feat: add program manager

ref: N25B-299

src/control_backend/agents/bdi/bdi_core_agent/bdi_core_agent.py

@@ -11,7 +11,7 @@ from pydantic import ValidationError
 from control_backend.agents.base import BaseAgent
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
-from control_backend.schemas.belief_message import BeliefMessage
+from control_backend.schemas.belief_message import Belief, BeliefMessage
 from control_backend.schemas.ri_message import SpeechCommand
 
 
@@ -77,17 +77,18 @@ class BDICoreAgent(BaseAgent):
         """
         Route incoming messages (Beliefs or LLM responses).
         """
-        sender = msg.sender
+        self.logger.debug("Processing message from %s.", msg.sender)
 
-        match sender:
-            case settings.agent_settings.bdi_belief_collector_name:
-                self.logger.debug("Processing message from belief collector.")
-                try:
-                    if msg.thread == "beliefs":
-                        beliefs = BeliefMessage.model_validate_json(msg.body).beliefs
-                        self._add_beliefs(beliefs)
-                except ValidationError:
-                    self.logger.exception("Error processing belief.")
+        if msg.thread == "beliefs":
+            try:
+                beliefs = BeliefMessage.model_validate_json(msg.body).beliefs
+                self._apply_beliefs(beliefs)
+            except ValidationError:
+                self.logger.exception("Error processing belief.")
+            return
+
+        # The message was not a belief, handle special cases based on sender
+        match msg.sender:
             case settings.agent_settings.llm_name:
                 content = msg.body
                 self.logger.info("Received LLM response: %s", content)
@@ -101,12 +102,14 @@ class BDICoreAgent(BaseAgent):
                 )
                 await self.send(out_msg)
 
-    def _add_beliefs(self, beliefs: dict[str, list[str]]):
+    def _apply_beliefs(self, beliefs: list[Belief]):
         if not beliefs:
             return
 
-        for name, args in beliefs.items():
-            self._add_belief(name, args)
+        for belief in beliefs:
+            if belief.replace:
+                self._remove_all_with_name(belief.name)
+            self._add_belief(belief.name, belief.arguments)
 
     def _add_belief(self, name: str, args: Iterable[str] = []):
         new_args = (agentspeak.Literal(arg) for arg in args)
@@ -143,7 +146,6 @@ class BDICoreAgent(BaseAgent):
         else:
             self.logger.debug("Failed to remove belief (it was not in the belief base).")
 
-    # TODO: decide if this is needed
     def _remove_all_with_name(self, name: str):
         """
         Removes all beliefs that match the given `name`.
@@ -155,7 +157,8 @@ class BDICoreAgent(BaseAgent):
 
         removed_count = 0
         for group in relevant_groups:
-            for belief in self.bdi_agent.beliefs[group]:
+            beliefs_to_remove = list(self.bdi_agent.beliefs[group])
+            for belief in beliefs_to_remove:
                 self.bdi_agent.call(
                     agentspeak.Trigger.removal,
                     agentspeak.GoalType.belief,

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -0,0 +1,67 @@
+import zmq
+from pydantic import ValidationError
+from zmq.asyncio import Context
+
+from control_backend.agents import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief, BeliefMessage
+from control_backend.schemas.program import Program
+
+
+class BDIProgramManager(BaseAgent):
+    """
+    Will interpret programs received from the HTTP endpoint. Extracts norms, goals, triggers and
+    forwards them to the BDI as beliefs.
+    """
+
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self.sub_socket = None
+
+    async def _send_to_bdi(self, program: Program):
+        first_phase = program.phases[0]
+        norms_belief = Belief(
+            name="norms",
+            arguments=[norm.norm for norm in first_phase.norms],
+            replace=True,
+        )
+        goals_belief = Belief(
+            name="goals",
+            arguments=[goal.description for goal in first_phase.goals],
+            replace=True,
+        )
+        program_beliefs = BeliefMessage(beliefs=[norms_belief, goals_belief])
+
+        message = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=program_beliefs.model_dump_json(),
+            thread="beliefs",
+        )
+        await self.send(message)
+        self.logger.debug("Sent new norms and goals to the BDI agent.")
+
+    async def _receive_programs(self):
+        """
+        Continuously receive programs from the HTTP endpoint, sent to us over ZMQ.
+        """
+        while True:
+            topic, body = await self.sub_socket.recv_multipart()
+
+            try:
+                program = Program.model_validate_json(body)
+            except ValidationError as e:
+                self.logger.error("Received an invalid program.", exc_info=e)
+                continue
+
+            await self._send_to_bdi(program)
+
+    async def setup(self):
+        context = Context.instance()
+
+        self.sub_socket = context.socket(zmq.SUB)
+        self.sub_socket.connect(settings.zmq_settings.internal_sub_address)
+        self.sub_socket.subscribe("program")
+
+        await self.add_behavior(self._receive_programs())

src/control_backend/agents/bdi/belief_collector_agent.py

@@ -1,9 +1,11 @@
 import json
 
+from pydantic import ValidationError
+
 from control_backend.agents.base import BaseAgent
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
-from control_backend.schemas.belief_message import BeliefMessage
+from control_backend.schemas.belief_message import Belief, BeliefMessage
 
 
 class BDIBeliefCollectorAgent(BaseAgent):
@@ -60,10 +62,30 @@ class BDIBeliefCollectorAgent(BaseAgent):
             self.logger.debug("Received empty beliefs set.")
             return
 
+        def try_create_belief(name, arguments) -> Belief | None:
+            """
+            Create a belief object from name and arguments, or return None silently if the input is
+            not correct.
+
+            :param name: The name of the belief.
+            :param arguments: The arguments of the belief.
+            :return: A Belief object if the input is valid or None.
+            """
+            try:
+                return Belief(name=name, arguments=arguments)
+            except ValidationError:
+                return None
+
+        beliefs = [
+            belief
+            for name, arguments in beliefs.items()
+            if (belief := try_create_belief(name, arguments)) is not None
+        ]
+
         self.logger.debug("Forwarding %d beliefs.", len(beliefs))
-        for belief_name, belief_list in beliefs.items():
-            for belief in belief_list:
-                self.logger.debug("  - %s %s", belief_name, str(belief))
+        for belief in beliefs:
+            for argument in belief.arguments:
+                self.logger.debug("  - %s %s", belief.name, argument)
 
         await self._send_beliefs_to_bdi(beliefs, origin=origin)
 
@@ -71,7 +93,7 @@ class BDIBeliefCollectorAgent(BaseAgent):
         """TODO: implement (after we have emotional recognition)"""
         pass
 
-    async def _send_beliefs_to_bdi(self, beliefs: dict, origin: str | None = None):
+    async def _send_beliefs_to_bdi(self, beliefs: list[Belief], origin: str | None = None):
         """
         Sends a unified belief packet to the BDI agent.
         """