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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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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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31
src/control_backend/agents/user_interrupt/user_interrupt_agent.py
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@@ -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.