refactor: improve logging and module structure

Changed some folders to not be modules and organized some `__init__.py`
files.

ref: N25B-223

src/control_backend/agents/bdi/behaviours/belief_setter.py

@@ -3,7 +3,7 @@ import logging
 
 from spade.agent import Message
 from spade.behaviour import CyclicBehaviour
-from spade_bdi.bdi import BDIAgent, BeliefNotInitiated
+from spade_bdi.bdi import BDIAgent
 
 from control_backend.core.config import settings
 
@@ -11,26 +11,32 @@ from control_backend.core.config import settings
 class BeliefSetterBehaviour(CyclicBehaviour):
     """
     This is the behaviour that the BDI agent runs. This behaviour waits for incoming
-    message and processes it based on sender.
+    message and updates the agent's beliefs accordingly.
     """
 
     agent: BDIAgent
-    logger = logging.getLogger("BDI/Belief Setter")
+    logger = logging.getLogger(__name__)
 
     async def run(self):
-        msg = await self.receive(timeout=0.1)
-        if msg:
-            self.logger.info(f"Received message {msg.body}")
-            self._process_message(msg)
+        """Polls for messages and processes them."""
+        msg = await self.receive()
+        self.logger.debug(
+            "Received message from %s with thread '%s' and body: %s",
+            msg.sender,
+            msg.thread,
+            msg.body,
+        )
+        self._process_message(msg)
 
 
     def _process_message(self, message: Message):
+        """Routes the message to the correct processing function based on the sender."""
         sender = message.sender.node  # removes host from jid and converts to str
-        self.logger.debug("Sender: %s", sender)
+        self.logger.debug("Processing message from sender: %s", sender)
 
         match sender:
             case settings.agent_settings.belief_collector_agent_name:
-                self.logger.debug("Processing message from belief collector.")
+                self.logger.debug("Message is from the belief collector agent. Processing as belief message.")
                 self._process_belief_message(message)
             case _:
                 self.logger.debug("Not the belief agent, discarding message")
@@ -38,6 +44,7 @@ class BeliefSetterBehaviour(CyclicBehaviour):
 
     def _process_belief_message(self, message: Message):
         if not message.body:
+            self.logger.debug("Ignoring message with empty body from %s", message.sender.node)
             return
 
         match message.thread:
@@ -45,22 +52,33 @@ class BeliefSetterBehaviour(CyclicBehaviour):
                 try:
                     beliefs: dict[str, list[str]] = json.loads(message.body)
                     self._set_beliefs(beliefs)
-                except json.JSONDecodeError as e:
-                    self.logger.error("Could not decode beliefs into JSON format: %s", e)
+                except json.JSONDecodeError:
+                    self.logger.error(
+                        "Could not decode beliefs from JSON. Message body: '%s'",
+                        message.body,
+                        exc_info=True
+                    )
             case _:
                 pass
 
     def _set_beliefs(self, beliefs: dict[str, list[str]]):
-        """Remove previous values for beliefs and update them with the provided values."""
+        """Removes previous values for beliefs and updates them with the provided values."""
         if self.agent.bdi is None:
-            self.logger.warning("Cannot set beliefs, since agent's BDI is not yet initialized.")
+            self.logger.warning("Cannot set beliefs; agent's BDI is not yet initialized.")
+            return
+
+        if not beliefs:
+            self.logger.debug("Received an empty set of beliefs. No beliefs were updated.")
             return
 
         # Set new beliefs (outdated beliefs are automatically removed)
         for belief, arguments in beliefs.items():
+            self.logger.debug("Setting belief %s with arguments %s", belief, arguments)
             self.agent.bdi.set_belief(belief, *arguments)
 
             # Special case: if there's a new user message, flag that we haven't responded yet
-            if belief == "user_said": self.agent.bdi.set_belief("new_message")
+            if belief == "user_said":
+                self.agent.bdi.set_belief("new_message")
+                self.logger.debug("Detected 'user_said' belief, also setting 'new_message' belief.")
 
-            self.logger.info("Set belief %s with arguments %s", belief, arguments)
+        self.logger.info("Successfully updated %d beliefs.", len(beliefs))