feat: semantically determine goal completion

ref: N25B-432

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -7,9 +7,9 @@ from zmq.asyncio import Context
 from control_backend.agents import BaseAgent
 from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
 from control_backend.core.config import settings
-from control_backend.schemas.belief_list import BeliefList
+from control_backend.schemas.belief_list import BeliefList, GoalList
 from control_backend.schemas.internal_message import InternalMessage
-from control_backend.schemas.program import Belief, ConditionalNorm, InferredBelief, Program
+from control_backend.schemas.program import Belief, ConditionalNorm, Goal, InferredBelief, Program
 
 
 class BDIProgramManager(BaseAgent):
@@ -63,24 +63,23 @@ class BDIProgramManager(BaseAgent):
     def _extract_beliefs_from_program(program: Program) -> list[Belief]:
         beliefs: list[Belief] = []
 
+        def extract_beliefs_from_belief(belief: Belief) -> list[Belief]:
+            if isinstance(belief, InferredBelief):
+                return extract_beliefs_from_belief(belief.left) + extract_beliefs_from_belief(
+                    belief.right
+                )
+            return [belief]
+
         for phase in program.phases:
             for norm in phase.norms:
                 if isinstance(norm, ConditionalNorm):
-                    beliefs += BDIProgramManager._extract_beliefs_from_belief(norm.condition)
+                    beliefs += extract_beliefs_from_belief(norm.condition)
 
             for trigger in phase.triggers:
-                beliefs += BDIProgramManager._extract_beliefs_from_belief(trigger.condition)
+                beliefs += extract_beliefs_from_belief(trigger.condition)
 
         return beliefs
 
-    @staticmethod
-    def _extract_beliefs_from_belief(belief: Belief) -> list[Belief]:
-        if isinstance(belief, InferredBelief):
-            return BDIProgramManager._extract_beliefs_from_belief(
-                belief.left
-            ) + BDIProgramManager._extract_beliefs_from_belief(belief.right)
-        return [belief]
-
     async def _send_beliefs_to_semantic_belief_extractor(self, program: Program):
         """
         Extract beliefs from the program and send them to the Semantic Belief Extractor Agent.
@@ -98,6 +97,46 @@ class BDIProgramManager(BaseAgent):
 
         await self.send(message)
 
+    @staticmethod
+    def _extract_goals_from_program(program: Program) -> list[Goal]:
+        """
+        Extract all goals from the program, including subgoals.
+
+        :param program: The program received from the API.
+        :return: A list of Goal objects.
+        """
+        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 phase in program.phases:
+            for goal in phase.goals:
+                goals.extend(extract_goals_from_goal(goal))
+
+        return goals
+
+    async def _send_goals_to_semantic_belief_extractor(self, program: Program):
+        """
+        Extract goals from the program and send them to the Semantic Belief Extractor Agent.
+
+        :param program: The program received from the API.
+        """
+        goals = GoalList(goals=self._extract_goals_from_program(program))
+
+        message = InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=self.name,
+            body=goals.model_dump_json(),
+            thread="goals",
+        )
+
+        await self.send(message)
+
     async def _receive_programs(self):
         """
         Continuous loop that receives program updates from the HTTP endpoint.
@@ -117,6 +156,7 @@ class BDIProgramManager(BaseAgent):
             await asyncio.gather(
                 self._create_agentspeak_and_send_to_bdi(program),
                 self._send_beliefs_to_semantic_belief_extractor(program),
+                self._send_goals_to_semantic_belief_extractor(program),
             )
 
     async def setup(self):