pepperplus/pepperplus-cb
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/feat/extra-agentspeak-functionality' into feat/monitoringpage-cb

Browse Source
This commit is contained in:
Pim Hutting
2026-01-12 15:24:48 +01:00
parent d202abcd1b 4b71981a3e
commit c4ccbcd354
11 changed files with 142 additions and 103 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
src/control_backend/agents/bdi/agentspeak_generator.py
View File

@@ -145,7 +145,10 @@ class AgentSpeakGenerator:
type=TriggerType.ADDED_BELIEF,
trigger_literal=AstLiteral("user_said", [AstVar("Message")]),
context=[AstLiteral("phase", [AstString("end")])],
body=[AstStatement(StatementType.ACHIEVE_GOAL, AstLiteral("reply"))],
body=[
AstStatement(StatementType.DO_ACTION, AstLiteral("notify_user_said")),
AstStatement(StatementType.ACHIEVE_GOAL, AstLiteral("reply")),
],
)
)
@@ -171,9 +174,10 @@ class AgentSpeakGenerator:
self._astify(to_phase) if to_phase else AstLiteral("phase", [AstString("end")])
)
context = [from_phase_ast, ~AstLiteral("responded_this_turn")]
if from_phase and from_phase.goals:
context.append(self._astify(from_phase.goals[-1], achieved=True))
context = [from_phase_ast]
if from_phase:
for goal in from_phase.goals:
context.append(self._astify(goal, achieved=True))
body = [
AstStatement(
@@ -190,17 +194,17 @@ class AgentSpeakGenerator:
AstStatement(StatementType.ADD_BELIEF, to_phase_ast),
]
if from_phase:
body.extend(
[
AstStatement(
StatementType.TEST_GOAL, AstLiteral("user_said", [AstVar("Message")])
),
AstStatement(
StatementType.REPLACE_BELIEF, AstLiteral("user_said", [AstVar("Message")])
),
]
)
# if from_phase:
# body.extend(
# [
# AstStatement(
# StatementType.TEST_GOAL, AstLiteral("user_said", [AstVar("Message")])
# ),
# AstStatement(
# StatementType.REPLACE_BELIEF, AstLiteral("user_said", [AstVar("Message")])
# ),
# ]
# )
self._asp.plans.append(
AstPlan(TriggerType.ADDED_GOAL, AstLiteral("transition_phase"), context, body)

17
src/control_backend/agents/bdi/bdi_core_agent.py
View File

@@ -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
@@ -213,6 +212,22 @@ class BDICoreAgent(BaseAgent):
agentspeak.runtime.Intention(),
)
# Check for transitions
self.bdi_agent.call(
agentspeak.Trigger.addition,
agentspeak.GoalType.achievement,
agentspeak.Literal("transition_phase"),
agentspeak.runtime.Intention(),
)
# Check triggers
self.bdi_agent.call(
agentspeak.Trigger.addition,
agentspeak.GoalType.achievement,
agentspeak.Literal("check_triggers"),
agentspeak.runtime.Intention(),
)
self._wake_bdi_loop.set()
self.logger.debug(f"Added belief {self.format_belief_string(name, args)}")

1
src/control_backend/agents/bdi/default_behavior.asl
View File

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

14
src/control_backend/agents/bdi/text_belief_extractor_agent.py
View File

@@ -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(

2
src/control_backend/agents/communication/ri_communication_agent.py
View File

@@ -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.")

12
src/control_backend/agents/perception/vad_agent.py
View File

@@ -229,10 +229,11 @@ class VADAgent(BaseAgent):
assert self.model is not None
prob = self.model(torch.from_numpy(chunk), settings.vad_settings.sample_rate_hz).item()
non_speech_patience = settings.behaviour_settings.vad_non_speech_patience_chunks
begin_silence_length = settings.behaviour_settings.vad_begin_silence_chunks
prob_threshold = settings.behaviour_settings.vad_prob_threshold
if prob > prob_threshold:
if self.i_since_speech > non_speech_patience:
if self.i_since_speech > non_speech_patience + begin_silence_length:
self.logger.debug("Speech started.")
self.audio_buffer = np.append(self.audio_buffer, chunk)
self.i_since_speech = 0
@@ -246,11 +247,12 @@ class VADAgent(BaseAgent):
continue
# Speech probably ended. Make sure we have a usable amount of data.
if len(self.audio_buffer) >= 3 * len(chunk):
if len(self.audio_buffer) > begin_silence_length * len(chunk):
self.logger.debug("Speech ended.")
assert self.audio_out_socket is not None
await self.audio_out_socket.send(self.audio_buffer[: -2 * len(chunk)].tobytes())
# At this point, we know that the speech has ended.
# Prepend the last chunk that had no speech, for a more fluent boundary
self.audio_buffer = chunk
# At this point, we know that there is no speech.
# Prepend the last few chunks that had no speech, for a more fluent boundary.
self.audio_buffer = np.append(self.audio_buffer, chunk)
self.audio_buffer = self.audio_buffer[-begin_silence_length * len(chunk) :]