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Merge branch 'feat/use-experiment-logs' into 'dev'

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Add useful experiment logs

See merge request ics/sp/2025/n25b/pepperplus-cb!48
This commit was merged in pull request #48.
This commit is contained in:
Pim Hutting
2026-01-27 17:45:41 +00:00
parent 0413e0f710 4b6980a26e
commit f2953fb1de
13 changed files with 143 additions and 111 deletions
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4
src/control_backend/agents/actuation/robot_gesture_agent.py
View File

@@ -1,4 +1,5 @@
import json
import logging
import zmq
import zmq.asyncio as azmq
@@ -8,6 +9,8 @@ from control_backend.core.agent_system import InternalMessage
from control_backend.core.config import settings
from control_backend.schemas.ri_message import GestureCommand, RIEndpoint
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class RobotGestureAgent(BaseAgent):
"""
@@ -111,6 +114,7 @@ class RobotGestureAgent(BaseAgent):
gesture_command.data,
)
return
experiment_logger.action("Gesture: %s", gesture_command.data)
await self.pubsocket.send_json(gesture_command.model_dump())
except Exception:
self.logger.exception("Error processing internal message.")

12
src/control_backend/agents/bdi/bdi_core_agent.py
View File

@@ -1,6 +1,7 @@
import asyncio
import copy
import json
import logging
import time
from collections.abc import Iterable
@@ -19,6 +20,9 @@ from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, Speec
DELIMITER = ";\n" # TODO: temporary until we support lists in AgentSpeak
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class BDICoreAgent(BaseAgent):
"""
BDI Core Agent.
@@ -207,6 +211,9 @@ class BDICoreAgent(BaseAgent):
else:
term = agentspeak.Literal(name)
if name != "user_said":
experiment_logger.observation(f"Formed new belief: {name}{f'={args}' if args else ''}")
self.bdi_agent.call(
agentspeak.Trigger.addition,
agentspeak.GoalType.belief,
@@ -244,6 +251,9 @@ class BDICoreAgent(BaseAgent):
new_args = (agentspeak.Literal(arg) for arg in args)
term = agentspeak.Literal(name, new_args)
if name != "user_said":
experiment_logger.observation(f"Removed belief: {name}{f'={args}' if args else ''}")
result = self.bdi_agent.call(
agentspeak.Trigger.removal,
agentspeak.GoalType.belief,
@@ -386,6 +396,8 @@ class BDICoreAgent(BaseAgent):
body=str(message_text),
)
experiment_logger.chat(str(message_text), extra={"role": "assistant"})
self.add_behavior(self.send(chat_history_message))
yield

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

@@ -1,10 +1,12 @@
import asyncio
import json
import logging
import zmq
from pydantic import ValidationError
from zmq.asyncio import Context
import control_backend
from control_backend.agents import BaseAgent
from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
from control_backend.core.config import settings
@@ -19,6 +21,8 @@ from control_backend.schemas.program import (
Program,
)
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class BDIProgramManager(BaseAgent):
"""
@@ -277,6 +281,18 @@ class BDIProgramManager(BaseAgent):
await self.send(extractor_msg)
self.logger.debug("Sent message to extractor agent to clear history.")
@staticmethod
def _rollover_experiment_logs():
"""
A new experiment program started; make a new experiment log file.
"""
handlers = logging.getLogger(settings.logging_settings.experiment_logger_name).handlers
for handler in handlers:
if isinstance(handler, control_backend.logging.DatedFileHandler):
experiment_logger.action("Doing rollover...")
handler.do_rollover()
experiment_logger.debug("Finished rollover.")
async def _receive_programs(self):
"""
Continuous loop that receives program updates from the HTTP endpoint.
@@ -297,6 +313,7 @@ class BDIProgramManager(BaseAgent):
self._initialize_internal_state(program)
await self._send_program_to_user_interrupt(program)
await self._send_clear_llm_history()
self._rollover_experiment_logs()
await asyncio.gather(
self._create_agentspeak_and_send_to_bdi(program),

15
src/control_backend/agents/llm/llm_agent.py
View File

@@ -1,5 +1,6 @@
import asyncio
import json
import logging
import re
import uuid
from collections.abc import AsyncGenerator
@@ -14,6 +15,8 @@ from control_backend.core.config import settings
from ...schemas.llm_prompt_message import LLMPromptMessage
from .llm_instructions import LLMInstructions
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class LLMAgent(BaseAgent):
"""
@@ -170,7 +173,7 @@ class LLMAgent(BaseAgent):
*self.history,
]
message_id = str(uuid.uuid4()) # noqa
message_id = str(uuid.uuid4())
try:
full_message = ""
@@ -179,10 +182,9 @@ class LLMAgent(BaseAgent):
full_message += token
current_chunk += token
self.logger.llm(
"Received token: %s",
experiment_logger.chat(
full_message,
extra={"reference": message_id}, # Used in the UI to update old logs
extra={"role": "assistant", "reference": message_id, "partial": True},
)
# Stream the message in chunks separated by punctuation.
@@ -197,6 +199,11 @@ class LLMAgent(BaseAgent):
# Yield any remaining tail
if current_chunk:
yield current_chunk
experiment_logger.chat(
full_message,
extra={"role": "assistant", "reference": message_id, "partial": False},
)
except httpx.HTTPError as err:
self.logger.error("HTTP error.", exc_info=err)
yield "LLM service unavailable."

36
src/control_backend/agents/perception/transcription_agent/transcription_agent.py
View File

@@ -1,4 +1,5 @@
import asyncio
import logging
import numpy as np
import zmq
@@ -10,6 +11,8 @@ from control_backend.core.config import settings
from .speech_recognizer import SpeechRecognizer
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class TranscriptionAgent(BaseAgent):
"""
@@ -25,6 +28,8 @@ class TranscriptionAgent(BaseAgent):
:ivar audio_in_socket: The ZMQ SUB socket instance.
:ivar speech_recognizer: The speech recognition engine instance.
:ivar _concurrency: Semaphore to limit concurrent transcriptions.
:ivar _current_speech_reference: The reference of the current user utterance, for synchronising
experiment logs.
"""
def __init__(self, audio_in_address: str):
@@ -39,6 +44,7 @@ class TranscriptionAgent(BaseAgent):
self.audio_in_socket: azmq.Socket | None = None
self.speech_recognizer = None
self._concurrency = None
self._current_speech_reference: str | None = None
async def setup(self):
"""
@@ -63,6 +69,10 @@ class TranscriptionAgent(BaseAgent):
self.logger.info("Finished setting up %s", self.name)
async def handle_message(self, msg: InternalMessage):
if msg.thread == "voice_activity":
self._current_speech_reference = msg.body
async def stop(self):
"""
Stop the agent and close sockets.
@@ -96,24 +106,25 @@ class TranscriptionAgent(BaseAgent):
async def _share_transcription(self, transcription: str):
"""
Share a transcription to the other agents that depend on it.
Share a transcription to the other agents that depend on it, and to experiment logs.
Currently sends to:
- :attr:`settings.agent_settings.text_belief_extractor_name`
- The UI via the experiment logger
:param transcription: The transcribed text.
"""
receiver_names = [
settings.agent_settings.text_belief_extractor_name,
]
experiment_logger.chat(
transcription,
extra={"role": "user", "reference": self._current_speech_reference, "partial": False},
)
for receiver_name in receiver_names:
message = InternalMessage(
to=receiver_name,
sender=self.name,
body=transcription,
)
await self.send(message)
message = InternalMessage(
to=settings.agent_settings.text_belief_extractor_name,
sender=self.name,
body=transcription,
)
await self.send(message)
async def _transcribing_loop(self) -> None:
"""
@@ -129,10 +140,9 @@ class TranscriptionAgent(BaseAgent):
audio = np.frombuffer(audio_data, dtype=np.float32)
speech = await self._transcribe(audio)
if not speech:
self.logger.info("Nothing transcribed.")
self.logger.debug("Nothing transcribed.")
continue
self.logger.info("Transcribed speech: %s", speech)
await self._share_transcription(speech)
except Exception as e:
self.logger.error(f"Error in transcription loop: {e}")

23
src/control_backend/agents/perception/vad_agent.py
View File

@@ -1,4 +1,6 @@
import asyncio
import logging
import uuid
import numpy as np
import torch
@@ -12,6 +14,8 @@ from control_backend.schemas.internal_message import InternalMessage
from ...schemas.program_status import PROGRAM_STATUS, ProgramStatus
from .transcription_agent.transcription_agent import TranscriptionAgent
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class SocketPoller[T]:
"""
@@ -252,6 +256,18 @@ class VADAgent(BaseAgent):
if prob > prob_threshold:
if self.i_since_speech > non_speech_patience + begin_silence_length:
self.logger.debug("Speech started.")
reference = str(uuid.uuid4())
experiment_logger.chat(
"...",
extra={"role": "user", "reference": reference, "partial": True},
)
await self.send(
InternalMessage(
to=settings.agent_settings.transcription_name,
body=reference,
thread="voice_activity",
)
)
self.audio_buffer = np.append(self.audio_buffer, chunk)
self.i_since_speech = 0
continue
@@ -269,9 +285,10 @@ class VADAgent(BaseAgent):
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) :]
async def handle_message(self, msg: InternalMessage):
"""

4
src/control_backend/agents/user_interrupt/user_interrupt_agent.py
View File

@@ -1,4 +1,5 @@
import json
import logging
import zmq
from zmq.asyncio import Context
@@ -16,6 +17,8 @@ from control_backend.schemas.ri_message import (
SpeechCommand,
)
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class UserInterruptAgent(BaseAgent):
"""
@@ -305,6 +308,7 @@ class UserInterruptAgent(BaseAgent):
:param text_to_say: The string that the robot has to say.
"""
experiment_logger.chat(text_to_say, extra={"role": "assistant"})
cmd = SpeechCommand(data=text_to_say, is_priority=True)
out_msg = InternalMessage(
to=settings.agent_settings.robot_speech_name,

8
test/unit/agents/actuation/test_robot_gesture_agent.py
View File

@@ -1,5 +1,5 @@
import json
from unittest.mock import AsyncMock, MagicMock
from unittest.mock import AsyncMock, MagicMock, patch
import pytest
import zmq
@@ -19,6 +19,12 @@ def zmq_context(mocker):
return mock_context
@pytest.fixture(autouse=True)
def mock_experiment_logger():
with patch("control_backend.agents.actuation.robot_gesture_agent.experiment_logger") as logger:
yield logger
@pytest.mark.asyncio
async def test_setup_bind(zmq_context, mocker):
"""Setup binds and subscribes to internal commands."""

6
test/unit/agents/bdi/test_bdi_core_agent.py
View File

@@ -26,6 +26,12 @@ def agent():
return agent
@pytest.fixture(autouse=True)
def mock_experiment_logger():
with patch("control_backend.agents.bdi.bdi_core_agent.experiment_logger") as logger:
yield logger
@pytest.mark.asyncio
async def test_setup_loads_asl(mock_agentspeak_env, agent):
# Mock file opening

6
test/unit/agents/llm/test_llm_agent.py
View File

@@ -18,6 +18,12 @@ def mock_httpx_client():
yield mock_client
@pytest.fixture(autouse=True)
def mock_experiment_logger():
with patch("control_backend.agents.llm.llm_agent.experiment_logger") as logger:
yield logger
@pytest.mark.asyncio
async def test_llm_processing_success(mock_httpx_client, mock_settings):
# Setup the mock response for the stream

9
test/unit/agents/perception/transcription_agent/test_transcription_agent.py
View File

@@ -14,6 +14,15 @@ from control_backend.agents.perception.transcription_agent.transcription_agent i
)
@pytest.fixture(autouse=True)
def mock_experiment_logger():
with patch(
"control_backend.agents.perception"
".transcription_agent.transcription_agent.experiment_logger"
) as logger:
yield logger
@pytest.mark.asyncio
async def test_transcription_agent_flow(mock_zmq_context):
mock_sub = MagicMock()

22
test/unit/agents/perception/vad_agent/test_vad_streaming.py
View File

@@ -24,7 +24,9 @@ def audio_out_socket():
@pytest.fixture
def vad_agent(audio_out_socket):
return VADAgent("tcp://localhost:5555", False)
agent = VADAgent("tcp://localhost:5555", False)
agent._internal_pub_socket = AsyncMock()
return agent
@pytest.fixture(autouse=True)
@@ -44,6 +46,12 @@ def patch_settings(monkeypatch):
monkeypatch.setattr(vad_agent.settings.vad_settings, "sample_rate_hz", 16_000, raising=False)
@pytest.fixture(autouse=True)
def mock_experiment_logger():
with patch("control_backend.agents.perception.vad_agent.experiment_logger") as logger:
yield logger
async def simulate_streaming_with_probabilities(streaming, probabilities: list[float]):
"""
Simulates a streaming scenario with given VAD model probabilities for testing purposes.
@@ -84,14 +92,15 @@ async def test_voice_activity_detected(audio_out_socket, vad_agent):
Test a scenario where there is voice activity detected between silences.
"""
speech_chunk_count = 5
probabilities = [0.0] * 5 + [1.0] * speech_chunk_count + [0.0] * 5
begin_silence_chunks = settings.behaviour_settings.vad_begin_silence_chunks
probabilities = [0.0] * 15 + [1.0] * speech_chunk_count + [0.0] * 5
vad_agent.audio_out_socket = audio_out_socket
await simulate_streaming_with_probabilities(vad_agent, probabilities)
audio_out_socket.send.assert_called_once()
data = audio_out_socket.send.call_args[0][0]
assert isinstance(data, bytes)
assert len(data) == 512 * 4 * (speech_chunk_count + 1)
assert len(data) == 512 * 4 * (begin_silence_chunks + speech_chunk_count)
@pytest.mark.asyncio
@@ -101,8 +110,9 @@ async def test_voice_activity_short_pause(audio_out_socket, vad_agent):
short pause.
"""
speech_chunk_count = 5
begin_silence_chunks = settings.behaviour_settings.vad_begin_silence_chunks
probabilities = (
[0.0] * 5 + [1.0] * speech_chunk_count + [0.0] + [1.0] * speech_chunk_count + [0.0] * 5
[0.0] * 15 + [1.0] * speech_chunk_count + [0.0] + [1.0] * speech_chunk_count + [0.0] * 5
)
vad_agent.audio_out_socket = audio_out_socket
await simulate_streaming_with_probabilities(vad_agent, probabilities)
@@ -110,8 +120,8 @@ async def test_voice_activity_short_pause(audio_out_socket, vad_agent):
audio_out_socket.send.assert_called_once()
data = audio_out_socket.send.call_args[0][0]
assert isinstance(data, bytes)
# Expecting 13 chunks (2*5 with speech, 1 pause between, 1 as padding)
assert len(data) == 512 * 4 * (speech_chunk_count * 2 + 1 + 1)
# Expecting 13 chunks (2*5 with speech, 1 pause between, begin_silence_chunks as padding)
assert len(data) == 512 * 4 * (speech_chunk_count * 2 + 1 + begin_silence_chunks)
@pytest.mark.asyncio

92
test/unit/agents/user_interrupt/test_user_interrupt.py
View File

@@ -30,6 +30,14 @@ def agent():
return agent
@pytest.fixture(autouse=True)
def mock_experiment_logger():
with patch(
"control_backend.agents.user_interrupt.user_interrupt_agent.experiment_logger"
) as logger:
yield logger
@pytest.mark.asyncio
async def test_send_to_speech_agent(agent):
"""Verify speech command format."""
@@ -579,30 +587,6 @@ async def test_create_mapping_recursive_goals(agent):
assert agent._goal_reverse_map["child_goal"] == str(child_goal_id)
@pytest.mark.asyncio
async def test_setup(agent):
"""Test the setup method initializes sockets correctly."""
with patch("control_backend.agents.user_interrupt.user_interrupt_agent.Context") as MockContext:
mock_ctx_instance = MagicMock()
MockContext.instance.return_value = mock_ctx_instance
mock_sub = MagicMock()
mock_pub = MagicMock()
mock_ctx_instance.socket.side_effect = [mock_sub, mock_pub]
# MOCK add_behavior so we don't rely on internal attributes
agent.add_behavior = MagicMock()
await agent.setup()
# Check sockets
mock_sub.connect.assert_called_with(settings.zmq_settings.internal_sub_address)
mock_pub.connect.assert_called_with(settings.zmq_settings.internal_pub_address)
# Verify add_behavior was called
agent.add_behavior.assert_called_once()
@pytest.mark.asyncio
async def test_receive_loop_advanced_scenarios(agent):
"""
@@ -706,63 +690,3 @@ async def test_receive_loop_advanced_scenarios(agent):
# Next Phase
agent._send_experiment_control_to_bdi_core.assert_awaited_with("next_phase")
@pytest.mark.asyncio
async def test_handle_message_unknown_thread(agent):
"""Test handling of an unknown message thread (lines 213-214)."""
msg = InternalMessage(to="me", thread="unknown_thread", body="test")
await agent.handle_message(msg)
agent.logger.debug.assert_called_with(
"Received internal message on unhandled thread: unknown_thread"
)
@pytest.mark.asyncio
async def test_send_to_bdi_belief_edge_cases(agent):
"""
Covers:
- Unknown asl_type warning (lines 326-328)
- unachieve=True logic (lines 334-337)
"""
# 1. Unknown Type
await agent._send_to_bdi_belief("slug", "unknown_type")
agent.logger.warning.assert_called_with("Tried to send belief with unknown type")
agent.send.assert_not_called()
# Reset mock for part 2
agent.send.reset_mock()
# 2. Unachieve = True
await agent._send_to_bdi_belief("slug", "cond_norm", unachieve=True)
agent.send.assert_awaited()
sent_msg = agent.send.call_args.args[0]
# Verify it is a delete operation
body_obj = BeliefMessage.model_validate_json(sent_msg.body)
# Verify 'delete' has content
assert body_obj.delete is not None
assert len(body_obj.delete) == 1
assert body_obj.delete[0].name == "force_slug"
# Verify 'create' is empty (handling both None and [])
assert not body_obj.create
@pytest.mark.asyncio
async def test_send_experiment_control_unknown(agent):
"""Test sending an unknown experiment control type (lines 366-367)."""
await agent._send_experiment_control_to_bdi_core("invalid_command")
agent.logger.warning.assert_called_with(
"Received unknown experiment control type '%s' to send to BDI Core.", "invalid_command"
)
# Ensure it still sends an empty message (as per code logic, though thread is empty)
agent.send.assert_awaited()
msg = agent.send.call_args[0][0]
assert msg.thread == ""