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fix: configurable ping endpoint frequency and better goal completion detection

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This commit is contained in:
Twirre Meulenbelt
2026-02-09 17:06:35 +01:00
parent df489f4ac3
commit c6cb883cd1
3 changed files with 6 additions and 4 deletions
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3
.env.example
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@@ -3,6 +3,9 @@
# The hostname of the Robot Interface. Change if the Control Backend and Robot Interface are running on different computers. # The hostname of the Robot Interface. Change if the Control Backend and Robot Interface are running on different computers.
RI_HOST="localhost" 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. # 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" LLM_SETTINGS__LOCAL_LLM_URL="http://localhost:1234/v1/chat/completions"

5
src/control_backend/agents/bdi/text_belief_extractor_agent.py
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@@ -538,10 +538,9 @@ class GoalAchievementInferrer(SemanticBeliefInferrer):
async def _infer_goal(self, conversation: ChatHistory, goal: BaseGoal) -> bool: async def _infer_goal(self, conversation: ChatHistory, goal: BaseGoal) -> bool:
prompt = f"""{self._format_conversation(conversation)} 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 or goal.name}
Description of the goal: {goal.description}
Answer with literally only `true` or `false` (without backticks).""" Answer with literally only `true` or `false` (without backticks)."""

2
src/control_backend/api/v1/endpoints/robot.py
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@@ -123,7 +123,7 @@ async def ping_stream(request: Request):
sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping") sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
connected = False connected = False
ping_frequency = 2 ping_frequency = settings.behaviour_settings.sleep_s + 1
# Even though its most likely the updates should alternate # Even though its most likely the updates should alternate
# (So, True - False - True - False for connectivity), # (So, True - False - True - False for connectivity),