feat: stop experiment

src/control_backend/agents/bdi/agentspeak_generator.py

@@ -235,6 +235,39 @@ class AgentSpeakGenerator:
             )
         )
 
+    def _add_stop_plan(self, phase: Phase):
+        """
+        Adds a plan to stop the program. This just skips to the end phase,
+        where there is no behavior defined.
+        """
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("stop"),
+                [AstLiteral("phase", [AstString(phase.id)])],
+                [
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral(
+                            "notify_transition_phase",
+                            [
+                                AstString(phase.id),
+                                AstString("end")
+                            ]
+                        )
+                    ),
+                    AstStatement(
+                        StatementType.REMOVE_BELIEF,
+                        AstLiteral("phase", [AstVar("Phase")]),
+                    ),
+                    AstStatement(
+                        StatementType.ADD_BELIEF,
+                        AstLiteral("phase", [AstString("end")])
+                    )
+                ]
+            )
+        )
+
     def _process_phases(self, phases: list[Phase]) -> None:
         """
         Processes all phases in the program and their transitions.
@@ -277,6 +310,9 @@ class AgentSpeakGenerator:
         for trigger in phase.triggers:
             self._process_trigger(trigger, phase)
 
+        # Add force transition to end phase
+        self._add_stop_plan(phase)
+
     def _add_phase_transition(self, from_phase: Phase | None, to_phase: Phase | None) -> None:
         """
         Adds plans for transitioning between phases.
@@ -567,6 +603,7 @@ class AgentSpeakGenerator:
         - check_triggers: When no triggers are applicable
         - transition_phase: When phase transition conditions aren't met
         - force_transition_phase: When forced transitions aren't possible
+        - stop: When we are already in the end phase
         """
         # Trigger fallback
         self._asp.plans.append(
@@ -598,6 +635,16 @@ class AgentSpeakGenerator:
             )
         )
 
+        # Stop fallback
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("stop"),
+                [],
+                [AstStatement(StatementType.EMPTY, AstLiteral("true"))],
+            )
+        )
+
     @singledispatchmethod
     def _astify(self, element: ProgramElement) -> AstExpression:
         """

src/control_backend/agents/bdi/bdi_core_agent.py

@@ -176,6 +176,8 @@ class BDICoreAgent(BaseAgent):
                         self._force_norm(msg.body)
                     case "force_next_phase":
                         self._force_next_phase()
+                    case "stop":
+                        self._stop()
                     case _:
                         self.logger.warning("Received unknown user interruption: %s", msg)
 
@@ -335,6 +337,11 @@ class BDICoreAgent(BaseAgent):
 
         self.logger.info("Manually forced phase transition.")
 
+    def _stop(self):
+        self._set_goal("stop")
+
+        self.logger.info("Stopped the program (skipped to end phase).")
+
     def _add_custom_actions(self) -> None:
         """
         Add any custom actions here. Inside `@self.actions.add()`, the first argument is

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -164,6 +164,12 @@ class UserInterruptAgent(BaseAgent):
                     else:
                         self.logger.info("Sent resume command.")
 
+                case "stop":
+                    self.logger.debug(
+                        "Received stop command."
+                    )
+                    await self._send_stop_command()
+
                 case "next_phase" | "reset_phase":
                     await self._send_experiment_control_to_bdi_core(event_type)
                 case _:
@@ -422,4 +428,16 @@ class UserInterruptAgent(BaseAgent):
             )
             await self.send(vad_message)
             # Voice Activity Detection and Visual Emotion Recognition agents
-            self.logger.info("Sent resume command to VAD and VED agents.")
+            self.logger.info("Sent resume command to VAD and VED agents.")
+
+    async def _send_stop_command(self):
+        """
+        Send a command to the BDI to stop the program (i.e., skip to end phase).
+        """
+        msg = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            body="",
+            thread="stop"
+        )
+
+        await self.send(msg)