chore: fix bugs and make sure connected robots work

ref: N25B-350

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -83,6 +83,8 @@ class RobotGestureAgent(BaseAgent):
             self.subsocket.close()
         if self.pubsocket:
             self.pubsocket.close()
+        if self.repsocket:
+            self.repsocket.close()
         await super().stop()
 
     async def handle_message(self, msg: InternalMessage):

src/control_backend/agents/bdi/agentspeak_ast.py

@@ -187,9 +187,10 @@ class StatementType(StrEnum):
     EMPTY = ""
     DO_ACTION = "."
     ACHIEVE_GOAL = "!"
-    # TEST_GOAL = "?"  # TODO
+    TEST_GOAL = "?"
     ADD_BELIEF = "+"
     REMOVE_BELIEF = "-"
+    REPLACE_BELIEF = "-+"
 
 
 @dataclass

src/control_backend/agents/bdi/agentspeak_generator.py

@@ -0,0 +1,403 @@
+from functools import singledispatchmethod
+
+from slugify import slugify
+
+from control_backend.agents.bdi.agentspeak_ast import (
+    AstBinaryOp,
+    AstExpression,
+    AstLiteral,
+    AstPlan,
+    AstProgram,
+    AstRule,
+    AstStatement,
+    AstString,
+    AstVar,
+    BinaryOperatorType,
+    StatementType,
+    TriggerType,
+)
+from control_backend.schemas.program import (
+    BasicNorm,
+    ConditionalNorm,
+    GestureAction,
+    Goal,
+    InferredBelief,
+    KeywordBelief,
+    LLMAction,
+    LogicalOperator,
+    Norm,
+    Phase,
+    PlanElement,
+    Program,
+    ProgramElement,
+    SemanticBelief,
+    SpeechAction,
+    Trigger,
+)
+
+
+class AgentSpeakGenerator:
+    _asp: AstProgram
+
+    def generate(self, program: Program) -> str:
+        self._asp = AstProgram()
+
+        self._asp.rules.append(AstRule(self._astify(program.phases[0])))
+        self._add_keyword_inference()
+        self._add_default_plans()
+
+        self._process_phases(program.phases)
+
+        self._add_fallbacks()
+
+        return str(self._asp)
+
+    def _add_keyword_inference(self) -> None:
+        keyword = AstVar("Keyword")
+        message = AstVar("Message")
+        position = AstVar("Pos")
+
+        self._asp.rules.append(
+            AstRule(
+                AstLiteral("keyword_said", [keyword]),
+                AstLiteral("user_said", [message])
+                & AstLiteral(".substring", [keyword, message, position])
+                & (position >= 0),
+            )
+        )
+
+    def _add_default_plans(self):
+        self._add_reply_with_goal_plan()
+        self._add_say_plan()
+        self._add_reply_plan()
+
+    def _add_reply_with_goal_plan(self):
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("reply_with_goal", [AstVar("Goal")]),
+                [AstLiteral("user_said", [AstVar("Message")])],
+                [
+                    AstStatement(StatementType.ADD_BELIEF, AstLiteral("responded_this_turn")),
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral(
+                            "findall",
+                            [AstVar("Norm"), AstLiteral("norm", [AstVar("Norm")]), AstVar("Norms")],
+                        ),
+                    ),
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral(
+                            "reply_with_goal", [AstVar("Message"), AstVar("Norms"), AstVar("Goal")]
+                        ),
+                    ),
+                ],
+            )
+        )
+
+    def _add_say_plan(self):
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("say", [AstVar("Text")]),
+                [],
+                [
+                    AstStatement(StatementType.ADD_BELIEF, AstLiteral("responded_this_turn")),
+                    AstStatement(StatementType.DO_ACTION, AstLiteral("say", [AstVar("Text")])),
+                ],
+            )
+        )
+
+    def _add_reply_plan(self):
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("reply"),
+                [AstLiteral("user_said", [AstVar("Message")])],
+                [
+                    AstStatement(StatementType.ADD_BELIEF, AstLiteral("responded_this_turn")),
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral(
+                            "findall",
+                            [AstVar("Norm"), AstLiteral("norm", [AstVar("Norm")]), AstVar("Norms")],
+                        ),
+                    ),
+                    AstStatement(
+                        StatementType.DO_ACTION,
+                        AstLiteral("reply", [AstVar("Message"), AstVar("Norms")]),
+                    ),
+                ],
+            )
+        )
+
+    def _process_phases(self, phases: list[Phase]) -> None:
+        for curr_phase, next_phase in zip([None] + phases, phases + [None], strict=True):
+            if curr_phase:
+                self._process_phase(curr_phase)
+            self._add_phase_transition(curr_phase, next_phase)
+
+        # End phase behavior
+        # When deleting this, the entire `reply` plan and action can be deleted
+        self._asp.plans.append(
+            AstPlan(
+                type=TriggerType.ADDED_BELIEF,
+                trigger_literal=AstLiteral("user_said", [AstVar("Message")]),
+                context=[AstLiteral("phase", [AstString("end")])],
+                body=[AstStatement(StatementType.ACHIEVE_GOAL, AstLiteral("reply"))],
+            )
+        )
+
+    def _process_phase(self, phase: Phase) -> None:
+        for norm in phase.norms:
+            self._process_norm(norm, phase)
+
+        self._add_default_loop(phase)
+
+        previous_goal = None
+        for goal in phase.goals:
+            self._process_goal(goal, phase, previous_goal)
+            previous_goal = goal
+
+        for trigger in phase.triggers:
+            self._process_trigger(trigger, phase)
+
+    def _add_phase_transition(self, from_phase: Phase | None, to_phase: Phase | None) -> None:
+        if from_phase is None:
+            return
+        from_phase_ast = self._astify(from_phase)
+        to_phase_ast = (
+            self._astify(to_phase) if to_phase else AstLiteral("phase", [AstString("end")])
+        )
+
+        context = [from_phase_ast, ~AstLiteral("responded_this_turn")]
+        if from_phase and from_phase.goals:
+            context.append(self._astify(from_phase.goals[-1], achieved=True))
+
+        body = [
+            AstStatement(StatementType.REMOVE_BELIEF, from_phase_ast),
+            AstStatement(StatementType.ADD_BELIEF, to_phase_ast),
+        ]
+
+        if from_phase:
+            body.extend(
+                [
+                    AstStatement(
+                        StatementType.TEST_GOAL, AstLiteral("user_said", [AstVar("Message")])
+                    ),
+                    AstStatement(
+                        StatementType.REPLACE_BELIEF, AstLiteral("user_said", [AstVar("Message")])
+                    ),
+                ]
+            )
+
+        self._asp.plans.append(
+            AstPlan(TriggerType.ADDED_GOAL, AstLiteral("transition_phase"), context, body)
+        )
+
+    def _process_norm(self, norm: Norm, phase: Phase) -> None:
+        rule: AstRule | None = None
+
+        match norm:
+            case ConditionalNorm(condition=cond):
+                rule = AstRule(self._astify(norm), self._astify(phase) & self._astify(cond))
+            case BasicNorm():
+                rule = AstRule(self._astify(norm), self._astify(phase))
+
+        if not rule:
+            return
+
+        self._asp.rules.append(rule)
+
+    def _add_default_loop(self, phase: Phase) -> None:
+        actions = []
+
+        actions.append(AstStatement(StatementType.REMOVE_BELIEF, AstLiteral("responded_this_turn")))
+        actions.append(AstStatement(StatementType.ACHIEVE_GOAL, AstLiteral("check_triggers")))
+
+        for goal in phase.goals:
+            actions.append(AstStatement(StatementType.ACHIEVE_GOAL, self._astify(goal)))
+
+        actions.append(AstStatement(StatementType.ACHIEVE_GOAL, AstLiteral("transition_phase")))
+
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_BELIEF,
+                AstLiteral("user_said", [AstVar("Message")]),
+                [self._astify(phase)],
+                actions,
+            )
+        )
+
+    def _process_goal(
+        self,
+        goal: Goal,
+        phase: Phase,
+        previous_goal: Goal | None = None,
+        continues_response: bool = False,
+    ) -> None:
+        context: list[AstExpression] = [self._astify(phase)]
+        context.append(~self._astify(goal, achieved=True))
+        if previous_goal and previous_goal.can_fail:
+            context.append(self._astify(previous_goal, achieved=True))
+        if not continues_response:
+            context.append(~AstLiteral("responded_this_turn"))
+
+        body = []
+
+        subgoals = []
+        for step in goal.plan.steps:
+            body.append(self._step_to_statement(step))
+            if isinstance(step, Goal):
+                subgoals.append(step)
+
+        if not goal.can_fail and not continues_response:
+            body.append(AstStatement(StatementType.ADD_BELIEF, self._astify(goal, achieved=True)))
+
+        self._asp.plans.append(AstPlan(TriggerType.ADDED_GOAL, self._astify(goal), context, body))
+
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                self._astify(goal),
+                context=[],
+                body=[AstStatement(StatementType.EMPTY, AstLiteral("true"))],
+            )
+        )
+
+        prev_goal = None
+        for subgoal in subgoals:
+            self._process_goal(subgoal, phase, prev_goal)
+            prev_goal = subgoal
+
+    def _step_to_statement(self, step: PlanElement) -> AstStatement:
+        match step:
+            case Goal() | SpeechAction() | LLMAction() as a:
+                return AstStatement(StatementType.ACHIEVE_GOAL, self._astify(a))
+            case GestureAction() as a:
+                return AstStatement(StatementType.DO_ACTION, self._astify(a))
+
+    # TODO: separate handling of keyword and others
+    def _process_trigger(self, trigger: Trigger, phase: Phase) -> None:
+        body = []
+        subgoals = []
+
+        for step in trigger.plan.steps:
+            body.append(self._step_to_statement(step))
+            if isinstance(step, Goal):
+                step.can_fail = False  # triggers are continuous sequence
+                subgoals.append(step)
+
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("check_triggers"),
+                [self._astify(phase), self._astify(trigger.condition)],
+                body,
+            )
+        )
+
+        for subgoal in subgoals:
+            self._process_goal(subgoal, phase, continues_response=True)
+
+    def _add_fallbacks(self):
+        # Trigger fallback
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("check_triggers"),
+                [],
+                [AstStatement(StatementType.EMPTY, AstLiteral("true"))],
+            )
+        )
+
+        # Phase transition fallback
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("transition_phase"),
+                [],
+                [AstStatement(StatementType.EMPTY, AstLiteral("true"))],
+            )
+        )
+
+    @singledispatchmethod
+    def _astify(self, element: ProgramElement) -> AstExpression:
+        raise NotImplementedError(f"Cannot convert element {element} to an AgentSpeak expression.")
+
+    @_astify.register
+    def _(self, kwb: KeywordBelief) -> AstExpression:
+        return AstLiteral("keyword_said", [AstString(kwb.keyword)])
+
+    @_astify.register
+    def _(self, sb: SemanticBelief) -> AstExpression:
+        return AstLiteral(self.get_semantic_belief_slug(sb))
+
+    @staticmethod
+    def get_semantic_belief_slug(sb: SemanticBelief) -> str:
+        # If you need a method like this for other types, make a public slugify singledispatch for
+        #  all types.
+        return f"semantic_{AgentSpeakGenerator._slugify_str(sb.name)}"
+
+    @_astify.register
+    def _(self, ib: InferredBelief) -> AstExpression:
+        return AstBinaryOp(
+            self._astify(ib.left),
+            BinaryOperatorType.AND if ib.operator == LogicalOperator.AND else BinaryOperatorType.OR,
+            self._astify(ib.right),
+        )
+
+    @_astify.register
+    def _(self, norm: Norm) -> AstExpression:
+        functor = "critical_norm" if norm.critical else "norm"
+        return AstLiteral(functor, [AstString(norm.norm)])
+
+    @_astify.register
+    def _(self, phase: Phase) -> AstExpression:
+        return AstLiteral("phase", [AstString(str(phase.id))])
+
+    @_astify.register
+    def _(self, goal: Goal, achieved: bool = False) -> AstExpression:
+        return AstLiteral(f"{'achieved_' if achieved else ''}{self._slugify_str(goal.name)}")
+
+    @_astify.register
+    def _(self, trigger: Trigger) -> AstExpression:
+        return AstLiteral(self.slugify(trigger))
+
+    @_astify.register
+    def _(self, sa: SpeechAction) -> AstExpression:
+        return AstLiteral("say", [AstString(sa.text)])
+
+    @_astify.register
+    def _(self, ga: GestureAction) -> AstExpression:
+        gesture = ga.gesture
+        return AstLiteral("gesture", [AstString(gesture.type), AstString(gesture.name)])
+
+    @_astify.register
+    def _(self, la: LLMAction) -> AstExpression:
+        return AstLiteral("reply_with_goal", [AstString(la.goal)])
+
+    @singledispatchmethod
+    @staticmethod
+    def slugify(element: ProgramElement) -> str:
+        raise NotImplementedError(f"Cannot convert element {element} to a slug.")
+
+    @slugify.register
+    @staticmethod
+    def _(sb: SemanticBelief) -> str:
+        return f"semantic_{AgentSpeakGenerator._slugify_str(sb.name)}"
+
+    @slugify.register
+    @staticmethod
+    def _(g: Goal) -> str:
+        return AgentSpeakGenerator._slugify_str(g.name)
+
+    @slugify.register
+    @staticmethod
+    def _(t: Trigger):
+        return f"trigger_{AgentSpeakGenerator._slugify_str(t.name)}"
+
+    @staticmethod
+    def _slugify_str(text: str) -> str:
+        return slugify(text, separator="_", stopwords=["a", "an", "the", "we", "you", "I"])

src/control_backend/agents/bdi/bdi_core_agent.py

@@ -42,13 +42,13 @@ class BDICoreAgent(BaseAgent):
 
     bdi_agent: agentspeak.runtime.Agent
 
-    def __init__(self, name: str, asl: str):
+    def __init__(self, name: str):
         super().__init__(name)
-        self.asl_file = asl
         self.env = agentspeak.runtime.Environment()
         # Deep copy because we don't actually want to modify the standard actions globally
         self.actions = copy.deepcopy(agentspeak.stdlib.actions)
         self._wake_bdi_loop = asyncio.Event()
+        self._bdi_loop_task = None
 
     async def setup(self) -> None:
         """
@@ -65,19 +65,22 @@ class BDICoreAgent(BaseAgent):
         await self._load_asl()
 
         # Start the BDI cycle loop
-        self.add_behavior(self._bdi_loop())
+        self._bdi_loop_task = self.add_behavior(self._bdi_loop())
         self._wake_bdi_loop.set()
         self.logger.debug("Setup complete.")
 
-    async def _load_asl(self):
+    async def _load_asl(self, file_name: str | None = None) -> None:
         """
         Load and parse the AgentSpeak source file.
         """
+        file_name = file_name or "src/control_backend/agents/bdi/default_behavior.asl"
+
         try:
-            with open(self.asl_file) as source:
+            with open(file_name) as source:
                 self.bdi_agent = self.env.build_agent(source, self.actions)
+                self.logger.info(f"Loaded new ASL from {file_name}.")
         except FileNotFoundError:
-            self.logger.warning(f"Could not find the specified ASL file at {self.asl_file}.")
+            self.logger.warning(f"Could not find the specified ASL file at {file_name}.")
             self.bdi_agent = agentspeak.runtime.Agent(self.env, self.name)
 
     async def _bdi_loop(self):
@@ -116,6 +119,7 @@ class BDICoreAgent(BaseAgent):
         Handle incoming messages.
 
         - **Beliefs**: Updates the internal belief base.
+        - **Program**: Updates the internal agentspeak file to match the current program.
         - **LLM Responses**: Forwards the generated text to the Robot Speech Agent (actuation).
 
         :param msg: The received internal message.
@@ -130,6 +134,13 @@ class BDICoreAgent(BaseAgent):
                 self.logger.exception("Error processing belief.")
             return
 
+        # New agentspeak file
+        if msg.thread == "new_program":
+            if self._bdi_loop_task:
+                self._bdi_loop_task.cancel()
+            await self._load_asl(msg.body)
+            self.add_behavior(self._bdi_loop())
+
         # The message was not a belief, handle special cases based on sender
         match msg.sender:
             case settings.agent_settings.llm_name:
@@ -246,20 +257,18 @@ class BDICoreAgent(BaseAgent):
         the function expects (which will be located in `term.args`).
         """
 
-        @self.actions.add(".reply", 3)
+        @self.actions.add(".reply", 2)
         def _reply(agent: "BDICoreAgent", term, intention):
             """
             Let the LLM generate a response to a user's utterance with the current norms and goals.
             """
             message_text = agentspeak.grounded(term.args[0], intention.scope)
             norms = agentspeak.grounded(term.args[1], intention.scope)
-            goals = agentspeak.grounded(term.args[2], intention.scope)
 
             self.logger.debug("Norms: %s", norms)
-            self.logger.debug("Goals: %s", goals)
             self.logger.debug("User text: %s", message_text)
 
-            asyncio.create_task(self._send_to_llm(str(message_text), str(norms), str(goals)))
+            self.add_behavior(self._send_to_llm(str(message_text), str(norms), ""))
             yield
 
         @self.actions.add(".reply_with_goal", 3)
@@ -278,7 +287,7 @@ class BDICoreAgent(BaseAgent):
                 norms,
                 goal,
             )
-            # asyncio.create_task(self._send_to_llm(str(message_text), norms, str(goal)))
+            self.add_behavior(self._send_to_llm(str(message_text), str(norms), str(goal)))
             yield
 
         @self.actions.add(".say", 1)
@@ -290,13 +299,14 @@ class BDICoreAgent(BaseAgent):
 
             self.logger.debug('"say" action called with text=%s', message_text)
 
-            # speech_command = SpeechCommand(data=message_text)
+            speech_command = SpeechCommand(data=message_text)
-            # speech_message = InternalMessage(
+            speech_message = InternalMessage(
-            #     to=settings.agent_settings.robot_speech_name,
+                to=settings.agent_settings.robot_speech_name,
-            #     sender=settings.agent_settings.bdi_core_name,
+                sender=settings.agent_settings.bdi_core_name,
-            #     body=speech_command.model_dump_json(),
+                body=speech_command.model_dump_json(),
-            # )
+            )
-            # asyncio.create_task(agent.send(speech_message))
+            # TODO: add to conversation history
+            self.add_behavior(self.send(speech_message))
             yield
 
         @self.actions.add(".gesture", 2)

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -1,598 +1,15 @@
-import uuid
+import asyncio
-from collections.abc import Iterable
 
 import zmq
 from pydantic import ValidationError
-from slugify import slugify
 from zmq.asyncio import Context
 
 from control_backend.agents import BaseAgent
+from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
 from control_backend.core.config import settings
-from control_backend.schemas.program import (
+from control_backend.schemas.belief_list import BeliefList
-    Action,
+from control_backend.schemas.internal_message import InternalMessage
-    BasicBelief,
+from control_backend.schemas.program import Belief, ConditionalNorm, InferredBelief, Program
-    BasicNorm,
-    Belief,
-    ConditionalNorm,
-    GestureAction,
-    Goal,
-    InferredBelief,
-    KeywordBelief,
-    LLMAction,
-    LogicalOperator,
-    Phase,
-    Plan,
-    Program,
-    ProgramElement,
-    SemanticBelief,
-    SpeechAction,
-    Trigger,
-)
-
-test_program = Program(
-    phases=[
-        Phase(
-            norms=[
-                BasicNorm(norm="Talk like a pirate", id=uuid.uuid4()),
-                ConditionalNorm(
-                    condition=InferredBelief(
-                        left=KeywordBelief(keyword="Arr", id=uuid.uuid4()),
-                        right=SemanticBelief(
-                            description="testing", name="semantic belief", id=uuid.uuid4()
-                        ),
-                        operator=LogicalOperator.OR,
-                        name="Talking to a pirate",
-                        id=uuid.uuid4(),
-                    ),
-                    norm="Use nautical terms",
-                    id=uuid.uuid4(),
-                ),
-                ConditionalNorm(
-                    condition=SemanticBelief(
-                        description="We are talking to a child",
-                        name="talking to child",
-                        id=uuid.uuid4(),
-                    ),
-                    norm="Do not use cuss words",
-                    id=uuid.uuid4(),
-                ),
-            ],
-            triggers=[
-                Trigger(
-                    condition=InferredBelief(
-                        left=KeywordBelief(keyword="key", id=uuid.uuid4()),
-                        right=InferredBelief(
-                            left=KeywordBelief(keyword="key2", id=uuid.uuid4()),
-                            right=SemanticBelief(
-                                description="Decode this", name="semantic belief 2", id=uuid.uuid4()
-                            ),
-                            operator=LogicalOperator.OR,
-                            name="test trigger inferred inner",
-                            id=uuid.uuid4(),
-                        ),
-                        operator=LogicalOperator.OR,
-                        name="test trigger inferred outer",
-                        id=uuid.uuid4(),
-                    ),
-                    plan=Plan(
-                        steps=[
-                            SpeechAction(text="Testing trigger", id=uuid.uuid4()),
-                            Goal(
-                                name="Testing trigger",
-                                plan=Plan(
-                                    steps=[LLMAction(goal="Do something", id=uuid.uuid4())],
-                                    id=uuid.uuid4(),
-                                ),
-                                id=uuid.uuid4(),
-                            ),
-                        ],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                )
-            ],
-            goals=[
-                Goal(
-                    name="Determine user age",
-                    plan=Plan(
-                        steps=[LLMAction(goal="Determine the age of the user.", id=uuid.uuid4())],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                ),
-                Goal(
-                    name="Find the user's name",
-                    plan=Plan(
-                        steps=[
-                            Goal(
-                                name="Greet the user",
-                                plan=Plan(
-                                    steps=[LLMAction(goal="Greet the user.", id=uuid.uuid4())],
-                                    id=uuid.uuid4(),
-                                ),
-                                can_fail=False,
-                                id=uuid.uuid4(),
-                            ),
-                            Goal(
-                                name="Ask for name",
-                                plan=Plan(
-                                    steps=[
-                                        LLMAction(goal="Obtain the user's name.", id=uuid.uuid4())
-                                    ],
-                                    id=uuid.uuid4(),
-                                ),
-                                id=uuid.uuid4(),
-                            ),
-                        ],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                ),
-                Goal(
-                    name="Tell a joke",
-                    plan=Plan(
-                        steps=[LLMAction(goal="Tell a joke.", id=uuid.uuid4())], id=uuid.uuid4()
-                    ),
-                    id=uuid.uuid4(),
-                ),
-            ],
-            id=uuid.uuid4(),
-        ),
-        Phase(
-            id=uuid.uuid4(),
-            norms=[
-                BasicNorm(norm="Use very gentle speech.", id=uuid.uuid4()),
-                ConditionalNorm(
-                    condition=SemanticBelief(
-                        description="We are talking to a child",
-                        name="talking to child",
-                        id=uuid.uuid4(),
-                    ),
-                    norm="Do not use cuss words",
-                    id=uuid.uuid4(),
-                ),
-            ],
-            triggers=[
-                Trigger(
-                    condition=InferredBelief(
-                        left=KeywordBelief(keyword="help", id=uuid.uuid4()),
-                        right=SemanticBelief(
-                            description="User is stuck", name="stuck", id=uuid.uuid4()
-                        ),
-                        operator=LogicalOperator.OR,
-                        name="help_or_stuck",
-                        id=uuid.uuid4(),
-                    ),
-                    plan=Plan(
-                        steps=[
-                            Goal(
-                                name="Unblock user",
-                                plan=Plan(
-                                    steps=[
-                                        LLMAction(
-                                            goal="Provide a step-by-step path to "
-                                            "resolve the user's issue.",
-                                            id=uuid.uuid4(),
-                                        )
-                                    ],
-                                    id=uuid.uuid4(),
-                                ),
-                                id=uuid.uuid4(),
-                            ),
-                        ],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                ),
-            ],
-            goals=[
-                Goal(
-                    name="Clarify intent",
-                    plan=Plan(
-                        steps=[
-                            LLMAction(
-                                goal="Ask 1-2 targeted questions to clarify the "
-                                "user's intent, then proceed.",
-                                id=uuid.uuid4(),
-                            )
-                        ],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                ),
-                Goal(
-                    name="Provide solution",
-                    plan=Plan(
-                        steps=[
-                            LLMAction(
-                                goal="Deliver a solution to complete the user's goal.",
-                                id=uuid.uuid4(),
-                            )
-                        ],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                ),
-                Goal(
-                    name="Summarize next steps",
-                    plan=Plan(
-                        steps=[
-                            LLMAction(
-                                goal="Summarize what the user should do next.", id=uuid.uuid4()
-                            )
-                        ],
-                        id=uuid.uuid4(),
-                    ),
-                    id=uuid.uuid4(),
-                ),
-            ],
-        ),
-    ]
-)
-
-
-def do_things():
-    print(AgentSpeakGenerator().generate(test_program))
-
-
-class AgentSpeakGenerator:
-    """
-    Converts Pydantic representation of behavior programs into AgentSpeak(L) code string.
-    """
-
-    arrow_prefix = f"{' ' * 2}<-{' ' * 2}"
-    colon_prefix = f"{' ' * 2}:{' ' * 3}"
-    indent_prefix = " " * 6
-
-    def generate(self, program: Program) -> str:
-        lines = []
-        lines.append("")
-
-        lines += self._generate_initial_beliefs(program)
-
-        lines += self._generate_basic_flow(program)
-
-        lines += self._generate_phase_transitions(program)
-
-        lines += self._generate_norms(program)
-
-        lines += self._generate_belief_inference(program)
-
-        lines += self._generate_goals(program)
-
-        lines += self._generate_triggers(program)
-
-        return "\n".join(lines)
-
-    def _generate_initial_beliefs(self, program: Program) -> Iterable[str]:
-        yield "// --- Initial beliefs and agent startup ---"
-
-        yield "phase(start)."
-
-        yield ""
-
-        yield "+started"
-        yield f"{self.colon_prefix}phase(start)"
-        yield f"{self.arrow_prefix}phase({program.phases[0].id if program.phases else 'end'})."
-
-        yield from ["", ""]
-
-    def _generate_basic_flow(self, program: Program) -> Iterable[str]:
-        yield "// --- Basic flow ---"
-
-        for phase in program.phases:
-            yield from self._generate_basic_flow_per_phase(phase)
-
-        yield from ["", ""]
-
-    def _generate_basic_flow_per_phase(self, phase: Phase) -> Iterable[str]:
-        yield "+user_said(Message)"
-        yield f"{self.colon_prefix}phase({phase.id})"
-
-        goals = phase.goals
-        if goals:
-            yield f"{self.arrow_prefix}{self._slugify(goals[0], include_prefix=True)}"
-            for goal in goals[1:]:
-                yield f"{self.indent_prefix}{self._slugify(goal, include_prefix=True)}"
-
-        yield f"{self.indent_prefix if goals else self.arrow_prefix}!transition_phase."
-
-    def _generate_phase_transitions(self, program: Program) -> Iterable[str]:
-        yield "// --- Phase transitions ---"
-
-        if len(program.phases) == 0:
-            yield from ["", ""]
-            return
-
-        # TODO: remove outdated things
-
-        for i in range(-1, len(program.phases)):
-            predecessor = program.phases[i] if i >= 0 else None
-            successor = program.phases[i + 1] if i < len(program.phases) - 1 else None
-            yield from self._generate_phase_transition(predecessor, successor)
-
-        yield from self._generate_phase_transition(None, None)  # to avoid failing plan
-
-        yield from ["", ""]
-
-    def _generate_phase_transition(
-        self, phase: Phase | None = None, next_phase: Phase | None = None
-    ) -> Iterable[str]:
-        yield "+!transition_phase"
-
-        if phase is None and next_phase is None:  # base case true to avoid failing plan
-            yield f"{self.arrow_prefix}true."
-            return
-
-        yield f"{self.colon_prefix}phase({phase.id if phase else 'start'})"
-        yield f"{self.arrow_prefix}-+phase({next_phase.id if next_phase else 'end'})."
-
-    def _generate_norms(self, program: Program) -> Iterable[str]:
-        yield "// --- Norms ---"
-
-        for phase in program.phases:
-            for norm in phase.norms:
-                if type(norm) is BasicNorm:
-                    yield f"{self._slugify(norm)} :- phase({phase.id})."
-                if type(norm) is ConditionalNorm:
-                    yield (
-                        f"{self._slugify(norm)} :- phase({phase.id}) & "
-                        f"{self._slugify(norm.condition)}."
-                    )
-
-        yield from ["", ""]
-
-    def _generate_belief_inference(self, program: Program) -> Iterable[str]:
-        yield "// --- Belief inference rules ---"
-
-        for phase in program.phases:
-            for norm in phase.norms:
-                if not isinstance(norm, ConditionalNorm):
-                    continue
-
-                yield from self._belief_inference_recursive(norm.condition)
-
-            for trigger in phase.triggers:
-                yield from self._belief_inference_recursive(trigger.condition)
-
-        yield from ["", ""]
-
-    def _belief_inference_recursive(self, belief: Belief) -> Iterable[str]:
-        if type(belief) is KeywordBelief:
-            yield (
-                f"{self._slugify(belief)} :- user_said(Message) & "
-                f'.substring(Message, "{belief.keyword}", Pos) & Pos >= 0.'
-            )
-        if type(belief) is InferredBelief:
-            yield (
-                f"{self._slugify(belief)} :- {self._slugify(belief.left)} "
-                f"{'&' if belief.operator == LogicalOperator.AND else '|'} "
-                f"{self._slugify(belief.right)}."
-            )
-
-            yield from self._belief_inference_recursive(belief.left)
-            yield from self._belief_inference_recursive(belief.right)
-
-    def _generate_goals(self, program: Program) -> Iterable[str]:
-        yield "// --- Goals ---"
-
-        for phase in program.phases:
-            previous_goal: Goal | None = None
-            for goal in phase.goals:
-                yield from self._generate_goal_plan_recursive(goal, phase, previous_goal)
-                previous_goal = goal
-
-        yield from ["", ""]
-
-    def _generate_goal_plan_recursive(
-        self, goal: Goal, phase: Phase, previous_goal: Goal | None = None
-    ) -> Iterable[str]:
-        yield f"+{self._slugify(goal, include_prefix=True)}"
-
-        # Context
-        yield f"{self.colon_prefix}phase({phase.id}) &"
-        yield f"{self.indent_prefix}not responded_this_turn &"
-        yield f"{self.indent_prefix}not achieved_{self._slugify(goal)} &"
-        if previous_goal:
-            yield f"{self.indent_prefix}achieved_{self._slugify(previous_goal)}"
-        else:
-            yield f"{self.indent_prefix}true"
-
-        extra_goals_to_generate = []
-
-        steps = goal.plan.steps
-
-        if len(steps) == 0:
-            yield f"{self.arrow_prefix}true."
-            return
-
-        first_step = steps[0]
-        yield (
-            f"{self.arrow_prefix}{self._slugify(first_step, include_prefix=True)}"
-            f"{'.' if len(steps) == 1 and goal.can_fail else ';'}"
-        )
-        if isinstance(first_step, Goal):
-            extra_goals_to_generate.append(first_step)
-
-        for step in steps[1:-1]:
-            yield f"{self.indent_prefix}{self._slugify(step, include_prefix=True)};"
-            if isinstance(step, Goal):
-                extra_goals_to_generate.append(step)
-
-        if len(steps) > 1:
-            last_step = steps[-1]
-            yield (
-                f"{self.indent_prefix}{self._slugify(last_step, include_prefix=True)}"
-                f"{'.' if goal.can_fail else ';'}"
-            )
-            if isinstance(last_step, Goal):
-                extra_goals_to_generate.append(last_step)
-
-        if not goal.can_fail:
-            yield f"{self.indent_prefix}+achieved_{self._slugify(goal)}."
-
-        yield f"+{self._slugify(goal, include_prefix=True)}"
-        yield f"{self.arrow_prefix}true."
-
-        yield ""
-
-        extra_previous_goal: Goal | None = None
-        for extra_goal in extra_goals_to_generate:
-            yield from self._generate_goal_plan_recursive(extra_goal, phase, extra_previous_goal)
-            extra_previous_goal = extra_goal
-
-    def _generate_triggers(self, program: Program) -> Iterable[str]:
-        yield "// --- Triggers ---"
-
-        for phase in program.phases:
-            for trigger in phase.triggers:
-                yield from self._generate_trigger_plan(trigger, phase)
-
-        yield from ["", ""]
-
-    def _generate_trigger_plan(self, trigger: Trigger, phase: Phase) -> Iterable[str]:
-        belief_name = self._slugify(trigger.condition)
-
-        yield f"+{belief_name}"
-        yield f"{self.colon_prefix}phase({phase.id})"
-
-        extra_goals_to_generate = []
-
-        steps = trigger.plan.steps
-
-        if len(steps) == 0:
-            yield f"{self.arrow_prefix}true."
-            return
-
-        first_step = steps[0]
-        yield (
-            f"{self.arrow_prefix}{self._slugify(first_step, include_prefix=True)}"
-            f"{'.' if len(steps) == 1 else ';'}"
-        )
-        if isinstance(first_step, Goal):
-            extra_goals_to_generate.append(first_step)
-
-        for step in steps[1:-1]:
-            yield f"{self.indent_prefix}{self._slugify(step, include_prefix=True)};"
-            if isinstance(step, Goal):
-                extra_goals_to_generate.append(step)
-
-        if len(steps) > 1:
-            last_step = steps[-1]
-            yield f"{self.indent_prefix}{self._slugify(last_step, include_prefix=True)}."
-            if isinstance(last_step, Goal):
-                extra_goals_to_generate.append(last_step)
-
-        yield ""
-
-        extra_previous_goal: Goal | None = None
-        for extra_goal in extra_goals_to_generate:
-            yield from self._generate_trigger_plan_recursive(extra_goal, phase, extra_previous_goal)
-            extra_previous_goal = extra_goal
-
-    def _generate_trigger_plan_recursive(
-        self, goal: Goal, phase: Phase, previous_goal: Goal | None = None
-    ) -> Iterable[str]:
-        yield f"+{self._slugify(goal, include_prefix=True)}"
-
-        extra_goals_to_generate = []
-
-        steps = goal.plan.steps
-
-        if len(steps) == 0:
-            yield f"{self.arrow_prefix}true."
-            return
-
-        first_step = steps[0]
-        yield (
-            f"{self.arrow_prefix}{self._slugify(first_step, include_prefix=True)}"
-            f"{'.' if len(steps) == 1 and goal.can_fail else ';'}"
-        )
-        if isinstance(first_step, Goal):
-            extra_goals_to_generate.append(first_step)
-
-        for step in steps[1:-1]:
-            yield f"{self.indent_prefix}{self._slugify(step, include_prefix=True)};"
-            if isinstance(step, Goal):
-                extra_goals_to_generate.append(step)
-
-        if len(steps) > 1:
-            last_step = steps[-1]
-            yield (
-                f"{self.indent_prefix}{self._slugify(last_step, include_prefix=True)}"
-                f"{'.' if goal.can_fail else ';'}"
-            )
-            if isinstance(last_step, Goal):
-                extra_goals_to_generate.append(last_step)
-
-        if not goal.can_fail:
-            yield f"{self.indent_prefix}+achieved_{self._slugify(goal)}."
-
-        yield f"+{self._slugify(goal, include_prefix=True)}"
-        yield f"{self.arrow_prefix}true."
-
-        yield ""
-
-        extra_previous_goal: Goal | None = None
-        for extra_goal in extra_goals_to_generate:
-            yield from self._generate_goal_plan_recursive(extra_goal, phase, extra_previous_goal)
-            extra_previous_goal = extra_goal
-
-    def _slugify(self, element: ProgramElement, include_prefix: bool = False) -> str:
-        def base_slugify_call(text: str):
-            return slugify(text, separator="_", stopwords=["a", "the"])
-
-        if type(element) is KeywordBelief:
-            return f'keyword_said("{element.keyword}")'
-
-        if type(element) is SemanticBelief:
-            name = element.name
-            return f"semantic_{base_slugify_call(name if name else element.description)}"
-
-        if isinstance(element, BasicNorm):
-            return f'norm("{element.norm}")'
-
-        if isinstance(element, Goal):
-            return f"{'!' if include_prefix else ''}{base_slugify_call(element.name)}"
-
-        if isinstance(element, SpeechAction):
-            return f'.say("{element.text}")'
-
-        if isinstance(element, GestureAction):
-            return f'.gesture("{element.gesture}")'
-
-        if isinstance(element, LLMAction):
-            return f'!generate_response_with_goal("{element.goal}")'
-
-        if isinstance(element, Action.__value__):
-            raise NotImplementedError(
-                "Have not implemented an ASL string representation for this action."
-            )
-
-        if element.name == "":
-            raise ValueError("Name must be initialized for this type of ProgramElement.")
-
-        return base_slugify_call(element.name)
-
-    def _extract_basic_beliefs_from_program(self, program: Program) -> list[BasicBelief]:
-        beliefs = []
-
-        for phase in program.phases:
-            for norm in phase.norms:
-                if isinstance(norm, ConditionalNorm):
-                    beliefs += self._extract_basic_beliefs_from_belief(norm.condition)
-
-            for trigger in phase.triggers:
-                beliefs += self._extract_basic_beliefs_from_belief(trigger.condition)
-
-        return beliefs
-
-    def _extract_basic_beliefs_from_belief(self, belief: Belief) -> list[BasicBelief]:
-        if isinstance(belief, InferredBelief):
-            return self._extract_basic_beliefs_from_belief(
-                belief.left
-            ) + self._extract_basic_beliefs_from_belief(belief.right)
-        return [belief]
 
 
 class BDIProgramManager(BaseAgent):
@@ -611,40 +28,75 @@ class BDIProgramManager(BaseAgent):
         super().__init__(**kwargs)
         self.sub_socket = None
 
-    # async def _send_to_bdi(self, program: Program):
+    async def _create_agentspeak_and_send_to_bdi(self, program: Program):
-    #     """
+        """
-    #     Convert a received program into BDI beliefs and send them to the BDI Core Agent.
+        Convert a received program into BDI beliefs and send them to the BDI Core Agent.
-    #
+
-    #     Currently, it takes the **first phase** of the program and extracts:
+        Currently, it takes the **first phase** of the program and extracts:
-    #     -   **Norms**: Constraints or rules the agent must follow.
+        -   **Norms**: Constraints or rules the agent must follow.
-    #     -   **Goals**: Objectives the agent must achieve.
+        -   **Goals**: Objectives the agent must achieve.
-    #
+
-    #     These are sent as a ``BeliefMessage`` with ``replace=True``, meaning they will
+        These are sent as a ``BeliefMessage`` with ``replace=True``, meaning they will
-    #     overwrite any existing norms/goals of the same name in the BDI agent.
+        overwrite any existing norms/goals of the same name in the BDI agent.
-    #
+
-    #     :param program: The program object received from the API.
+        :param program: The program object received from the API.
-    #     """
+        """
-    #     first_phase = program.phases[0]
+        asg = AgentSpeakGenerator()
-    #     norms_belief = Belief(
+
-    #         name="norms",
+        asl_str = asg.generate(program)
-    #         arguments=[norm.norm for norm in first_phase.norms],
+
-    #         replace=True,
+        file_name = "src/control_backend/agents/bdi/agentspeak.asl"
-    #     )
+
-    #     goals_belief = Belief(
+        with open(file_name, "w") as f:
-    #         name="goals",
+            f.write(asl_str)
-    #         arguments=[goal.description for goal in first_phase.goals],
+
-    #         replace=True,
+        msg = InternalMessage(
-    #     )
+            sender=self.name,
-    #     program_beliefs = BeliefMessage(beliefs=[norms_belief, goals_belief])
+            to=settings.agent_settings.bdi_core_name,
-    #
+            body=file_name,
-    #     message = InternalMessage(
+            thread="new_program",
-    #         to=settings.agent_settings.bdi_core_name,
+        )
-    #         sender=self.name,
+
-    #         body=program_beliefs.model_dump_json(),
+        await self.send(msg)
-    #         thread="beliefs",
+
-    #     )
+    @staticmethod
-    #     await self.send(message)
+    def _extract_beliefs_from_program(program: Program) -> list[Belief]:
-    #     self.logger.debug("Sent new norms and goals to the BDI agent.")
+        beliefs: list[Belief] = []
+
+        for phase in program.phases:
+            for norm in phase.norms:
+                if isinstance(norm, ConditionalNorm):
+                    beliefs += BDIProgramManager._extract_beliefs_from_belief(norm.condition)
+
+            for trigger in phase.triggers:
+                beliefs += BDIProgramManager._extract_beliefs_from_belief(trigger.condition)
+
+        return beliefs
+
+    @staticmethod
+    def _extract_beliefs_from_belief(belief: Belief) -> list[Belief]:
+        if isinstance(belief, InferredBelief):
+            return BDIProgramManager._extract_beliefs_from_belief(
+                belief.left
+            ) + BDIProgramManager._extract_beliefs_from_belief(belief.right)
+        return [belief]
+
+    async def _send_beliefs_to_semantic_belief_extractor(self, program: Program):
+        """
+        Extract beliefs from the program and send them to the Semantic Belief Extractor Agent.
+
+        :param program: The program received from the API.
+        """
+        beliefs = BeliefList(beliefs=self._extract_beliefs_from_program(program))
+
+        message = InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=self.name,
+            body=beliefs.model_dump_json(),
+            thread="beliefs",
+        )
+
+        await self.send(message)
 
     async def _receive_programs(self):
         """
@@ -662,7 +114,10 @@ class BDIProgramManager(BaseAgent):
                 self.logger.exception("Received an invalid program.")
                 continue
 
-            await self._send_to_bdi(program)
+            await asyncio.gather(
+                self._create_agentspeak_and_send_to_bdi(program),
+                self._send_beliefs_to_semantic_belief_extractor(program),
+            )
 
     async def setup(self):
         """
@@ -678,7 +133,3 @@ class BDIProgramManager(BaseAgent):
         self.sub_socket.subscribe("program")
 
         self.add_behavior(self._receive_programs())
-
-
-if __name__ == "__main__":
-    do_things()

src/control_backend/agents/bdi/belief_collector_agent.py

@@ -101,7 +101,7 @@ class BDIBeliefCollectorAgent(BaseAgent):
             :return: A Belief object if the input is valid or None.
             """
             try:
-                return Belief(name=name, arguments=arguments)
+                return Belief(name=name, arguments=arguments, replace=name == "user_said")
             except ValidationError:
                 return None
 

src/control_backend/agents/bdi/default_behavior.asl

@@ -0,0 +1,5 @@
+norms("").
+
++user_said(Message) : norms(Norms) <-
+  -user_said(Message);
+  .reply(Message, Norms).

src/control_backend/agents/bdi/rules.asl

@@ -1,6 +0,0 @@
-norms("").
-goals("").
-
-+user_said(Message) : norms(Norms) & goals(Goals) <-
-  -user_said(Message);
-  .reply(Message, Norms, Goals).

src/control_backend/agents/bdi/text_belief_extractor_agent.py

@@ -3,21 +3,16 @@ import json
 
 import httpx
 from pydantic import ValidationError
-from slugify import slugify
 
 from control_backend.agents.base import BaseAgent
+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_list import BeliefList
 from control_backend.schemas.belief_message import Belief as InternalBelief
 from control_backend.schemas.belief_message import BeliefMessage
 from control_backend.schemas.chat_history import ChatHistory, ChatMessage
-from control_backend.schemas.program import (
+from control_backend.schemas.program import SemanticBelief
-    Belief,
-    ConditionalNorm,
-    InferredBelief,
-    Program,
-    SemanticBelief,
-)
 
 
 class TextBeliefExtractorAgent(BaseAgent):
@@ -32,11 +27,12 @@ class TextBeliefExtractorAgent(BaseAgent):
     the message itself.
     """
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, temperature: float = settings.llm_settings.code_temperature):
         super().__init__(name)
         self.beliefs: dict[str, bool] = {}
         self.available_beliefs: list[SemanticBelief] = []
         self.conversation = ChatHistory(messages=[])
+        self.temperature = temperature
 
     async def setup(self):
         """
@@ -85,45 +81,19 @@ class TextBeliefExtractorAgent(BaseAgent):
         :param msg: The received message from the program manager.
         """
         try:
-            program = Program.model_validate_json(msg.body)
+            belief_list = BeliefList.model_validate_json(msg.body)
         except ValidationError:
             self.logger.warning(
-                "Received message from program manager but it is not a valid program."
+                "Received message from program manager but it is not a valid list of beliefs."
             )
             return
 
-        self.logger.debug("Received a program from the program manager.")
+        self.available_beliefs = [b for b in belief_list.beliefs if isinstance(b, SemanticBelief)]
-
+        self.logger.debug(
-        self.available_beliefs = self._extract_basic_beliefs_from_program(program)
+            "Received %d beliefs from the program manager.",
-
+            len(self.available_beliefs),
-    # TODO Copied from an incomplete version of the program manager. Use that one instead.
-    @staticmethod
-    def _extract_basic_beliefs_from_program(program: Program) -> list[SemanticBelief]:
-        beliefs = []
-
-        for phase in program.phases:
-            for norm in phase.norms:
-                if isinstance(norm, ConditionalNorm):
-                    beliefs += TextBeliefExtractorAgent._extract_basic_beliefs_from_belief(
-                        norm.condition
         )
 
-            for trigger in phase.triggers:
-                beliefs += TextBeliefExtractorAgent._extract_basic_beliefs_from_belief(
-                    trigger.condition
-                )
-
-        return beliefs
-
-    # TODO Copied from an incomplete version of the program manager. Use that one instead.
-    @staticmethod
-    def _extract_basic_beliefs_from_belief(belief: Belief) -> list[SemanticBelief]:
-        if isinstance(belief, InferredBelief):
-            return TextBeliefExtractorAgent._extract_basic_beliefs_from_belief(
-                belief.left
-            ) + TextBeliefExtractorAgent._extract_basic_beliefs_from_belief(belief.right)
-        return [belief]
-
     async def _user_said(self, text: str):
         """
         Create a belief for the user's full speech.
@@ -207,8 +177,7 @@ class TextBeliefExtractorAgent(BaseAgent):
 
     @staticmethod
     def _create_belief_schema(belief: SemanticBelief) -> tuple[str, dict]:
-        # TODO: use real belief names
+        return AgentSpeakGenerator.slugify(belief), {
-        return belief.name or slugify(belief.description), {
             "type": ["boolean", "null"],
             "description": belief.description,
         }
@@ -237,12 +206,8 @@ class TextBeliefExtractorAgent(BaseAgent):
 
     @staticmethod
     def _format_beliefs(beliefs: list[SemanticBelief]):
-        # TODO: use real belief names
         return "\n".join(
-            [
+            [f"- {AgentSpeakGenerator.slugify(belief)}: {belief.description}" for belief in beliefs]
-                f"- {belief.name or slugify(belief.description)}: {belief.description}"
-                for belief in beliefs
-            ]
         )
 
     async def _infer_beliefs(
@@ -267,7 +232,7 @@ Given the above conversation, what beliefs can be inferred?
 If there is no relevant information about a belief belief, give null.
 In case messages conflict, prefer using the most recent messages for inference.
 
-Choose from the following list of beliefs, formatted as (belief_name, description):
+Choose from the following list of beliefs, formatted as `- <belief_name>: <description>`:
 {self._format_beliefs(beliefs)}
 
 Respond with a JSON similar to the following, but with the property names as given above:
@@ -304,8 +269,7 @@ Respond with a JSON similar to the following, but with the property names as giv
 
         return None
 
-    @staticmethod
+    async def _query_llm(self, prompt: str, schema: dict) -> dict:
-    async def _query_llm(prompt: str, schema: dict) -> dict:
         """
         Query an LLM with the given prompt and schema, return an instance of a dict conforming to
         that schema.
@@ -333,7 +297,7 @@ Respond with a JSON similar to the following, but with the property names as giv
                         },
                     },
                     "reasoning_effort": "low",
-                    "temperature": settings.llm_settings.code_temperature,
+                    "temperature": self.temperature,
                     "stream": False,
                 },
                 timeout=None,
@@ -342,4 +306,5 @@ Respond with a JSON similar to the following, but with the property names as giv
 
             response_json = response.json()
             json_message = response_json["choices"][0]["message"]["content"]
-            return json.loads(json_message)
+            beliefs = json.loads(json_message)
+            return beliefs

src/control_backend/agents/communication/ri_communication_agent.py

@@ -8,6 +8,7 @@ from zmq.asyncio import Context
 from control_backend.agents import BaseAgent
 from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
 from control_backend.core.config import settings
+from control_backend.schemas.internal_message import InternalMessage
 
 from ..actuation.robot_speech_agent import RobotSpeechAgent
 from ..perception import VADAgent
@@ -47,6 +48,8 @@ class RICommunicationAgent(BaseAgent):
         self._req_socket: azmq.Socket | None = None
         self.pub_socket: azmq.Socket | None = None
         self.connected = False
+        self.gesture_agent: RobotGestureAgent | None = None
+        self.speech_agent: RobotSpeechAgent | None = None
 
     async def setup(self):
         """
@@ -140,6 +143,7 @@ class RICommunicationAgent(BaseAgent):
 
             # At this point, we have a valid response
             try:
+                self.logger.debug("Negotiation successful. Handling rn")
                 await self._handle_negotiation_response(received_message)
                 # Let UI know that we're connected
                 topic = b"ping"
@@ -188,6 +192,7 @@ class RICommunicationAgent(BaseAgent):
                         address=addr,
                         bind=bind,
                     )
+                    self.speech_agent = robot_speech_agent
                     robot_gesture_agent = RobotGestureAgent(
                         settings.agent_settings.robot_gesture_name,
                         address=addr,
@@ -195,6 +200,7 @@ class RICommunicationAgent(BaseAgent):
                         gesture_data=gesture_data,
                         single_gesture_data=single_gesture_data,
                     )
+                    self.gesture_agent = robot_gesture_agent
                     await robot_speech_agent.start()
                     await asyncio.sleep(0.1)  # Small delay
                     await robot_gesture_agent.start()
@@ -225,6 +231,7 @@ class RICommunicationAgent(BaseAgent):
         while self._running:
             if not self.connected:
                 await asyncio.sleep(settings.behaviour_settings.sleep_s)
+                self.logger.debug("Not connected, skipping ping loop iteration.")
                 continue
 
             # We need to listen and send pings.
@@ -288,13 +295,36 @@ class RICommunicationAgent(BaseAgent):
         # Tell UI we're disconnected.
         topic = b"ping"
         data = json.dumps(False).encode()
+        self.logger.debug("1")
         if self.pub_socket:
             try:
+                self.logger.debug("2")
                 await asyncio.wait_for(self.pub_socket.send_multipart([topic, data]), 5)
             except TimeoutError:
+                self.logger.debug("3")
                 self.logger.warning("Connection ping for router timed out.")
 
         # Try to reboot/renegotiate
+        if self.gesture_agent is not None:
+            await self.gesture_agent.stop()
+
+        if self.speech_agent is not None:
+            await self.speech_agent.stop()
+
+        if self.pub_socket is not None:
+            self.pub_socket.close()
+
         self.logger.debug("Restarting communication negotiation.")
-        if await self._negotiate_connection(max_retries=1):
+        if await self._negotiate_connection(max_retries=2):
             self.connected = True
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle an incoming message.
+
+        Currently not implemented for this agent.
+
+        :param msg: The received message.
+        :raises NotImplementedError: Always, since this method is not implemented.
+        """
+        self.logger.warning("custom warning for handle msg in ri coms %s", self.name)

src/control_backend/agents/perception/vad_agent.py

@@ -7,6 +7,7 @@ import zmq.asyncio as azmq
 
 from control_backend.agents import BaseAgent
 from control_backend.core.config import settings
+from control_backend.schemas.internal_message import InternalMessage
 
 from ...schemas.program_status import PROGRAM_STATUS, ProgramStatus
 from .transcription_agent.transcription_agent import TranscriptionAgent
@@ -86,6 +87,12 @@ class VADAgent(BaseAgent):
         self.audio_buffer = np.array([], dtype=np.float32)
         self.i_since_speech = settings.behaviour_settings.vad_initial_since_speech
         self._ready = asyncio.Event()
+
+        # Pause control
+        self._reset_needed = False
+        self._paused = asyncio.Event()
+        self._paused.set()  # Not paused at start
+
         self.model = None
 
     async def setup(self):
@@ -213,6 +220,16 @@ class VADAgent(BaseAgent):
         """
         await self._ready.wait()
         while self._running:
+            await self._paused.wait()
+
+            # After being unpaused, reset stream and buffers
+            if self._reset_needed:
+                self.logger.debug("Resuming: resetting stream and buffers.")
+                await self._reset_stream()
+                self.audio_buffer = np.array([], dtype=np.float32)
+                self.i_since_speech = settings.behaviour_settings.vad_initial_since_speech
+                self._reset_needed = False
+
             assert self.audio_in_poller is not None
             data = await self.audio_in_poller.poll()
             if data is None:
@@ -254,3 +271,27 @@ class VADAgent(BaseAgent):
             # 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
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle incoming messages.
+
+        Expects messages to pause or resume the VAD processing from User Interrupt Agent.
+
+        :param msg: The received internal message.
+        """
+        sender = msg.sender
+
+        if sender == settings.agent_settings.user_interrupt_name:
+            if msg.body == "PAUSE":
+                self.logger.info("Pausing VAD processing.")
+                self._paused.clear()
+                # If the robot needs to pick up speaking where it left off, do not set _reset_needed
+                self._reset_needed = True
+            elif msg.body == "RESUME":
+                self.logger.info("Resuming VAD processing.")
+                self._paused.set()
+            else:
+                self.logger.warning(f"Unknown command from User Interrupt Agent: {msg.body}")
+        else:
+            self.logger.debug(f"Ignoring message from unknown sender: {sender}")

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -6,7 +6,12 @@ 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.ri_message import GestureCommand, RIEndpoint, SpeechCommand
+from control_backend.schemas.ri_message import (
+    GestureCommand,
+    PauseCommand,
+    RIEndpoint,
+    SpeechCommand,
+)
 
 
 class UserInterruptAgent(BaseAgent):
@@ -71,6 +76,19 @@ class UserInterruptAgent(BaseAgent):
                     "Forwarded button press (override) with context '%s' to BDIProgramManager.",
                     event_context,
                 )
+            elif event_type == "pause":
+                self.logger.debug(
+                    "Received pause/resume button press with context '%s'.", event_context
+                )
+                await self._send_pause_command(event_context)
+                if event_context:
+                    self.logger.info("Sent pause command.")
+                else:
+                    self.logger.info("Sent resume command.")
+
+            elif event_type in ["next_phase", "reset_phase", "reset_experiment"]:
+                await self._send_experiment_control_to_bdi_core(event_type)
+
             else:
                 self.logger.warning(
                     "Received button press with unknown type '%s' (context: '%s').",
@@ -78,6 +96,36 @@ class UserInterruptAgent(BaseAgent):
                     event_context,
                 )
 
+    async def _send_experiment_control_to_bdi_core(self, type):
+        """
+        method to send experiment control buttons to bdi core.
+
+        :param type: the type of control button we should send to the bdi core.
+        """
+        # Switch which thread we should send to bdi core
+        thread = ""
+        match type:
+            case "next_phase":
+                thread = "force_next_phase"
+            case "reset_phase":
+                thread = "reset_current_phase"
+            case "reset_experiment":
+                thread = "reset_experiment"
+            case _:
+                self.logger.warning(
+                    "Received unknown experiment control type '%s' to send to BDI Core.",
+                    type,
+                )
+
+        out_msg = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            thread=thread,
+            body="",
+        )
+        self.logger.debug("Sending experiment control '%s' to BDI Core.", thread)
+        await self.send(out_msg)
+
     async def _send_to_speech_agent(self, text_to_say: str):
         """
         method to send prioritized speech command to RobotSpeechAgent.
@@ -130,6 +178,38 @@ class UserInterruptAgent(BaseAgent):
             belief_id,
         )
 
+    async def _send_pause_command(self, pause):
+        """
+        Send a pause command to the Robot Interface via the RI Communication Agent.
+        Send a pause command to the other internal agents; for now just VAD agent.
+        """
+        cmd = PauseCommand(data=pause)
+        message = InternalMessage(
+            to=settings.agent_settings.ri_communication_name,
+            sender=self.name,
+            body=cmd.model_dump_json(),
+        )
+        await self.send(message)
+
+        if pause == "true":
+            # Send pause to VAD agent
+            vad_message = InternalMessage(
+                to=settings.agent_settings.vad_name,
+                sender=self.name,
+                body="PAUSE",
+            )
+            await self.send(vad_message)
+            self.logger.info("Sent pause command to VAD Agent and RI Communication Agent.")
+        else:
+            # Send resume to VAD agent
+            vad_message = InternalMessage(
+                to=settings.agent_settings.vad_name,
+                sender=self.name,
+                body="RESUME",
+            )
+            await self.send(vad_message)
+            self.logger.info("Sent resume command to VAD Agent and RI Communication Agent.")
+
     async def setup(self):
         """
         Initialize the agent.

src/control_backend/main.py

@@ -120,7 +120,6 @@ async def lifespan(app: FastAPI):
             BDICoreAgent,
             {
                 "name": settings.agent_settings.bdi_core_name,
-                "asl": "src/control_backend/agents/bdi/rules.asl",
             },
         ),
         "BeliefCollectorAgent": (

src/control_backend/schemas/belief_list.py

@@ -0,0 +1,14 @@
+from pydantic import BaseModel
+
+from control_backend.schemas.program import Belief as ProgramBelief
+
+
+class BeliefList(BaseModel):
+    """
+    Represents a list of beliefs, separated from a program. Useful in agents which need to
+    communicate beliefs.
+
+    :ivar: beliefs: The list of beliefs.
+    """
+
+    beliefs: list[ProgramBelief]

src/control_backend/schemas/program.py

@@ -43,7 +43,6 @@ class SemanticBelief(ProgramElement):
     :ivar description: Description of how to form the belief, used by the LLM.
     """
 
-    name: str = ""
     description: str
 
 
@@ -113,10 +112,12 @@ class Goal(ProgramElement):
     for example when the achieving of the goal is dependent on the user's reply, this means
     that the achieved status will be set from somewhere else in the program.
 
+    :ivar description: A description of the goal, used to determine if it has been achieved.
     :ivar plan: The plan to execute.
     :ivar can_fail: Whether we can fail to achieve the goal after executing the plan.
     """
 
+    description: str
     plan: Plan
     can_fail: bool = True
 

src/control_backend/schemas/ri_message.py

@@ -14,6 +14,7 @@ class RIEndpoint(str, Enum):
     GESTURE_TAG = "actuate/gesture/tag"
     PING = "ping"
     NEGOTIATE_PORTS = "negotiate/ports"
+    PAUSE = ""
 
 
 class RIMessage(BaseModel):
@@ -64,3 +65,15 @@ class GestureCommand(RIMessage):
         if self.endpoint not in allowed:
             raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
         return self
+
+
+class PauseCommand(RIMessage):
+    """
+    A specific command to pause or unpause the robot's actions.
+
+    :ivar endpoint: Fixed to ``RIEndpoint.PAUSE``.
+    :ivar data: A boolean indicating whether to pause (True) or unpause (False).
+    """
+
+    endpoint: RIEndpoint = RIEndpoint(RIEndpoint.PAUSE)
+    data: bool

test/unit/agents/bdi/test_bdi_core_agent.py

@@ -20,7 +20,7 @@ def mock_agentspeak_env():
 
 @pytest.fixture
 def agent():
-    agent = BDICoreAgent("bdi_agent", "dummy.asl")
+    agent = BDICoreAgent("bdi_agent")
     agent.send = AsyncMock()
     agent.bdi_agent = MagicMock()
     return agent
@@ -133,14 +133,14 @@ async def test_custom_actions(agent):
 
     # Invoke action
     mock_term = MagicMock()
-    mock_term.args = ["Hello", "Norm", "Goal"]
+    mock_term.args = ["Hello", "Norm"]
     mock_intention = MagicMock()
 
     # Run generator
     gen = action_fn(agent, mock_term, mock_intention)
     next(gen)  # Execute
 
-    agent._send_to_llm.assert_called_with("Hello", "Norm", "Goal")
+    agent._send_to_llm.assert_called_with("Hello", "Norm", "")
 
 
 def test_add_belief_sets_event(agent):

test/unit/agents/bdi/test_bdi_program_manager.py

@@ -32,6 +32,8 @@ def make_valid_program_json(norm="N1", goal="G1") -> str:
                     Goal(
                         id=uuid.uuid4(),
                         name=goal,
+                        description="This description can be used to determine whether the goal "
+                        "has been achieved.",
                         plan=Plan(
                             id=uuid.uuid4(),
                             name="Goal Plan",
@@ -53,7 +55,7 @@ async def test_send_to_bdi():
     manager.send = AsyncMock()
 
     program = Program.model_validate_json(make_valid_program_json())
-    await manager._send_to_bdi(program)
+    await manager._create_agentspeak_and_send_to_bdi(program)
 
     assert manager.send.await_count == 1
     msg: InternalMessage = manager.send.await_args[0][0]
@@ -75,8 +77,9 @@ async def test_receive_programs_valid_and_invalid():
     ]
 
     manager = BDIProgramManager(name="program_manager_test")
+    manager._internal_pub_socket = AsyncMock()
     manager.sub_socket = sub
-    manager._send_to_bdi = AsyncMock()
+    manager._create_agentspeak_and_send_to_bdi = AsyncMock()
 
     try:
         # Will give StopAsyncIteration when the predefined `sub.recv_multipart` side-effects run out
@@ -85,7 +88,7 @@ async def test_receive_programs_valid_and_invalid():
         pass
 
     # Only valid Program should have triggered _send_to_bdi
-    assert manager._send_to_bdi.await_count == 1
+    assert manager._create_agentspeak_and_send_to_bdi.await_count == 1
-    forwarded: Program = manager._send_to_bdi.await_args[0][0]
+    forwarded: Program = manager._create_agentspeak_and_send_to_bdi.await_args[0][0]
     assert forwarded.phases[0].norms[0].name == "N1"
     assert forwarded.phases[0].goals[0].name == "G1"

test/unit/agents/bdi/test_text_belief_extractor.py

@@ -8,9 +8,11 @@ import pytest
 from control_backend.agents.bdi import TextBeliefExtractorAgent
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
+from control_backend.schemas.belief_list import BeliefList
 from control_backend.schemas.belief_message import BeliefMessage
 from control_backend.schemas.program import (
     ConditionalNorm,
+    KeywordBelief,
     LLMAction,
     Phase,
     Plan,
@@ -186,13 +188,31 @@ async def test_retry_query_llm_fail_immediately(agent):
 
 
 @pytest.mark.asyncio
-async def test_extracting_beliefs_from_program(agent, sample_program):
+async def test_extracting_semantic_beliefs(agent):
+    """
+    The Program Manager sends beliefs to this agent. Test whether the agent handles them correctly.
+    """
     assert len(agent.available_beliefs) == 0
+    beliefs = BeliefList(
+        beliefs=[
+            KeywordBelief(
+                id=uuid.uuid4(),
+                name="keyword_hello",
+                keyword="hello",
+            ),
+            SemanticBelief(
+                id=uuid.uuid4(), name="semantic_hello_1", description="Some semantic belief 1"
+            ),
+            SemanticBelief(
+                id=uuid.uuid4(), name="semantic_hello_2", description="Some semantic belief 2"
+            ),
+        ]
+    )
     await agent.handle_message(
         InternalMessage(
             to=settings.agent_settings.text_belief_extractor_name,
             sender=settings.agent_settings.bdi_program_manager_name,
-            body=sample_program.model_dump_json(),
+            body=beliefs.model_dump_json(),
         ),
     )
     assert len(agent.available_beliefs) == 2

test/unit/api/v1/endpoints/test_program_endpoint.py

@@ -43,6 +43,8 @@ def make_valid_program_dict():
                     Goal(
                         id=uuid.uuid4(),
                         name="Some goal",
+                        description="This description can be used to determine whether the goal "
+                        "has been achieved.",
                         plan=Plan(
                             id=uuid.uuid4(),
                             name="Goal Plan",

test/unit/schemas/test_ui_program_message.py

@@ -31,6 +31,7 @@ def base_goal() -> Goal:
     return Goal(
         id=uuid.uuid4(),
         name="testGoalName",
+        description="This description can be used to determine whether the goal has been achieved.",
         plan=Plan(
             id=uuid.uuid4(),
             name="testGoalPlanName",