feat: added recursive mapping

ref: N25B-400

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -1,12 +1,10 @@
 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
@@ -21,8 +19,6 @@ from control_backend.schemas.program import (
     Program,
 )
 
-experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
-
 
 class BDIProgramManager(BaseAgent):
     """
@@ -245,18 +241,6 @@ 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("experiment").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.
@@ -277,7 +261,6 @@ 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),

src/control_backend/agents/bdi/text_belief_extractor_agent.py

@@ -150,9 +150,6 @@ class TextBeliefExtractorAgent(BaseAgent):
             return
 
         available_beliefs = [b for b in belief_list.beliefs if isinstance(b, SemanticBelief)]
-        self._current_beliefs = BeliefState(
-            false={InternalBelief(name=b.name, arguments=None) for b in available_beliefs},
-        )
         self.belief_inferrer.available_beliefs = available_beliefs
         self.logger.debug(
             "Received %d semantic beliefs from the program manager: %s",
@@ -173,9 +170,6 @@ class TextBeliefExtractorAgent(BaseAgent):
         available_goals = {g for g in goals_list.goals if g.can_fail}
         available_goals -= self._force_completed_goals
         self.goal_inferrer.goals = available_goals
-        self._current_goal_completions = {
-            f"achieved_{AgentSpeakGenerator.slugify(goal)}": False for goal in available_goals
-        }
         self.logger.debug(
             "Received %d failable goals from the program manager: %s",
             len(available_goals),

src/control_backend/agents/perception/vad_agent.py

@@ -285,10 +285,9 @@ 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 there is no speech.
+            # At this point, we know that the speech has ended.
-            # Prepend the last few chunks that had no speech, for a more fluent boundary.
+            # Prepend the last chunk that had no speech, for a more fluent boundary
-            self.audio_buffer = np.append(self.audio_buffer, chunk)
+            self.audio_buffer = chunk
-            self.audio_buffer = self.audio_buffer[-begin_silence_length * len(chunk) :]
 
     async def handle_message(self, msg: InternalMessage):
         """

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -9,7 +9,7 @@ from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
 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 ConditionalNorm, Program
+from control_backend.schemas.program import ConditionalNorm, Goal, Program
 from control_backend.schemas.ri_message import (
     GestureCommand,
     PauseCommand,
@@ -250,6 +250,18 @@ class UserInterruptAgent(BaseAgent):
             self._cond_norm_map = {}
             self._cond_norm_reverse_map = {}
 
+            def _register_goal(goal: Goal):
+                """Recursively register goals and their subgoals."""
+                slug = AgentSpeakGenerator.slugify(goal)
+                self._goal_map[str(goal.id)] = slug
+                self._goal_reverse_map[slug] = str(goal.id)
+
+                # Recursively check steps for subgoals
+                if goal.plan and goal.plan.steps:
+                    for step in goal.plan.steps:
+                        if isinstance(step, Goal):
+                            _register_goal(step)
+
             for phase in program.phases:
                 for trigger in phase.triggers:
                     slug = AgentSpeakGenerator.slugify(trigger)
@@ -257,8 +269,7 @@ class UserInterruptAgent(BaseAgent):
                     self._trigger_reverse_map[slug] = str(trigger.id)
 
                 for goal in phase.goals:
-                    self._goal_map[str(goal.id)] = AgentSpeakGenerator.slugify(goal)
+                    _register_goal(goal)
-                    self._goal_reverse_map[AgentSpeakGenerator.slugify(goal)] = str(goal.id)
 
                 for goal, id in self._goal_reverse_map.items():
                     self.logger.debug(f"Goal mapping: UI ID {goal} -> {id}")
@@ -300,7 +311,7 @@ class UserInterruptAgent(BaseAgent):
 
         :param text_to_say: The string that the robot has to say.
         """
-        experiment_logger.chat(text_to_say, extra={"role": "assistant"})
+        experiment_logger.chat(text_to_say, extra={"role": "user"})
         cmd = SpeechCommand(data=text_to_say, is_priority=True)
         out_msg = InternalMessage(
             to=settings.agent_settings.robot_speech_name,