
"""
goals: list[Goal] = [goal]
for plan in goal.plan:
if isinstance(plan, Goal):
goals.extend(BDIProgramManager._extract_goals_from_goal(plan))
return goals
def _extract_current_goals(self) -> list[Goal]:
"""
Extract all goals from the program, including subgoals.
@@ -146,15 +172,8 @@ class BDIProgramManager(BaseAgent):
"""
goals: list[Goal] = []
def extract_goals_from_goal(goal_: Goal) -> list[Goal]:
goals_: list[Goal] = [goal]
for plan in goal_.plan:
if isinstance(plan, Goal):
goals_.extend(extract_goals_from_goal(plan))
return goals_
for goal in self._phase.goals:
goals.extend(extract_goals_from_goal(goal))
goals.extend(self._extract_goals_from_goal(goal))
return goals
@@ -173,6 +192,25 @@ class BDIProgramManager(BaseAgent):
await self.send(message)
async def _send_achieved_goal_to_semantic_belief_extractor(self, achieved_goal_id: str):
"""
Inform the semantic belief extractor when a goal is marked achieved.
:param achieved_goal_id: The id of the achieved goal.
"""
goal = self._goal_mapping.get(achieved_goal_id)
if goal is None:
self.logger.debug(f"Goal with ID {achieved_goal_id} marked achieved but was not found.")
return
goals = self._extract_goals_from_goal(goal)
message = InternalMessage(
to=settings.agent_settings.text_belief_extractor_name,
body=GoalList(goals=goals).model_dump_json(),
thread="achieved_goals",
)
await self.send(message)
async def _send_clear_llm_history(self):
"""
Clear the LLM Agent's conversation history.

31
src/control_backend/agents/user_interrupt/user_interrupt_agent.py
View File

@@ -7,6 +7,7 @@ from control_backend.agents import BaseAgent
from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
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.program import ConditionalNorm, Program
from control_backend.schemas.ri_message import (
GestureCommand,
@@ -31,7 +32,7 @@ class UserInterruptAgent(BaseAgent):
Prioritized actions clear the current RI queue before inserting the new item,
ensuring they are executed immediately after Pepper's current action has been fulfilled.
:ivar sub_socket: The ZMQ SUB socket used to receive user intterupts.
:ivar sub_socket: The ZMQ SUB socket used to receive user interrupts.
"""
def __init__(self, **kwargs):
@@ -118,8 +119,23 @@ class UserInterruptAgent(BaseAgent):
"Forwarded button press (override) with context '%s' to BDIProgramManager.",
event_context,
)
elif asl_goal := self._goal_map.get(ui_id):
await self._send_to_bdi_belief(asl_goal)
self.logger.info(
"Forwarded button press (override) with context '%s' to BDI Core.",
event_context,
)
goal_achieve_msg = InternalMessage(
to=settings.agent_settings.bdi_program_manager_name,
thread="achieve_goal",
body=ui_id,
)
await self.send(goal_achieve_msg)
else:
self.logger.warning("Could not determine which element to override.")
elif event_type == "pause":
self.logger.debug(
"Received pause/resume button press with context '%s'.", event_context
@@ -291,6 +307,19 @@ class UserInterruptAgent(BaseAgent):
await self.send(msg)
self.logger.info(f"Directly forced {thread} in BDI: {body}")
async def _send_to_bdi_belief(self, asl_goal: str):
"""Send belief to BDI Core"""
belief_name = f"achieved_{asl_goal}"
belief = Belief(name=belief_name)
self.logger.debug(f"Sending belief to BDI Core: {belief_name}")
belief_message = BeliefMessage(create=[belief])
msg = InternalMessage(
to=settings.agent_settings.bdi_core_name,
thread="beliefs",
body=belief_message.model_dump_json(),
)
await self.send(msg)
async def _send_experiment_control_to_bdi_core(self, type):
"""
method to send experiment control buttons to bdi core.

1
src/control_backend/api/v1/endpoints/robot.py
View File

@@ -137,7 +137,6 @@ async def ping_stream(request: Request):
logger.info("Client disconnected from SSE")
break
logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
connectedJson = json.dumps(connected)
yield (f"data: {connectedJson}\n\n")

2
src/control_backend/schemas/belief_message.py
View File

@@ -11,7 +11,7 @@ class Belief(BaseModel):
"""
name: str
arguments: list[str] | None
arguments: list[str] | None = None
# To make it hashable
model_config = {"frozen": True}