From c6cb883cd1dc787943e56587273b95e83a3bfcdf Mon Sep 17 00:00:00 2001
From: Twirre Meulenbelt <43213592+TwirreM@users.noreply.github.com>
Date: Mon, 9 Feb 2026 17:06:35 +0100
Subject: [PATCH] fix: configurable ping endpoint frequency and better goal
 completion detection

---
 .env.example                                                 | 3 +++
 .../agents/bdi/text_belief_extractor_agent.py                | 5 ++---
 src/control_backend/api/v1/endpoints/robot.py                | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/.env.example b/.env.example
index a4ae63f..e4d7338 100644
--- a/.env.example
+++ b/.env.example
@@ -3,6 +3,9 @@
 # The hostname of the Robot Interface. Change if the Control Backend and Robot Interface are running on different computers.
 RI_HOST="localhost"
 
+# The hostname of the User Interface. This is what the browser displays in the URL bar. Strangely, even if the UI is running on a different host than the backend, if the computer with the browser is also hosting the UI itself, this value should be http://localhost.
+UI_HOST="http://localhost:5173"
+
 # URL for the local LLM API. Must be an API that implements the OpenAI Chat Completions API, but most do.
 LLM_SETTINGS__LOCAL_LLM_URL="http://localhost:1234/v1/chat/completions"
 
diff --git a/src/control_backend/agents/bdi/text_belief_extractor_agent.py b/src/control_backend/agents/bdi/text_belief_extractor_agent.py
index f9c1883..649e200 100644
--- a/src/control_backend/agents/bdi/text_belief_extractor_agent.py
+++ b/src/control_backend/agents/bdi/text_belief_extractor_agent.py
@@ -538,10 +538,9 @@ class GoalAchievementInferrer(SemanticBeliefInferrer):
     async def _infer_goal(self, conversation: ChatHistory, goal: BaseGoal) -> bool:
         prompt = f"""{self._format_conversation(conversation)}
 
-Given the above conversation, what has the following goal been achieved?
+Given the above conversation, has the following goal been achieved?
 
-The name of the goal: {goal.name}
-Description of the goal: {goal.description}
+Description of the goal: {goal.description or goal.name}
 
 Answer with literally only `true` or `false` (without backticks)."""
 
diff --git a/src/control_backend/api/v1/endpoints/robot.py b/src/control_backend/api/v1/endpoints/robot.py
index afe92f5..2ca8986 100644
--- a/src/control_backend/api/v1/endpoints/robot.py
+++ b/src/control_backend/api/v1/endpoints/robot.py
@@ -123,7 +123,7 @@ async def ping_stream(request: Request):
         sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
         connected = False
 
-        ping_frequency = 2
+        ping_frequency = settings.behaviour_settings.sleep_s + 1
 
         # Even though its most likely the updates should alternate
         # (So, True - False - True - False for connectivity),