fix: some bugs and some tests

ref: N25B-429

.env.example

@@ -10,7 +10,7 @@ LLM_SETTINGS__LOCAL_LLM_URL="http://localhost:1234/v1/chat/completions"
 LLM_SETTINGS__LOCAL_LLM_MODEL="gpt-oss"
 
 # Number of non-speech chunks to wait before speech ended. A chunk is approximately 31 ms. Increasing this number allows longer pauses in speech, but also increases response time.
-BEHAVIOUR_SETTINGS__VAD_NON_SPEECH_PATIENCE_CHUNKS=3
+BEHAVIOUR_SETTINGS__VAD_NON_SPEECH_PATIENCE_CHUNKS=15
 
 # Timeout in milliseconds for socket polling. Increase this number if network latency/jitter is high, often the case when using Wi-Fi. Perhaps 500 ms. A symptom of this issue is transcriptions getting cut off.
 BEHAVIOUR_SETTINGS__SOCKET_POLLER_TIMEOUT_MS=100

.logging_config.yaml

@@ -1,7 +1,5 @@
 version: 1
 
-# Maak nieuwe (obvervation action)
-# tussen 20-30
 custom_levels:
   OBSERVATION: 25
   ACTION: 26
@@ -21,8 +19,6 @@ formatters:
     format: "{name} {levelname} {levelno} {message} {created} {relativeCreated}"
     style: "{"
 
-# Maak class = logging.fileHandler
-# 
 handlers:
   console:
     class: logging.StreamHandler
@@ -39,8 +35,6 @@ root:
   level: WARN
   handlers: [console]
 
-# Maak research logger, laagste level (21)
-# Handler: UI Handler
 loggers:
   control_backend:
     level: LLM

pyproject.toml

@@ -15,6 +15,7 @@ dependencies = [
   "pydantic>=2.12.0",
   "pydantic-settings>=2.11.0",
   "python-json-logger>=4.0.0",
+  "python-slugify>=8.0.4",
   "pyyaml>=6.0.3",
   "pyzmq>=27.1.0",
   "silero-vad>=6.0.0",

src/control_backend/agents/bdi/agentspeak_ast.py

@@ -0,0 +1,273 @@
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from dataclasses import dataclass, field
+from enum import StrEnum
+
+
+class AstNode(ABC):
+    """
+    Abstract base class for all elements of an AgentSpeak program.
+    """
+
+    @abstractmethod
+    def _to_agentspeak(self) -> str:
+        """
+        Generates the AgentSpeak code string.
+        """
+        pass
+
+    def __str__(self) -> str:
+        return self._to_agentspeak()
+
+
+class AstExpression(AstNode, ABC):
+    """
+    Intermediate class for anything that can be used in a logical expression.
+    """
+
+    def __and__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.AND, _coalesce_expr(other))
+
+    def __or__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.OR, _coalesce_expr(other))
+
+    def __invert__(self) -> AstLogicalExpression:
+        if isinstance(self, AstLogicalExpression):
+            self.negated = not self.negated
+            return self
+        return AstLogicalExpression(self, negated=True)
+
+
+type ExprCoalescible = AstExpression | str | int | float
+
+
+def _coalesce_expr(value: ExprCoalescible) -> AstExpression:
+    if isinstance(value, AstExpression):
+        return value
+    if isinstance(value, str):
+        return AstString(value)
+    if isinstance(value, (int, float)):
+        return AstNumber(value)
+    raise TypeError(f"Cannot coalesce type {type(value)} into an AstTerm.")
+
+
+@dataclass
+class AstTerm(AstExpression, ABC):
+    """
+    Base class for terms appearing inside literals.
+    """
+
+    def __ge__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.GREATER_EQUALS, _coalesce_expr(other))
+
+    def __gt__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.GREATER_THAN, _coalesce_expr(other))
+
+    def __le__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.LESS_EQUALS, _coalesce_expr(other))
+
+    def __lt__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.LESS_THAN, _coalesce_expr(other))
+
+    def __eq__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.EQUALS, _coalesce_expr(other))
+
+    def __ne__(self, other: ExprCoalescible) -> AstBinaryOp:
+        return AstBinaryOp(self, BinaryOperatorType.NOT_EQUALS, _coalesce_expr(other))
+
+
+@dataclass
+class AstAtom(AstTerm):
+    """
+    Grounded expression in all lowercase.
+    """
+
+    value: str
+
+    def _to_agentspeak(self) -> str:
+        return self.value.lower()
+
+
+@dataclass
+class AstVar(AstTerm):
+    """
+    Ungrounded variable expression. First letter capitalized.
+    """
+
+    name: str
+
+    def _to_agentspeak(self) -> str:
+        return self.name.capitalize()
+
+
+@dataclass
+class AstNumber(AstTerm):
+    value: int | float
+
+    def _to_agentspeak(self) -> str:
+        return str(self.value)
+
+
+@dataclass
+class AstString(AstTerm):
+    value: str
+
+    def _to_agentspeak(self) -> str:
+        return f'"{self.value}"'
+
+
+@dataclass
+class AstLiteral(AstTerm):
+    functor: str
+    terms: list[AstTerm] = field(default_factory=list)
+
+    def _to_agentspeak(self) -> str:
+        if not self.terms:
+            return self.functor
+        args = ", ".join(map(str, self.terms))
+        return f"{self.functor}({args})"
+
+
+class BinaryOperatorType(StrEnum):
+    AND = "&"
+    OR = "|"
+    GREATER_THAN = ">"
+    LESS_THAN = "<"
+    EQUALS = "=="
+    NOT_EQUALS = "\\=="
+    GREATER_EQUALS = ">="
+    LESS_EQUALS = "<="
+
+
+@dataclass
+class AstBinaryOp(AstExpression):
+    left: AstExpression
+    operator: BinaryOperatorType
+    right: AstExpression
+
+    def __post_init__(self):
+        self.left = _as_logical(self.left)
+        self.right = _as_logical(self.right)
+
+    def _to_agentspeak(self) -> str:
+        l_str = str(self.left)
+        r_str = str(self.right)
+
+        assert isinstance(self.left, AstLogicalExpression)
+        assert isinstance(self.right, AstLogicalExpression)
+
+        if isinstance(self.left.expression, AstBinaryOp) or self.left.negated:
+            l_str = f"({l_str})"
+        if isinstance(self.right.expression, AstBinaryOp) or self.right.negated:
+            r_str = f"({r_str})"
+
+        return f"{l_str} {self.operator.value} {r_str}"
+
+
+@dataclass
+class AstLogicalExpression(AstExpression):
+    expression: AstExpression
+    negated: bool = False
+
+    def _to_agentspeak(self) -> str:
+        expr_str = str(self.expression)
+        if isinstance(self.expression, AstBinaryOp) and self.negated:
+            expr_str = f"({expr_str})"
+        return f"{'not ' if self.negated else ''}{expr_str}"
+
+
+def _as_logical(expr: AstExpression) -> AstLogicalExpression:
+    if isinstance(expr, AstLogicalExpression):
+        return expr
+    return AstLogicalExpression(expr)
+
+
+class StatementType(StrEnum):
+    EMPTY = ""
+    DO_ACTION = "."
+    ACHIEVE_GOAL = "!"
+    TEST_GOAL = "?"
+    ADD_BELIEF = "+"
+    REMOVE_BELIEF = "-"
+    REPLACE_BELIEF = "-+"
+
+
+@dataclass
+class AstStatement(AstNode):
+    """
+    A statement that can appear inside a plan.
+    """
+
+    type: StatementType
+    expression: AstExpression
+
+    def _to_agentspeak(self) -> str:
+        return f"{self.type.value}{self.expression}"
+
+
+@dataclass
+class AstRule(AstNode):
+    result: AstExpression
+    condition: AstExpression | None = None
+
+    def __post_init__(self):
+        if self.condition is not None:
+            self.condition = _as_logical(self.condition)
+
+    def _to_agentspeak(self) -> str:
+        if not self.condition:
+            return f"{self.result}."
+        return f"{self.result} :- {self.condition}."
+
+
+class TriggerType(StrEnum):
+    ADDED_BELIEF = "+"
+    # REMOVED_BELIEF = "-"  # TODO
+    # MODIFIED_BELIEF = "^"  # TODO
+    ADDED_GOAL = "+!"
+    # REMOVED_GOAL = "-!"  # TODO
+
+
+@dataclass
+class AstPlan(AstNode):
+    type: TriggerType
+    trigger_literal: AstExpression
+    context: list[AstExpression]
+    body: list[AstStatement]
+
+    def _to_agentspeak(self) -> str:
+        assert isinstance(self.trigger_literal, AstLiteral)
+
+        indent = " " * 6
+        colon = "  :   "
+        arrow = "  <-  "
+
+        lines = []
+
+        lines.append(f"{self.type.value}{self.trigger_literal}")
+
+        if self.context:
+            lines.append(colon + f" &\n{indent}".join(str(c) for c in self.context))
+
+        if self.body:
+            lines.append(arrow + f";\n{indent}".join(str(s) for s in self.body) + ".")
+
+        lines.append("")
+
+        return "\n".join(lines)
+
+
+@dataclass
+class AstProgram(AstNode):
+    rules: list[AstRule] = field(default_factory=list)
+    plans: list[AstPlan] = field(default_factory=list)
+
+    def _to_agentspeak(self) -> str:
+        lines = []
+        lines.extend(map(str, self.rules))
+
+        lines.extend(["", ""])
+        lines.extend(map(str, self.plans))
+
+        return "\n".join(lines)

src/control_backend/agents/bdi/agentspeak_generator.py

@@ -0,0 +1,443 @@
+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.DO_ACTION, AstLiteral("notify_user_said")),
+                    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, main_goal=True)
+            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]
+        if from_phase:
+            for goal in from_phase.goals:
+                context.append(self._astify(goal, 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")])
+        #             ),
+        #         ]
+        #     )
+
+        # Notify outside world about transition
+        body.append(
+            AstStatement(
+                StatementType.DO_ACTION,
+                AstLiteral(
+                    "notify_transition_phase",
+                    [
+                        AstString(str(from_phase.id)),
+                        AstString(str(to_phase.id) if to_phase else "end"),
+                    ],
+                ),
+            )
+        )
+
+        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.DO_ACTION, AstLiteral("notify_user_said", [AstVar("Message")])
+            )
+        )
+        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,
+        main_goal: 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 = []
+        if main_goal:  # UI only needs to know about the main goals
+            body.append(
+                AstStatement(
+                    StatementType.DO_ACTION,
+                    AstLiteral("notify_goal_start", [AstString(self.slugify(goal))]),
+                )
+            )
+
+        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 = []
+
+        body.append(
+            AstStatement(
+                StatementType.DO_ACTION,
+                AstLiteral("notify_trigger_start", [AstString(self.slugify(trigger))]),
+            )
+        )
+        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)
+        body.append(
+            AstStatement(
+                StatementType.DO_ACTION,
+                AstLiteral("notify_trigger_end", [AstString(self.slugify(trigger))]),
+            )
+        )
+
+        self._asp.plans.append(
+            AstPlan(
+                TriggerType.ADDED_GOAL,
+                AstLiteral("check_triggers"),
+                [self._astify(phase), self._astify(trigger.condition)],
+                body,
+            )
+        )
+
+        # Force trigger (from UI)
+        self._asp.plans.append(AstPlan(TriggerType.ADDED_GOAL, self._astify(trigger), [], 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.slugify(sb))
+
+    @_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/asl_ast.py

@@ -0,0 +1,203 @@
+import typing
+from dataclasses import dataclass, field
+
+# --- Types ---
+
+
+@dataclass
+class BeliefLiteral:
+    """
+    Represents a literal or atom.
+    Example: phase(1), user_said("hello"), ~started
+    """
+
+    functor: str
+    args: list[str] = field(default_factory=list)
+    negated: bool = False
+
+    def __str__(self):
+        # In ASL, 'not' is usually for closed-world assumption (prolog style),
+        # '~' is for explicit negation in beliefs.
+        # For simplicity in behavior trees, we often use 'not' for conditions.
+        prefix = "not " if self.negated else ""
+        if not self.args:
+            return f"{prefix}{self.functor}"
+
+        # Clean args to ensure strings are quoted if they look like strings,
+        # but usually the converter handles the quoting of string literals.
+        args_str = ", ".join(self.args)
+        return f"{prefix}{self.functor}({args_str})"
+
+
+@dataclass
+class GoalLiteral:
+    name: str
+
+    def __str__(self):
+        return f"!{self.name}"
+
+
+@dataclass
+class ActionLiteral:
+    """
+    Represents a step in a plan body.
+    Example: .say("Hello") or !achieve_goal
+    """
+
+    code: str
+
+    def __str__(self):
+        return self.code
+
+
+@dataclass
+class BinaryOp:
+    """
+    Represents logical operations.
+    Example: (A & B) | C
+    """
+
+    left: "Expression | str"
+    operator: typing.Literal["&", "|"]
+    right: "Expression | str"
+
+    def __str__(self):
+        l_str = str(self.left)
+        r_str = str(self.right)
+
+        if isinstance(self.left, BinaryOp):
+            l_str = f"({l_str})"
+        if isinstance(self.right, BinaryOp):
+            r_str = f"({r_str})"
+
+        return f"{l_str} {self.operator} {r_str}"
+
+
+Literal = BeliefLiteral | GoalLiteral | ActionLiteral
+Expression = Literal | BinaryOp | str
+
+
+@dataclass
+class Rule:
+    """
+    Represents an inference rule.
+    Example: head :- body.
+    """
+
+    head: Expression
+    body: Expression | None = None
+
+    def __str__(self):
+        if not self.body:
+            return f"{self.head}."
+        return f"{self.head} :- {self.body}."
+
+
+@dataclass
+class PersistentRule:
+    """
+    Represents an inference rule, where the inferred belief is persistent when formed.
+    """
+
+    head: Expression
+    body: Expression
+
+    def __str__(self):
+        if not self.body:
+            raise Exception("Rule without body should not be persistent.")
+
+        lines = []
+
+        if isinstance(self.body, BinaryOp):
+            lines.append(f"+{self.body.left}")
+            if self.body.operator == "&":
+                lines.append(f"  :   {self.body.right}")
+            lines.append(f"  <-  +{self.head}.")
+            if self.body.operator == "|":
+                lines.append(f"+{self.body.right}")
+                lines.append(f"  <-  +{self.head}.")
+
+        return "\n".join(lines)
+
+
+@dataclass
+class Plan:
+    """
+    Represents a plan.
+    Syntax: +trigger : context <- body.
+    """
+
+    trigger: BeliefLiteral | GoalLiteral
+    context: list[Expression] = field(default_factory=list)
+    body: list[ActionLiteral] = field(default_factory=list)
+
+    def __str__(self):
+        # Indentation settings
+        INDENT = "      "
+        ARROW = "\n  <-  "
+        COLON = "\n  :   "
+
+        # Build Header
+        header = f"+{self.trigger}"
+        if self.context:
+            ctx_str = f" &\n{INDENT}".join(str(c) for c in self.context)
+            header += f"{COLON}{ctx_str}"
+
+        # Case 1: Empty body
+        if not self.body:
+            return f"{header}."
+
+        # Case 2: Short body (optional optimization, keeping it uniform usually better)
+        header += ARROW
+
+        lines = []
+        # We start the first action on the same line or next line.
+        # Let's put it on the next line for readability if there are multiple.
+
+        if len(self.body) == 1:
+            return f"{header}{self.body[0]}."
+
+        # First item
+        lines.append(f"{header}{self.body[0]};")
+        # Middle items
+        for item in self.body[1:-1]:
+            lines.append(f"{INDENT}{item};")
+        # Last item
+        lines.append(f"{INDENT}{self.body[-1]}.")
+
+        return "\n".join(lines)
+
+
+@dataclass
+class AgentSpeakFile:
+    """
+    Root element representing the entire generated file.
+    """
+
+    initial_beliefs: list[Rule] = field(default_factory=list)
+    inference_rules: list[Rule | PersistentRule] = field(default_factory=list)
+    plans: list[Plan] = field(default_factory=list)
+
+    def __str__(self):
+        sections = []
+
+        if self.initial_beliefs:
+            sections.append("// --- Initial Beliefs & Facts ---")
+            sections.extend(str(rule) for rule in self.initial_beliefs)
+            sections.append("")
+
+        if self.inference_rules:
+            sections.append("// --- Inference Rules ---")
+            sections.extend(str(rule) for rule in self.inference_rules if isinstance(rule, Rule))
+            sections.append("")
+            sections.extend(
+                str(rule) for rule in self.inference_rules if isinstance(rule, PersistentRule)
+            )
+            sections.append("")
+
+        if self.plans:
+            sections.append("// --- Plans ---")
+            # Separate plans by a newline for readability
+            sections.extend(str(plan) + "\n" for plan in self.plans)
+
+        return "\n".join(sections)

src/control_backend/agents/bdi/asl_gen.py

@@ -0,0 +1,425 @@
+import asyncio
+import time
+from functools import singledispatchmethod
+
+from slugify import slugify
+
+from control_backend.agents.bdi import BDICoreAgent
+from control_backend.agents.bdi.asl_ast import (
+    ActionLiteral,
+    AgentSpeakFile,
+    BeliefLiteral,
+    BinaryOp,
+    Expression,
+    GoalLiteral,
+    PersistentRule,
+    Plan,
+    Rule,
+)
+from control_backend.agents.bdi.bdi_program_manager import test_program
+from control_backend.schemas.program import (
+    BasicBelief,
+    Belief,
+    ConditionalNorm,
+    GestureAction,
+    Goal,
+    InferredBelief,
+    KeywordBelief,
+    LLMAction,
+    LogicalOperator,
+    Phase,
+    Program,
+    ProgramElement,
+    SemanticBelief,
+    SpeechAction,
+)
+
+
+async def do_things():
+    res = input("Wanna generate")
+    if res == "y":
+        program = AgentSpeakGenerator().generate(test_program)
+        filename = f"{int(time.time())}.asl"
+        with open(filename, "w") as f:
+            f.write(program)
+    else:
+        # filename = "0test.asl"
+        filename = "1766062491.asl"
+    bdi_agent = BDICoreAgent("BDICoreAgent", filename)
+    flag = asyncio.Event()
+    await bdi_agent.start()
+    await flag.wait()
+
+
+def do_other_things():
+    print(AgentSpeakGenerator().generate(test_program))
+
+
+class AgentSpeakGenerator:
+    """
+    Converts a Pydantic Program behavior model into an AgentSpeak(L) AST,
+    then renders it to a string.
+    """
+
+    def generate(self, program: Program) -> str:
+        asl = AgentSpeakFile()
+
+        self._generate_startup(program, asl)
+
+        for i, phase in enumerate(program.phases):
+            next_phase = program.phases[i + 1] if i < len(program.phases) - 1 else None
+
+            self._generate_phase_flow(phase, next_phase, asl)
+
+            self._generate_norms(phase, asl)
+
+            self._generate_goals(phase, asl)
+
+            self._generate_triggers(phase, asl)
+
+        self._generate_fallbacks(program, asl)
+
+        return str(asl)
+
+    # --- Section: Startup & Phase Management ---
+
+    def _generate_startup(self, program: Program, asl: AgentSpeakFile):
+        if not program.phases:
+            return
+
+        # Initial belief: phase(start).
+        asl.initial_beliefs.append(Rule(head=BeliefLiteral("phase", ['"start"'])))
+
+        # Startup plan: +started : phase(start) <- -phase(start); +phase(first_id).
+        asl.plans.append(
+            Plan(
+                trigger=BeliefLiteral("started"),
+                context=[BeliefLiteral("phase", ['"start"'])],
+                body=[
+                    ActionLiteral('-phase("start")'),
+                    ActionLiteral(f'+phase("{program.phases[0].id}")'),
+                ],
+            )
+        )
+
+        # Initial plans:
+        asl.plans.append(
+            Plan(
+                trigger=GoalLiteral("generate_response_with_goal(Goal)"),
+                context=[BeliefLiteral("user_said", ["Message"])],
+                body=[
+                    ActionLiteral("+responded_this_turn"),
+                    ActionLiteral(".findall(Norm, norm(Norm), Norms)"),
+                    ActionLiteral(".reply_with_goal(Message, Norms, Goal)"),
+                ],
+            )
+        )
+
+    def _generate_phase_flow(self, phase: Phase, next_phase: Phase | None, asl: AgentSpeakFile):
+        """Generates the main loop listener and the transition logic for this phase."""
+
+        # +user_said(Message) : phase(ID) <- !goal1; !goal2; !transition_phase.
+        goal_actions = [ActionLiteral("-responded_this_turn")]
+        goal_actions += [
+            ActionLiteral(f"!check_{self._slugify_str(keyword)}")
+            for keyword in self._get_keyword_conditionals(phase)
+        ]
+        goal_actions += [ActionLiteral(f"!{self._slugify(g)}") for g in phase.goals]
+        goal_actions.append(ActionLiteral("!transition_phase"))
+
+        asl.plans.append(
+            Plan(
+                trigger=BeliefLiteral("user_said", ["Message"]),
+                context=[BeliefLiteral("phase", [f'"{phase.id}"'])],
+                body=goal_actions,
+            )
+        )
+
+        # +!transition_phase : phase(ID) <- -phase(ID); +(NEXT_ID).
+        next_id = str(next_phase.id) if next_phase else "end"
+
+        transition_context = [BeliefLiteral("phase", [f'"{phase.id}"'])]
+        if phase.goals:
+            transition_context.append(BeliefLiteral(f"achieved_{self._slugify(phase.goals[-1])}"))
+
+        asl.plans.append(
+            Plan(
+                trigger=GoalLiteral("transition_phase"),
+                context=transition_context,
+                body=[
+                    ActionLiteral(f'-phase("{phase.id}")'),
+                    ActionLiteral(f'+phase("{next_id}")'),
+                    ActionLiteral("user_said(Anything)"),
+                    ActionLiteral("-+user_said(Anything)"),
+                ],
+            )
+        )
+
+    def _get_keyword_conditionals(self, phase: Phase) -> list[str]:
+        res = []
+        for belief in self._extract_basic_beliefs_from_phase(phase):
+            if isinstance(belief, KeywordBelief):
+                res.append(belief.keyword)
+
+        return res
+
+    # --- Section: Norms & Beliefs ---
+
+    def _generate_norms(self, phase: Phase, asl: AgentSpeakFile):
+        for norm in phase.norms:
+            norm_slug = f'"{norm.norm}"'
+            head = BeliefLiteral("norm", [norm_slug])
+
+            # Base context is the phase
+            phase_lit = BeliefLiteral("phase", [f'"{phase.id}"'])
+
+            if isinstance(norm, ConditionalNorm):
+                self._ensure_belief_inference(norm.condition, asl)
+
+                condition_expr = self._belief_to_expr(norm.condition)
+                body = BinaryOp(phase_lit, "&", condition_expr)
+            else:
+                body = phase_lit
+
+            asl.inference_rules.append(Rule(head=head, body=body))
+
+    def _ensure_belief_inference(self, belief: Belief, asl: AgentSpeakFile):
+        """
+        Recursively adds rules to infer beliefs.
+        Checks strictly to avoid duplicates if necessary,
+        though ASL engines often handle redefinition or we can use a set to track processed IDs.
+        """
+        if isinstance(belief, KeywordBelief):
+            pass
+            # # Rule: keyword_said("word") :- user_said(M) & .substring("word", M, P) & P >= 0.
+            # kwd_slug = f'"{belief.keyword}"'
+            # head = BeliefLiteral("keyword_said", [kwd_slug])
+            #
+            # # Avoid duplicates
+            # if any(str(r.head) == str(head) for r in asl.inference_rules):
+            #     return
+            #
+            # body = BinaryOp(
+            #     BeliefLiteral("user_said", ["Message"]),
+            #     "&",
+            #     BinaryOp(f".substring({kwd_slug}, Message, Pos)", "&", "Pos >= 0"),
+            # )
+            #
+            # asl.inference_rules.append(Rule(head=head, body=body))
+
+        elif isinstance(belief, InferredBelief):
+            self._ensure_belief_inference(belief.left, asl)
+            self._ensure_belief_inference(belief.right, asl)
+
+            slug = self._slugify(belief)
+            head = BeliefLiteral(slug)
+
+            if any(str(r.head) == str(head) for r in asl.inference_rules):
+                return
+
+            op_char = "&" if belief.operator == LogicalOperator.AND else "|"
+            body = BinaryOp(
+                self._belief_to_expr(belief.left), op_char, self._belief_to_expr(belief.right)
+            )
+            asl.inference_rules.append(PersistentRule(head=head, body=body))
+
+    def _belief_to_expr(self, belief: Belief) -> Expression:
+        if isinstance(belief, KeywordBelief):
+            return BeliefLiteral("keyword_said", [f'"{belief.keyword}"'])
+        else:
+            return BeliefLiteral(self._slugify(belief))
+
+    # --- Section: Goals ---
+
+    def _generate_goals(self, phase: Phase, asl: AgentSpeakFile):
+        previous_goal: Goal | None = None
+        for goal in phase.goals:
+            self._generate_goal_plan_recursive(goal, str(phase.id), previous_goal, asl)
+            previous_goal = goal
+
+    def _generate_goal_plan_recursive(
+        self,
+        goal: Goal,
+        phase_id: str,
+        previous_goal: Goal | None,
+        asl: AgentSpeakFile,
+        responded_needed: bool = True,
+        can_fail: bool = True,
+    ):
+        goal_slug = self._slugify(goal)
+
+        # phase(ID) & not responded_this_turn & not achieved_goal
+        context = [
+            BeliefLiteral("phase", [f'"{phase_id}"']),
+        ]
+
+        if responded_needed:
+            context.append(BeliefLiteral("responded_this_turn", negated=True))
+        if can_fail:
+            context.append(BeliefLiteral(f"achieved_{goal_slug}", negated=True))
+
+        if previous_goal:
+            prev_slug = self._slugify(previous_goal)
+            context.append(BeliefLiteral(f"achieved_{prev_slug}"))
+
+        body_actions = []
+        sub_goals_to_process = []
+
+        for step in goal.plan.steps:
+            if isinstance(step, Goal):
+                sub_slug = self._slugify(step)
+                body_actions.append(ActionLiteral(f"!{sub_slug}"))
+                sub_goals_to_process.append(step)
+            elif isinstance(step, SpeechAction):
+                body_actions.append(ActionLiteral(f'.say("{step.text}")'))
+            elif isinstance(step, GestureAction):
+                body_actions.append(ActionLiteral(f'.gesture("{step.gesture}")'))
+            elif isinstance(step, LLMAction):
+                body_actions.append(ActionLiteral(f'!generate_response_with_goal("{step.goal}")'))
+
+        # Mark achievement
+        if not goal.can_fail:
+            body_actions.append(ActionLiteral(f"+achieved_{goal_slug}"))
+
+        asl.plans.append(Plan(trigger=GoalLiteral(goal_slug), context=context, body=body_actions))
+        asl.plans.append(
+            Plan(trigger=GoalLiteral(goal_slug), context=[], body=[ActionLiteral("true")])
+        )
+
+        prev_sub = None
+        for sub_goal in sub_goals_to_process:
+            self._generate_goal_plan_recursive(sub_goal, phase_id, prev_sub, asl)
+            prev_sub = sub_goal
+
+    # --- Section: Triggers ---
+
+    def _generate_triggers(self, phase: Phase, asl: AgentSpeakFile):
+        for keyword in self._get_keyword_conditionals(phase):
+            asl.plans.append(
+                Plan(
+                    trigger=GoalLiteral(f"check_{self._slugify_str(keyword)}"),
+                    context=[
+                        ActionLiteral(
+                            f'user_said(Message) & .substring("{keyword}", Message, Pos) & Pos >= 0'
+                        )
+                    ],
+                    body=[
+                        ActionLiteral(f'+keyword_said("{keyword}")'),
+                        ActionLiteral(f'-keyword_said("{keyword}")'),
+                    ],
+                )
+            )
+            asl.plans.append(
+                Plan(
+                    trigger=GoalLiteral(f"check_{self._slugify_str(keyword)}"),
+                    body=[ActionLiteral("true")],
+                )
+            )
+
+        for trigger in phase.triggers:
+            self._ensure_belief_inference(trigger.condition, asl)
+
+            trigger_belief_slug = self._belief_to_expr(trigger.condition)
+
+            body_actions = []
+            sub_goals = []
+
+            for step in trigger.plan.steps:
+                if isinstance(step, Goal):
+                    sub_slug = self._slugify(step)
+                    body_actions.append(ActionLiteral(f"!{sub_slug}"))
+                    sub_goals.append(step)
+                elif isinstance(step, SpeechAction):
+                    body_actions.append(ActionLiteral(f'.say("{step.text}")'))
+                elif isinstance(step, GestureAction):
+                    body_actions.append(
+                        ActionLiteral(f'.gesture("{step.gesture.type}", "{step.gesture.name}")')
+                    )
+                elif isinstance(step, LLMAction):
+                    body_actions.append(
+                        ActionLiteral(f'!generate_response_with_goal("{step.goal}")')
+                    )
+
+            asl.plans.append(
+                Plan(
+                    trigger=BeliefLiteral(trigger_belief_slug),
+                    context=[BeliefLiteral("phase", [f'"{phase.id}"'])],
+                    body=body_actions,
+                )
+            )
+
+            # Recurse for triggered goals
+            prev_sub = None
+            for sub_goal in sub_goals:
+                self._generate_goal_plan_recursive(
+                    sub_goal, str(phase.id), prev_sub, asl, False, False
+                )
+                prev_sub = sub_goal
+
+    # --- Section: Fallbacks ---
+
+    def _generate_fallbacks(self, program: Program, asl: AgentSpeakFile):
+        asl.plans.append(
+            Plan(trigger=GoalLiteral("transition_phase"), context=[], body=[ActionLiteral("true")])
+        )
+
+    # --- Helpers ---
+
+    @singledispatchmethod
+    def _slugify(self, element: ProgramElement) -> str:
+        if element.name:
+            raise NotImplementedError("Cannot slugify this element.")
+        return self._slugify_str(element.name)
+
+    @_slugify.register
+    def _(self, goal: Goal) -> str:
+        if goal.name:
+            return self._slugify_str(goal.name)
+        return f"goal_{goal.id.hex}"
+
+    @_slugify.register
+    def _(self, kwb: KeywordBelief) -> str:
+        return f"keyword_said({kwb.keyword})"
+
+    @_slugify.register
+    def _(self, sb: SemanticBelief) -> str:
+        return self._slugify_str(sb.description)
+
+    @_slugify.register
+    def _(self, ib: InferredBelief) -> str:
+        return self._slugify_str(ib.name)
+
+    def _slugify_str(self, text: str) -> str:
+        return slugify(text, separator="_", stopwords=["a", "an", "the", "we", "you", "I"])
+
+    def _extract_basic_beliefs_from_program(self, program: Program) -> list[BasicBelief]:
+        beliefs = []
+
+        for phase in program.phases:
+            beliefs.extend(self._extract_basic_beliefs_from_phase(phase))
+
+        return beliefs
+
+    def _extract_basic_beliefs_from_phase(self, phase: Phase) -> list[BasicBelief]:
+        beliefs = []
+
+        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]
+
+
+if __name__ == "__main__":
+    asyncio.run(do_things())
+    # do_other_things()y

src/control_backend/agents/bdi/bdi_core_agent.py

@@ -1,5 +1,6 @@
 import asyncio
 import copy
+import json
 import time
 from collections.abc import Iterable
 
@@ -11,9 +12,9 @@ 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 Belief, BeliefMessage
+from control_backend.schemas.belief_message import BeliefMessage
 from control_backend.schemas.llm_prompt_message import LLMPromptMessage
-from control_backend.schemas.ri_message import SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, SpeechCommand
 
 DELIMITER = ";\n"  # TODO: temporary until we support lists in AgentSpeak
 
@@ -42,13 +43,13 @@ 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 +66,22 @@ 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):
@@ -97,7 +101,6 @@ class BDICoreAgent(BaseAgent):
             maybe_more_work = True
             while maybe_more_work:
                 maybe_more_work = False
-                self.logger.debug("Stepping BDI.")
                 if self.bdi_agent.step():
                     maybe_more_work = True
 
@@ -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.
@@ -124,12 +128,19 @@ class BDICoreAgent(BaseAgent):
 
         if msg.thread == "beliefs":
             try:
-                beliefs = BeliefMessage.model_validate_json(msg.body).beliefs
+                belief_changes = BeliefMessage.model_validate_json(msg.body)
-                self._apply_beliefs(beliefs)
+                self._apply_belief_changes(belief_changes)
             except ValidationError:
                 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:
@@ -144,23 +155,41 @@ class BDICoreAgent(BaseAgent):
                     body=cmd.model_dump_json(),
                 )
                 await self.send(out_msg)
+            case settings.agent_settings.user_interrupt_name:
+                content = msg.body
+                self.logger.debug("Received user interruption: %s", content)
 
-    def _apply_beliefs(self, beliefs: list[Belief]):
+                match msg.thread:
+                    case "force_phase_transition":
+                        self._set_goal("transition_phase")
+                    case "force_trigger":
+                        self._force_trigger(msg.body)
+                    case _:
+                        self.logger.warning("Received unknow user interruption: %s", msg)
+
+    def _apply_belief_changes(self, belief_changes: BeliefMessage):
         """
         Update the belief base with a list of new beliefs.
 
-        If ``replace=True`` is set on a belief, it removes all existing beliefs with that name
+        For beliefs in ``belief_changes.replace``, it removes all existing beliefs with that name
-        before adding the new one.
+        before adding one new one.
+
+        :param belief_changes: The changes in beliefs to apply.
         """
-        if not beliefs:
+        if not belief_changes.create and not belief_changes.replace and not belief_changes.delete:
             return
 
-        for belief in beliefs:
+        for belief in belief_changes.create:
-            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] = []):
+        for belief in belief_changes.replace:
+            self._remove_all_with_name(belief.name)
+            self._add_belief(belief.name, belief.arguments)
+
+        for belief in belief_changes.delete:
+            self._remove_belief(belief.name, belief.arguments)
+
+    def _add_belief(self, name: str, args: list[str] = None):
         """
         Add a single belief to the BDI agent.
 
@@ -168,9 +197,13 @@ class BDICoreAgent(BaseAgent):
         :param args: Arguments for the belief.
         """
         # new_args = (agentspeak.Literal(arg) for arg in args)  # TODO: Eventually support multiple
-        merged_args = DELIMITER.join(arg for arg in args)
+        args = args or []
-        new_args = (agentspeak.Literal(merged_args),)
+        if args:
-        term = agentspeak.Literal(name, new_args)
+            merged_args = DELIMITER.join(arg for arg in args)
+            new_args = (agentspeak.Literal(merged_args),)
+            term = agentspeak.Literal(name, new_args)
+        else:
+            term = agentspeak.Literal(name)
 
         self.bdi_agent.call(
             agentspeak.Trigger.addition,
@@ -179,16 +212,35 @@ class BDICoreAgent(BaseAgent):
             agentspeak.runtime.Intention(),
         )
 
+        # Check for transitions
+        self.bdi_agent.call(
+            agentspeak.Trigger.addition,
+            agentspeak.GoalType.achievement,
+            agentspeak.Literal("transition_phase"),
+            agentspeak.runtime.Intention(),
+        )
+
+        # Check triggers
+        self.bdi_agent.call(
+            agentspeak.Trigger.addition,
+            agentspeak.GoalType.achievement,
+            agentspeak.Literal("check_triggers"),
+            agentspeak.runtime.Intention(),
+        )
+
         self._wake_bdi_loop.set()
 
         self.logger.debug(f"Added belief {self.format_belief_string(name, args)}")
 
-    def _remove_belief(self, name: str, args: Iterable[str]):
+    def _remove_belief(self, name: str, args: Iterable[str] | None):
         """
         Removes a specific belief (with arguments), if it exists.
         """
-        new_args = (agentspeak.Literal(arg) for arg in args)
+        if args is None:
-        term = agentspeak.Literal(name, new_args)
+            term = agentspeak.Literal(name)
+        else:
+            new_args = (agentspeak.Literal(arg) for arg in args)
+            term = agentspeak.Literal(name, new_args)
 
         result = self.bdi_agent.call(
             agentspeak.Trigger.removal,
@@ -228,6 +280,37 @@ class BDICoreAgent(BaseAgent):
 
         self.logger.debug(f"Removed {removed_count} beliefs.")
 
+    def _set_goal(self, name: str, args: Iterable[str] | None = None):
+        args = args or []
+
+        if args:
+            merged_args = DELIMITER.join(arg for arg in args)
+            new_args = (agentspeak.Literal(merged_args),)
+            term = agentspeak.Literal(name, new_args)
+        else:
+            term = agentspeak.Literal(name)
+
+        self.bdi_agent.call(
+            agentspeak.Trigger.addition,
+            agentspeak.GoalType.achievement,
+            term,
+            agentspeak.runtime.Intention(),
+        )
+
+        self._wake_bdi_loop.set()
+
+        self.logger.debug(f"Set goal !{self.format_belief_string(name, args)}.")
+
+    def _force_trigger(self, name: str):
+        self.bdi_agent.call(
+            agentspeak.Trigger.addition,
+            agentspeak.GoalType.achievement,
+            agentspeak.Literal(name),
+            agentspeak.runtime.Intention(),
+        )
+
+        self.logger.info("Manually forced trigger %s.", name)
+
     def _add_custom_actions(self) -> None:
         """
         Add any custom actions here. Inside `@self.actions.add()`, the first argument is
@@ -235,43 +318,207 @@ 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):
+        def _reply(agent, term, intention):
             """
-            Sends text to the LLM (AgentSpeak action).
+            Let the LLM generate a response to a user's utterance with the current norms and goals.
-            Example: .reply("Hello LLM!", "Some norm", "Some goal")
             """
             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
 
-    async def _send_to_llm(self, text: str, norms: str = None, goals: str = None):
+        @self.actions.add(".reply_with_goal", 3)
+        def _reply_with_goal(agent: "BDICoreAgent", term, intention):
+            """
+            Let the LLM generate a response to a user's utterance with the current norms and a
+            specific goal.
+            """
+            message_text = agentspeak.grounded(term.args[0], intention.scope)
+            norms = agentspeak.grounded(term.args[1], intention.scope)
+            goal = agentspeak.grounded(term.args[2], intention.scope)
+
+            self.logger.debug(
+                '"reply_with_goal" action called with message=%s, norms=%s, goal=%s',
+                message_text,
+                norms,
+                goal,
+            )
+            self.add_behavior(self._send_to_llm(str(message_text), str(norms), str(goal)))
+            yield
+
+        @self.actions.add(".say", 1)
+        def _say(agent, term, intention):
+            """
+            Make the robot say the given text instantly.
+            """
+            message_text = agentspeak.grounded(term.args[0], intention.scope)
+
+            self.logger.debug('"say" action called with text=%s', message_text)
+
+            speech_command = SpeechCommand(data=message_text)
+            speech_message = InternalMessage(
+                to=settings.agent_settings.robot_speech_name,
+                sender=settings.agent_settings.bdi_core_name,
+                body=speech_command.model_dump_json(),
+            )
+
+            self.add_behavior(self.send(speech_message))
+
+            chat_history_message = InternalMessage(
+                to=settings.agent_settings.llm_name,
+                thread="assistant_message",
+                body=str(message_text),
+            )
+
+            self.add_behavior(self.send(chat_history_message))
+
+            yield
+
+        @self.actions.add(".gesture", 2)
+        def _gesture(agent, term, intention):
+            """
+            Make the robot perform the given gesture instantly.
+            """
+            gesture_type = agentspeak.grounded(term.args[0], intention.scope)
+            gesture_name = agentspeak.grounded(term.args[1], intention.scope)
+
+            self.logger.debug(
+                '"gesture" action called with type=%s, name=%s',
+                gesture_type,
+                gesture_name,
+            )
+
+            if str(gesture_type) == "single":
+                endpoint = RIEndpoint.GESTURE_SINGLE
+            elif str(gesture_type) == "tag":
+                endpoint = RIEndpoint.GESTURE_TAG
+            else:
+                self.logger.warning("Gesture type %s could not be resolved.", gesture_type)
+                endpoint = RIEndpoint.GESTURE_SINGLE
+
+            gesture_command = GestureCommand(endpoint=endpoint, data=gesture_name)
+            gesture_message = InternalMessage(
+                to=settings.agent_settings.robot_gesture_name,
+                sender=settings.agent_settings.bdi_core_name,
+                body=gesture_command.model_dump_json(),
+            )
+            self.add_behavior(self.send(gesture_message))
+            yield
+
+        @self.actions.add(".notify_user_said", 1)
+        def _notify_user_said(agent, term, intention):
+            user_said = agentspeak.grounded(term.args[0], intention.scope)
+
+            msg = InternalMessage(
+                to=settings.agent_settings.llm_name, thread="user_message", body=str(user_said)
+            )
+
+            self.add_behavior(self.send(msg))
+
+            yield
+
+        @self.actions.add(".notify_trigger_start", 1)
+        def _notify_trigger_start(agent, term, intention):
+            """
+            Notify the UI about the trigger we just started doing.
+            """
+            trigger_name = agentspeak.grounded(term.args[0], intention.scope)
+
+            self.logger.debug("Started trigger %s", trigger_name)
+
+            msg = InternalMessage(
+                to=settings.agent_settings.user_interrupt_name,
+                sender=self.name,
+                thread="trigger_start",
+                body=str(trigger_name),
+            )
+
+            # TODO: check with Pim
+            self.add_behavior(self.send(msg))
+
+            yield
+
+        @self.actions.add(".notify_trigger_end", 1)
+        def _notify_trigger_end(agent, term, intention):
+            """
+            Notify the UI about the trigger we just started doing.
+            """
+            trigger_name = agentspeak.grounded(term.args[0], intention.scope)
+
+            self.logger.debug("Finished trigger %s", trigger_name)
+
+            msg = InternalMessage(
+                to=settings.agent_settings.user_interrupt_name,
+                sender=self.name,
+                thread="trigger_end",
+                body=str(trigger_name),
+            )
+
+            # TODO: check with Pim
+            self.add_behavior(self.send(msg))
+
+            yield
+
+        @self.actions.add(".notify_goal_start", 1)
+        def _notify_goal_start(agent, term, intention):
+            """
+            Notify the UI about the goal we just started chasing.
+            """
+            goal_name = agentspeak.grounded(term.args[0], intention.scope)
+
+            self.logger.debug("Started chasing goal %s", goal_name)
+
+            msg = InternalMessage(
+                to=settings.agent_settings.user_interrupt_name,
+                sender=self.name,
+                thread="goal_start",
+                body=str(goal_name),
+            )
+
+            self.add_behavior(self.send(msg))
+
+            yield
+
+        @self.actions.add(".notify_transition_phase", 2)
+        def _notify_transition_phase(agent, term, intention):
+            """
+            Notify the BDI program manager about a phase transition.
+            """
+            old = agentspeak.grounded(term.args[0], intention.scope)
+            new = agentspeak.grounded(term.args[1], intention.scope)
+
+            msg = InternalMessage(
+                to=settings.agent_settings.bdi_program_manager_name,
+                thread="transition_phase",
+                body=json.dumps({"old": str(old), "new": str(new)}),
+            )
+
+            self.add_behavior(self.send(msg))
+
+            yield
+
+    async def _send_to_llm(self, text: str, norms: str, goals: str):
         """
         Sends a text query to the LLM agent asynchronously.
         """
-        prompt = LLMPromptMessage(
+        prompt = LLMPromptMessage(text=text, norms=norms.split("\n"), goals=goals.split("\n"))
-            text=text,
-            norms=norms.split("\n") if norms else [],
-            goals=goals.split("\n") if norms else [],
-        )
         msg = InternalMessage(
             to=settings.agent_settings.llm_name,
             sender=self.name,
             body=prompt.model_dump_json(),
+            thread="prompt_message",
         )
         await self.send(msg)
         self.logger.info("Message sent to LLM agent: %s", text)
 
     @staticmethod
-    def format_belief_string(name: str, args: Iterable[str] = []):
+    def format_belief_string(name: str, args: Iterable[str] | None = []):
         """
         Given a belief's name and its args, return a string of the form "name(*args)"
         """
-        return f"{name}{'(' if args else ''}{','.join(args)}{')' if args else ''}"
+        return f"{name}{'(' if args else ''}{','.join(args or [])}{')' if args else ''}"

src/control_backend/agents/bdi/bdi_program_manager.py

@@ -1,12 +1,23 @@
+import asyncio
+import json
+
 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.agents.bdi.agentspeak_generator import AgentSpeakGenerator
 from control_backend.core.config import settings
-from control_backend.schemas.belief_message import Belief, BeliefMessage
+from control_backend.schemas.belief_list import BeliefList, GoalList
-from control_backend.schemas.program import Program
+from control_backend.schemas.internal_message import InternalMessage
+from control_backend.schemas.program import (
+    Belief,
+    ConditionalNorm,
+    Goal,
+    InferredBelief,
+    Phase,
+    Program,
+)
 
 
 class BDIProgramManager(BaseAgent):
@@ -21,44 +32,140 @@ class BDIProgramManager(BaseAgent):
     :ivar sub_socket: The ZMQ SUB socket used to receive program updates.
     """
 
+    _program: Program
+    _phase: Phase | None
+
     def __init__(self, **kwargs):
         super().__init__(**kwargs)
         self.sub_socket = None
 
-    async def _send_to_bdi(self, program: Program):
+    def _initialize_internal_state(self, program: Program):
+        self._program = program
+        self._phase = program.phases[0]  # start in first phase
+
+    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 an AgentSpeak file and send it to the BDI Core Agent.
-
-        Currently, it takes the **first phase** of the program and extracts:
-        -   **Norms**: Constraints or rules the agent must follow.
-        -   **Goals**: Objectives the agent must achieve.
-
-        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.
 
         :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"
+
+        with open(file_name, "w") as f:
+            f.write(asl_str)
+
+        msg = InternalMessage(
+            sender=self.name,
+            to=settings.agent_settings.bdi_core_name,
+            body=file_name,
+            thread="new_program",
         )
-        goals_belief = Belief(
+
-            name="goals",
+        await self.send(msg)
-            arguments=[goal.description for goal in first_phase.goals],
+
-            replace=True,
+    async def handle_message(self, msg: InternalMessage):
+        match msg.thread:
+            case "transition_phase":
+                phases = json.loads(msg.body)
+
+                await self._transition_phase(phases["old"], phases["new"])
+
+    async def _transition_phase(self, old: str, new: str):
+        assert old == str(self._phase.id)
+
+        if new == "end":
+            self._phase = None
+            return
+
+        for phase in self._program.phases:
+            if str(phase.id) == new:
+                self._phase = phase
+
+        await self._send_beliefs_to_semantic_belief_extractor()
+        await self._send_goals_to_semantic_belief_extractor()
+
+        # Notify user interaction agent
+        msg = InternalMessage(
+            to=settings.agent_settings.user_interrupt_name,
+            thread="transition_phase",
+            body=str(self._phase.id),
         )
-        program_beliefs = BeliefMessage(beliefs=[norms_belief, goals_belief])
+
+        self.add_behavior(self.send(msg))
+
+    def _extract_current_beliefs(self) -> list[Belief]:
+        beliefs: list[Belief] = []
+
+        for norm in self._phase.norms:
+            if isinstance(norm, ConditionalNorm):
+                beliefs += self._extract_beliefs_from_belief(norm.condition)
+
+        for trigger in self._phase.triggers:
+            beliefs += self._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):
+        """
+        Extract beliefs from the program and send them to the Semantic Belief Extractor Agent.
+        """
+        beliefs = BeliefList(beliefs=self._extract_current_beliefs())
 
         message = InternalMessage(
-            to=settings.agent_settings.bdi_core_name,
+            to=settings.agent_settings.text_belief_extractor_name,
             sender=self.name,
-            body=program_beliefs.model_dump_json(),
+            body=beliefs.model_dump_json(),
             thread="beliefs",
         )
+
+        await self.send(message)
+
+    def _extract_current_goals(self) -> list[Goal]:
+        """
+        Extract all goals from the program, including subgoals.
+
+        :return: A list of Goal objects.
+        """
+        goals: list[Goal] = []
+
+        def extract_goals_from_goal(goal_: Goal) -> list[Goal]:
+            goals_: list[Goal] = [goal]
+            for plan in goal_.plan:
+                if isinstance(plan, Goal):
+                    goals_.extend(extract_goals_from_goal(plan))
+            return goals_
+
+        for goal in self._phase.goals:
+            goals.extend(extract_goals_from_goal(goal))
+
+        return goals
+
+    async def _send_goals_to_semantic_belief_extractor(self):
+        """
+        Extract goals for the current phase and send them to the Semantic Belief Extractor Agent.
+        """
+        goals = GoalList(goals=self._extract_current_goals())
+
+        message = InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=self.name,
+            body=goals.model_dump_json(),
+            thread="goals",
+        )
+
         await self.send(message)
-        self.logger.debug("Sent new norms and goals to the BDI agent.")
 
     async def _send_clear_llm_history(self):
         """
@@ -68,13 +175,19 @@ class BDIProgramManager(BaseAgent):
         """
         message = InternalMessage(
             to=settings.agent_settings.llm_name,
-            sender=self.name,
             body="clear_history",
-            threads="clear history message",
         )
         await self.send(message)
         self.logger.debug("Sent message to LLM agent to clear history.")
 
+        extractor_msg = InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            thread="conversation_history",
+            body="reset",
+        )
+        await self.send(extractor_msg)
+        self.logger.debug("Sent message to extractor agent to clear history.")
+
     async def _receive_programs(self):
         """
         Continuous loop that receives program updates from the HTTP endpoint.
@@ -88,13 +201,20 @@ class BDIProgramManager(BaseAgent):
 
             try:
                 program = Program.model_validate_json(body)
-                await self._send_to_bdi(program)
-                await self._send_clear_llm_history()
-
             except ValidationError:
-                self.logger.exception("Received an invalid program.")
+                self.logger.warning("Received an invalid program.")
                 continue
 
+            self._initialize_internal_state(program)
+
+            await self._send_clear_llm_history()
+
+            await asyncio.gather(
+                self._create_agentspeak_and_send_to_bdi(program),
+                self._send_beliefs_to_semantic_belief_extractor(),
+                self._send_goals_to_semantic_belief_extractor(),
+            )
+
     async def setup(self):
         """
         Initialize the agent.

src/control_backend/agents/bdi/belief_collector_agent.py

@@ -144,7 +144,7 @@ class BDIBeliefCollectorAgent(BaseAgent):
         msg = InternalMessage(
             to=settings.agent_settings.bdi_core_name,
             sender=self.name,
-            body=BeliefMessage(beliefs=beliefs).model_dump_json(),
+            body=BeliefMessage(create=beliefs).model_dump_json(),
             thread="beliefs",
         )
 

src/control_backend/agents/bdi/default_behavior.asl

@@ -0,0 +1,6 @@
+norms("").
+
++user_said(Message) : norms(Norms) <-
+  .notify_user_said(Message);
+  -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

@@ -1,8 +1,46 @@
+import asyncio
 import json
 
+import httpx
+from pydantic import BaseModel, ValidationError
+
 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, GoalList
+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 Goal, SemanticBelief
+
+type JSONLike = None | bool | int | float | str | list["JSONLike"] | dict[str, "JSONLike"]
+
+
+class BeliefState(BaseModel):
+    true: set[InternalBelief] = set()
+    false: set[InternalBelief] = set()
+
+    def difference(self, other: "BeliefState") -> "BeliefState":
+        return BeliefState(
+            true=self.true - other.true,
+            false=self.false - other.false,
+        )
+
+    def union(self, other: "BeliefState") -> "BeliefState":
+        return BeliefState(
+            true=self.true | other.true,
+            false=self.false | other.false,
+        )
+
+    def __sub__(self, other):
+        return self.difference(other)
+
+    def __or__(self, other):
+        return self.union(other)
+
+    def __bool__(self):
+        return bool(self.true) or bool(self.false)
 
 
 class TextBeliefExtractorAgent(BaseAgent):
@@ -12,54 +50,433 @@ class TextBeliefExtractorAgent(BaseAgent):
     This agent is responsible for processing raw text (e.g., from speech transcription) and
     extracting semantic beliefs from it.
 
-    In the current demonstration version, it performs a simple wrapping of the user's input
+    It uses the available beliefs received from the program manager to try to extract beliefs from a
-    into a ``user_said`` belief. In a full implementation, this agent would likely interact
+    user's message, sends and updated beliefs to the BDI core, and forms a ``user_said`` belief from
-    with an LLM or NLU engine to extract intent, entities, and other structured information.
+    the message itself.
     """
 
+    def __init__(self, name: str):
+        super().__init__(name)
+        self._llm = self.LLM(self, settings.llm_settings.n_parallel)
+        self.belief_inferrer = SemanticBeliefInferrer(self._llm)
+        self.goal_inferrer = GoalAchievementInferrer(self._llm)
+        self._current_beliefs = BeliefState()
+        self._current_goal_completions: dict[str, bool] = {}
+        self.conversation = ChatHistory(messages=[])
+
     async def setup(self):
         """
         Initialize the agent and its resources.
         """
-        self.logger.info("Settting up %s.", self.name)
+        self.logger.info("Setting up %s.", self.name)
-        # Setup LLM belief context if needed (currently demo is just passthrough)
-        self.beliefs = {"mood": ["X"], "car": ["Y"]}
 
     async def handle_message(self, msg: InternalMessage):
         """
-        Handle incoming messages, primarily from the Transcription Agent.
+        Handle incoming messages. Expect messages from the Transcriber agent, LLM agent, and the
+        Program manager agent.
 
-        :param msg: The received message containing transcribed text.
+        :param msg: The received message.
         """
         sender = msg.sender
-        if sender == settings.agent_settings.transcription_name:
-            self.logger.debug("Received text from transcriber: %s", msg.body)
-            await self._process_transcription_demo(msg.body)
-        else:
-            self.logger.info("Discarding message from %s", sender)
 
-    async def _process_transcription_demo(self, txt: str):
+        match sender:
+            case settings.agent_settings.transcription_name:
+                self.logger.debug("Received text from transcriber: %s", msg.body)
+                self._apply_conversation_message(ChatMessage(role="user", content=msg.body))
+                await self._user_said(msg.body)
+                await self._infer_new_beliefs()
+                await self._infer_goal_completions()
+            case settings.agent_settings.llm_name:
+                self.logger.debug("Received text from LLM: %s", msg.body)
+                self._apply_conversation_message(ChatMessage(role="assistant", content=msg.body))
+            case settings.agent_settings.bdi_program_manager_name:
+                await self._handle_program_manager_message(msg)
+            case _:
+                self.logger.info("Discarding message from %s", sender)
+                return
+
+    def _apply_conversation_message(self, message: ChatMessage):
         """
-        Process the transcribed text and generate beliefs.
+        Save the chat message to our conversation history, taking into account the conversation
+        length limit.
 
-        **Demo Implementation:**
+        :param message: The chat message to add to the conversation history.
-        Currently, this method takes the raw text ``txt`` and wraps it into a belief structure:
-        ``user_said("txt")``.
-
-        This belief is then sent to the :class:`BDIBeliefCollectorAgent`.
-
-        :param txt: The raw transcribed text string.
         """
-        # For demo, just wrapping user text as user_said belief
+        length_limit = settings.behaviour_settings.conversation_history_length_limit
-        belief = {"beliefs": {"user_said": [txt]}, "type": "belief_extraction_text"}
+        self.conversation.messages = (self.conversation.messages + [message])[-length_limit:]
-        payload = json.dumps(belief)
 
-        belief_msg = InternalMessage(
+    async def _handle_program_manager_message(self, msg: InternalMessage):
-            to=settings.agent_settings.bdi_belief_collector_name,
+        """
-            sender=self.name,
+        Handle a message from the program manager: extract available beliefs and goals from it.
-            body=payload,
+
-            thread="beliefs",
+        :param msg: The received message from the program manager.
+        """
+        match msg.thread:
+            case "beliefs":
+                self._handle_beliefs_message(msg)
+                await self._infer_new_beliefs()
+            case "goals":
+                self._handle_goals_message(msg)
+                await self._infer_goal_completions()
+            case "conversation_history":
+                if msg.body == "reset":
+                    self._reset()
+            case _:
+                self.logger.warning("Received unexpected message from %s", msg.sender)
+
+    def _reset(self):
+        self.conversation = ChatHistory(messages=[])
+        self.belief_inferrer.available_beliefs.clear()
+        self._current_beliefs = BeliefState()
+        self.goal_inferrer.goals.clear()
+        self._current_goal_completions = {}
+
+    def _handle_beliefs_message(self, msg: InternalMessage):
+        try:
+            belief_list = BeliefList.model_validate_json(msg.body)
+        except ValidationError:
+            self.logger.warning(
+                "Received message from program manager but it is not a valid list of beliefs."
+            )
+            return
+
+        available_beliefs = [b for b in belief_list.beliefs if isinstance(b, SemanticBelief)]
+        self.belief_inferrer.available_beliefs = available_beliefs
+        self.logger.debug(
+            "Received %d semantic beliefs from the program manager: %s",
+            len(available_beliefs),
+            ", ".join(b.name for b in available_beliefs),
         )
 
+    def _handle_goals_message(self, msg: InternalMessage):
+        try:
+            goals_list = GoalList.model_validate_json(msg.body)
+        except ValidationError:
+            self.logger.warning(
+                "Received message from program manager but it is not a valid list of goals."
+            )
+            return
+
+        # Use only goals that can fail, as the others are always assumed to be completed
+        available_goals = [g for g in goals_list.goals if g.can_fail]
+        self.goal_inferrer.goals = available_goals
+        self.logger.debug(
+            "Received %d failable goals from the program manager: %s",
+            len(available_goals),
+            ", ".join(g.name for g in available_goals),
+        )
+
+    async def _user_said(self, text: str):
+        """
+        Create a belief for the user's full speech.
+
+        :param text: User's transcribed text.
+        """
+        belief_msg = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=BeliefMessage(
+                replace=[InternalBelief(name="user_said", arguments=[text])],
+            ).model_dump_json(),
+            thread="beliefs",
+        )
         await self.send(belief_msg)
-        self.logger.info("Sent %d beliefs to the belief collector.", len(belief["beliefs"]))
+
+    async def _infer_new_beliefs(self):
+        conversation_beliefs = await self.belief_inferrer.infer_from_conversation(self.conversation)
+
+        new_beliefs = conversation_beliefs - self._current_beliefs
+        if not new_beliefs:
+            self.logger.debug("No new beliefs detected.")
+            return
+
+        self._current_beliefs |= new_beliefs
+
+        belief_changes = BeliefMessage(
+            create=list(new_beliefs.true),
+            delete=list(new_beliefs.false),
+        )
+
+        message = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=belief_changes.model_dump_json(),
+            thread="beliefs",
+        )
+        await self.send(message)
+
+    async def _infer_goal_completions(self):
+        goal_completions = await self.goal_inferrer.infer_from_conversation(self.conversation)
+
+        new_achieved = [
+            InternalBelief(name=goal, arguments=None)
+            for goal, achieved in goal_completions.items()
+            if achieved and self._current_goal_completions.get(goal) != achieved
+        ]
+        new_not_achieved = [
+            InternalBelief(name=goal, arguments=None)
+            for goal, achieved in goal_completions.items()
+            if not achieved and self._current_goal_completions.get(goal) != achieved
+        ]
+        for goal, achieved in goal_completions.items():
+            self._current_goal_completions[goal] = achieved
+
+        if not new_achieved and not new_not_achieved:
+            self.logger.debug("No goal achievement changes detected.")
+            return
+
+        belief_changes = BeliefMessage(
+            create=new_achieved,
+            delete=new_not_achieved,
+        )
+        message = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            body=belief_changes.model_dump_json(),
+            thread="beliefs",
+        )
+        await self.send(message)
+
+    class LLM:
+        """
+        Class that handles sending structured generation requests to an LLM.
+        """
+
+        def __init__(self, agent: "TextBeliefExtractorAgent", n_parallel: int):
+            self._agent = agent
+            self._semaphore = asyncio.Semaphore(n_parallel)
+
+        async def query(self, prompt: str, schema: dict, tries: int = 3) -> JSONLike | None:
+            """
+            Query the LLM with the given prompt and schema, return an instance of a dict conforming
+            to this schema. Try ``tries`` times, or return None.
+
+            :param prompt: Prompt to be queried.
+            :param schema: Schema to be queried.
+            :param tries: Number of times to try to query the LLM.
+            :return: An instance of a dict conforming to this schema, or None if failed.
+            """
+            try_count = 0
+            while try_count < tries:
+                try_count += 1
+
+                try:
+                    return await self._query_llm(prompt, schema)
+                except (httpx.HTTPError, json.JSONDecodeError, KeyError) as e:
+                    if try_count < tries:
+                        continue
+                    self._agent.logger.exception(
+                        "Failed to get LLM response after %d tries.",
+                        try_count,
+                        exc_info=e,
+                    )
+
+            return None
+
+        async def _query_llm(self, prompt: str, schema: dict) -> JSONLike:
+            """
+            Query an LLM with the given prompt and schema, return an instance of a dict conforming
+            to that schema.
+
+            :param prompt: The prompt to be queried.
+            :param schema: Schema to use during response.
+            :return: A dict conforming to this schema.
+            :raises httpx.HTTPStatusError: If the LLM server responded with an error.
+            :raises json.JSONDecodeError: If the LLM response was not valid JSON. May happen if the
+                response was cut off early due to length limitations.
+            :raises KeyError: If the LLM server responded with no error, but the response was
+                invalid.
+            """
+            async with self._semaphore:
+                async with httpx.AsyncClient() as client:
+                    response = await client.post(
+                        settings.llm_settings.local_llm_url,
+                        json={
+                            "model": settings.llm_settings.local_llm_model,
+                            "messages": [{"role": "user", "content": prompt}],
+                            "response_format": {
+                                "type": "json_schema",
+                                "json_schema": {
+                                    "name": "Beliefs",
+                                    "strict": True,
+                                    "schema": schema,
+                                },
+                            },
+                            "reasoning_effort": "low",
+                            "temperature": settings.llm_settings.code_temperature,
+                            "stream": False,
+                        },
+                        timeout=30.0,
+                    )
+                    response.raise_for_status()
+
+                    response_json = response.json()
+                    json_message = response_json["choices"][0]["message"]["content"]
+                    return json.loads(json_message)
+
+
+class SemanticBeliefInferrer:
+    """
+    Class that handles only prompting an LLM for semantic beliefs.
+    """
+
+    def __init__(
+        self,
+        llm: "TextBeliefExtractorAgent.LLM",
+        available_beliefs: list[SemanticBelief] | None = None,
+    ):
+        self._llm = llm
+        self.available_beliefs: list[SemanticBelief] = available_beliefs or []
+
+    async def infer_from_conversation(self, conversation: ChatHistory) -> BeliefState:
+        """
+        Process conversation history to extract beliefs, semantically. The result is an object that
+        describes all beliefs that hold or don't hold based on the full conversation.
+
+        :param conversation: The conversation history to be processed.
+        :return: An object that describes beliefs.
+        """
+        # Return instantly if there are no beliefs to infer
+        if not self.available_beliefs:
+            return BeliefState()
+
+        n_parallel = max(1, min(settings.llm_settings.n_parallel - 1, len(self.available_beliefs)))
+        all_beliefs: list[dict[str, bool | None] | None] = await asyncio.gather(
+            *[
+                self._infer_beliefs(conversation, beliefs)
+                for beliefs in self._split_into_chunks(self.available_beliefs, n_parallel)
+            ]
+        )
+        retval = BeliefState()
+        for beliefs in all_beliefs:
+            if beliefs is None:
+                continue
+            for belief_name, belief_holds in beliefs.items():
+                if belief_holds is None:
+                    continue
+                belief = InternalBelief(name=belief_name, arguments=None)
+                if belief_holds:
+                    retval.true.add(belief)
+                else:
+                    retval.false.add(belief)
+        return retval
+
+    @staticmethod
+    def _split_into_chunks[T](items: list[T], n: int) -> list[list[T]]:
+        """
+        Split a list into ``n`` chunks, making each chunk approximately ``len(items) / n`` long.
+
+        :param items: The list of items to split.
+        :param n: The number of desired chunks.
+        :return: A list of chunks each approximately ``len(items) / n`` long.
+        """
+        k, m = divmod(len(items), n)
+        return [items[i * k + min(i, m) : (i + 1) * k + min(i + 1, m)] for i in range(n)]
+
+    async def _infer_beliefs(
+        self,
+        conversation: ChatHistory,
+        beliefs: list[SemanticBelief],
+    ) -> dict[str, bool | None] | None:
+        """
+        Infer given beliefs based on the given conversation.
+        :param conversation: The conversation to infer beliefs from.
+        :param beliefs: The beliefs to infer.
+        :return: A dict containing belief names and a boolean whether they hold, or None if the
+            belief cannot be inferred based on the given conversation.
+        """
+        example = {
+            "example_belief": True,
+        }
+
+        prompt = f"""{self._format_conversation(conversation)}
+
+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>`:
+{self._format_beliefs(beliefs)}
+
+Respond with a JSON similar to the following, but with the property names as given above:
+{json.dumps(example, indent=2)}
+"""
+
+        schema = self._create_beliefs_schema(beliefs)
+
+        return await self._llm.query(prompt, schema)
+
+    @staticmethod
+    def _create_belief_schema(belief: SemanticBelief) -> tuple[str, dict]:
+        return AgentSpeakGenerator.slugify(belief), {
+            "type": ["boolean", "null"],
+            "description": belief.description,
+        }
+
+    @staticmethod
+    def _create_beliefs_schema(beliefs: list[SemanticBelief]) -> dict:
+        belief_schemas = [
+            SemanticBeliefInferrer._create_belief_schema(belief) for belief in beliefs
+        ]
+
+        return {
+            "type": "object",
+            "properties": dict(belief_schemas),
+            "required": [name for name, _ in belief_schemas],
+        }
+
+    @staticmethod
+    def _format_message(message: ChatMessage):
+        return f"{message.role.upper()}:\n{message.content}"
+
+    @staticmethod
+    def _format_conversation(conversation: ChatHistory):
+        return "\n\n".join(
+            [SemanticBeliefInferrer._format_message(message) for message in conversation.messages]
+        )
+
+    @staticmethod
+    def _format_beliefs(beliefs: list[SemanticBelief]):
+        return "\n".join(
+            [f"- {AgentSpeakGenerator.slugify(belief)}: {belief.description}" for belief in beliefs]
+        )
+
+
+class GoalAchievementInferrer(SemanticBeliefInferrer):
+    def __init__(self, llm: TextBeliefExtractorAgent.LLM):
+        super().__init__(llm)
+        self.goals = []
+
+    async def infer_from_conversation(self, conversation: ChatHistory) -> dict[str, bool]:
+        """
+        Determine which goals have been achieved based on the given conversation.
+
+        :param conversation: The conversation to infer goal completion from.
+        :return: A mapping of goals and a boolean whether they have been achieved.
+        """
+        if not self.goals:
+            return {}
+
+        goals_achieved = await asyncio.gather(
+            *[self._infer_goal(conversation, g) for g in self.goals]
+        )
+        return {
+            f"achieved_{AgentSpeakGenerator.slugify(goal)}": achieved
+            for goal, achieved in zip(self.goals, goals_achieved, strict=True)
+        }
+
+    async def _infer_goal(self, conversation: ChatHistory, goal: Goal) -> bool:
+        prompt = f"""{self._format_conversation(conversation)}
+
+Given the above conversation, what has the following goal been achieved?
+
+The name of the goal: {goal.name}
+Description of the goal: {goal.description}
+
+Answer with literally only `true` or `false` (without backticks)."""
+
+        schema = {
+            "type": "boolean",
+        }
+
+        return await self._llm.query(prompt, schema)

src/control_backend/agents/communication/ri_communication_agent.py

@@ -248,7 +248,8 @@ class RICommunicationAgent(BaseAgent):
                     self._req_socket.recv_json(), timeout=seconds_to_wait_total / 2
                 )
 
-                self.logger.debug(f'Received message "{message}" from RI.')
+                if "endpoint" in message and message["endpoint"] != "ping":
+                    self.logger.debug(f'Received message "{message}" from RI.')
                 if "endpoint" not in message:
                     self.logger.warning("No received endpoint in message, expected ping endpoint.")
                     continue

src/control_backend/agents/llm/llm_agent.py

@@ -46,18 +46,23 @@ class LLMAgent(BaseAgent):
         :param msg: The received internal message.
         """
         if msg.sender == settings.agent_settings.bdi_core_name:
-            self.logger.debug("Processing message from BDI core.")
+            match msg.thread:
-            try:
+                case "prompt_message":
-                prompt_message = LLMPromptMessage.model_validate_json(msg.body)
+                    try:
-                await self._process_bdi_message(prompt_message)
+                        prompt_message = LLMPromptMessage.model_validate_json(msg.body)
-            except ValidationError:
+                        await self._process_bdi_message(prompt_message)
-                self.logger.debug("Prompt message from BDI core is invalid.")
+                    except ValidationError:
+                        self.logger.debug("Prompt message from BDI core is invalid.")
+                case "assistant_message":
+                    self.history.append({"role": "assistant", "content": msg.body})
+                case "user_message":
+                    self.history.append({"role": "user", "content": msg.body})
         elif msg.sender == settings.agent_settings.bdi_program_manager_name:
             if msg.body == "clear_history":
                 self.logger.debug("Clearing conversation history.")
                 self.history.clear()
         else:
-            self.logger.debug("Message ignored (not from BDI core.")
+            self.logger.debug("Message ignored.")
 
     async def _process_bdi_message(self, message: LLMPromptMessage):
         """
@@ -68,11 +73,12 @@ class LLMAgent(BaseAgent):
 
         :param message: The parsed prompt message containing text, norms, and goals.
         """
+        full_message = ""
         async for chunk in self._query_llm(message.text, message.norms, message.goals):
             await self._send_reply(chunk)
-            self.logger.debug(
+            full_message += chunk
-                "Finished processing BDI message. Response sent in chunks to BDI core."
+        self.logger.debug("Finished processing BDI message. Response sent in chunks to BDI core.")
-            )
+        await self._send_full_reply(full_message)
 
     async def _send_reply(self, msg: str):
         """
@@ -87,6 +93,19 @@ class LLMAgent(BaseAgent):
         )
         await self.send(reply)
 
+    async def _send_full_reply(self, msg: str):
+        """
+        Sends a response message (full) to agents that need it.
+
+        :param msg: The text content of the message.
+        """
+        message = InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=self.name,
+            body=msg,
+        )
+        await self.send(message)
+
     async def _query_llm(
         self, prompt: str, norms: list[str], goals: list[str]
     ) -> AsyncGenerator[str]:
@@ -104,13 +123,6 @@ class LLMAgent(BaseAgent):
         :param goals: Goals the LLM should achieve.
         :yield: Fragments of the LLM-generated content (e.g., sentences/phrases).
         """
-        self.history.append(
-            {
-                "role": "user",
-                "content": prompt,
-            }
-        )
-
         instructions = LLMInstructions(norms if norms else None, goals if goals else None)
         messages = [
             {
@@ -176,7 +188,7 @@ class LLMAgent(BaseAgent):
                 json={
                     "model": settings.llm_settings.local_llm_model,
                     "messages": messages,
-                    "temperature": 0.3,
+                    "temperature": settings.llm_settings.chat_temperature,
                     "stream": True,
                 },
             ) as response:

src/control_backend/agents/perception/vad_agent.py

@@ -229,10 +229,11 @@ class VADAgent(BaseAgent):
             assert self.model is not None
             prob = self.model(torch.from_numpy(chunk), settings.vad_settings.sample_rate_hz).item()
             non_speech_patience = settings.behaviour_settings.vad_non_speech_patience_chunks
+            begin_silence_length = settings.behaviour_settings.vad_begin_silence_chunks
             prob_threshold = settings.behaviour_settings.vad_prob_threshold
 
             if prob > prob_threshold:
-                if self.i_since_speech > non_speech_patience:
+                if self.i_since_speech > non_speech_patience + begin_silence_length:
                     self.logger.debug("Speech started.")
                 self.audio_buffer = np.append(self.audio_buffer, chunk)
                 self.i_since_speech = 0
@@ -246,11 +247,12 @@ class VADAgent(BaseAgent):
                 continue
 
             # Speech probably ended. Make sure we have a usable amount of data.
-            if len(self.audio_buffer) >= 3 * len(chunk):
+            if len(self.audio_buffer) > begin_silence_length * len(chunk):
                 self.logger.debug("Speech ended.")
                 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.
+            # At this point, we know that there is no speech.
-            # Prepend the last chunk that had no speech, for a more fluent boundary
+            # Prepend the last few chunks that had no speech, for a more fluent boundary.
-            self.audio_buffer = chunk
+            self.audio_buffer = np.append(self.audio_buffer, chunk)
+            self.audio_buffer = self.audio_buffer[-begin_silence_length * len(chunk) :]

src/control_backend/core/agent_system.py

@@ -131,6 +131,7 @@ class BaseAgent(ABC):
         :param message: The message to send.
         """
         target = AgentDirectory.get(message.to)
+        message.sender = self.name
         if target:
             await target.inbox.put(message)
             self.logger.debug(f"Sent message {message.body} to {message.to} via regular inbox.")
@@ -192,7 +193,16 @@ class BaseAgent(ABC):
 
         :param coro: The coroutine to execute as a task.
         """
-        task = asyncio.create_task(coro)
+
+        async def try_coro(coro_: Coroutine):
+            try:
+                await coro_
+            except asyncio.CancelledError:
+                self.logger.debug("A behavior was canceled successfully: %s", coro_)
+            except Exception:
+                self.logger.warning("An exception occurred in a behavior.", exc_info=True)
+
+        task = asyncio.create_task(try_coro(coro))
         self._tasks.add(task)
         task.add_done_callback(self._tasks.discard)
         return task

src/control_backend/core/config.py

@@ -73,10 +73,12 @@ class BehaviourSettings(BaseModel):
     :ivar vad_prob_threshold: Probability threshold for Voice Activity Detection.
     :ivar vad_initial_since_speech: Initial value for 'since speech' counter in VAD.
     :ivar vad_non_speech_patience_chunks: Number of non-speech chunks to wait before speech ended.
+    :ivar vad_begin_silence_chunks: The number of chunks of silence to prepend to speech chunks.
     :ivar transcription_max_concurrent_tasks: Maximum number of concurrent transcription tasks.
     :ivar transcription_words_per_minute: Estimated words per minute for transcription timing.
     :ivar transcription_words_per_token: Estimated words per token for transcription timing.
     :ivar transcription_token_buffer: Buffer for transcription tokens.
+    :ivar conversation_history_length_limit: The maximum amount of messages to extract beliefs from.
     """
 
     # ATTENTION: When adding/removing settings, make sure to update the .env.example file
@@ -88,7 +90,8 @@ class BehaviourSettings(BaseModel):
     # VAD settings
     vad_prob_threshold: float = 0.5
     vad_initial_since_speech: int = 100
-    vad_non_speech_patience_chunks: int = 3
+    vad_non_speech_patience_chunks: int = 15
+    vad_begin_silence_chunks: int = 6
 
     # transcription behaviour
     transcription_max_concurrent_tasks: int = 3
@@ -96,6 +99,9 @@ class BehaviourSettings(BaseModel):
     transcription_words_per_token: float = 0.75  # (3 words = 4 tokens)
     transcription_token_buffer: int = 10
 
+    # Text belief extractor settings
+    conversation_history_length_limit: int = 10
+
 
 class LLMSettings(BaseModel):
     """
@@ -103,12 +109,19 @@ class LLMSettings(BaseModel):
 
     :ivar local_llm_url: URL for the local LLM API.
     :ivar local_llm_model: Name of the local LLM model to use.
+    :ivar chat_temperature: The temperature to use while generating chat responses.
+    :ivar code_temperature: The temperature to use while generating code-like responses like during
+        belief inference.
+    :ivar n_parallel: The number of parallel calls allowed to be made to the LLM.
     """
 
     # ATTENTION: When adding/removing settings, make sure to update the .env.example file
 
     local_llm_url: str = "http://localhost:1234/v1/chat/completions"
     local_llm_model: str = "gpt-oss"
+    chat_temperature: float = 1.0
+    code_temperature: float = 0.3
+    n_parallel: int = 4
 
 
 class VADSettings(BaseModel):

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 +1,19 @@
+from pydantic import BaseModel
+
+from control_backend.schemas.program import Belief as ProgramBelief
+from control_backend.schemas.program import Goal
+
+
+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]
+
+
+class GoalList(BaseModel):
+    goals: list[Goal]

src/control_backend/schemas/belief_message.py

@@ -6,18 +6,30 @@ class Belief(BaseModel):
     Represents a single belief in the BDI system.
 
     :ivar name: The functor or name of the belief (e.g., 'user_said').
-    :ivar arguments: A list of string arguments for the belief.
+    :ivar arguments: A list of string arguments for the belief, or None if the belief has no
-    :ivar replace: If True, existing beliefs with this name should be replaced by this one.
+        arguments.
     """
 
     name: str
-    arguments: list[str]
+    arguments: list[str] | None
-    replace: bool = False
+
+    # To make it hashable
+    model_config = {"frozen": True}
 
 
 class BeliefMessage(BaseModel):
     """
-    A container for transporting a list of beliefs between agents.
+    A container for communicating beliefs between agents.
+
+    :ivar create: Beliefs to create.
+    :ivar delete: Beliefs to delete.
+    :ivar replace: Beliefs to replace. Deletes all beliefs with the same name, replacing them with
+        one new belief.
     """
 
-    beliefs: list[Belief]
+    create: list[Belief] = []
+    delete: list[Belief] = []
+    replace: list[Belief] = []
+
+    def has_values(self) -> bool:
+        return len(self.create) > 0 or len(self.delete) > 0 or len(self.replace) > 0

src/control_backend/schemas/chat_history.py

@@ -0,0 +1,10 @@
+from pydantic import BaseModel
+
+
+class ChatMessage(BaseModel):
+    role: str
+    content: str
+
+
+class ChatHistory(BaseModel):
+    messages: list[ChatMessage]

src/control_backend/schemas/internal_message.py

@@ -12,6 +12,6 @@ class InternalMessage(BaseModel):
     """
 
     to: str
-    sender: str
+    sender: str | None = None
     body: str
     thread: str | None = None

src/control_backend/schemas/program.py

@@ -1,64 +1,202 @@
-from pydantic import BaseModel
+from enum import Enum
+from typing import Literal
+
+from pydantic import UUID4, BaseModel
 
 
-class Norm(BaseModel):
+class ProgramElement(BaseModel):
     """
-    Represents a behavioral norm.
+    Represents a basic element of our behavior program.
 
+    :ivar name: The researcher-assigned name of the element.
     :ivar id: Unique identifier.
-    :ivar label: Human-readable label.
-    :ivar norm: The actual norm text describing the behavior.
     """
 
-    id: str
+    name: str
-    label: str
+    id: UUID4
-    norm: str
 
 
-class Goal(BaseModel):
+class LogicalOperator(Enum):
+    AND = "AND"
+    OR = "OR"
+
+
+type Belief = KeywordBelief | SemanticBelief | InferredBelief
+type BasicBelief = KeywordBelief | SemanticBelief
+
+
+class KeywordBelief(ProgramElement):
     """
-    Represents an objective to be achieved.
+    Represents a belief that is set when the user spoken text contains a certain keyword.
 
-    :ivar id: Unique identifier.
+    :ivar keyword: The keyword on which this belief gets set.
-    :ivar label: Human-readable label.
-    :ivar description: Detailed description of the goal.
-    :ivar achieved: Status flag indicating if the goal has been met.
     """
 
-    id: str
+    name: str = ""
-    label: str
-    description: str
-    achieved: bool
-
-
-class TriggerKeyword(BaseModel):
-    id: str
     keyword: str
 
 
-class KeywordTrigger(BaseModel):
+class SemanticBelief(ProgramElement):
-    id: str
+    """
-    label: str
+    Represents a belief that is set by semantic LLM validation.
-    type: str
+
-    keywords: list[TriggerKeyword]
+    :ivar description: Description of how to form the belief, used by the LLM.
+    """
+
+    description: str
 
 
-class Phase(BaseModel):
+class InferredBelief(ProgramElement):
+    """
+    Represents a belief that gets formed by combining two beliefs with a logical AND or OR.
+
+    These beliefs can also be :class:`InferredBelief`, leading to arbitrarily deep nesting.
+
+    :ivar operator: The logical operator to apply.
+    :ivar left: The left part of the logical expression.
+    :ivar right: The right part of the logical expression.
+    """
+
+    name: str = ""
+    operator: LogicalOperator
+    left: Belief
+    right: Belief
+
+
+class Norm(ProgramElement):
+    name: str = ""
+    norm: str
+    critical: bool = False
+
+
+class BasicNorm(Norm):
+    """
+    Represents a behavioral norm.
+
+    :ivar norm: The actual norm text describing the behavior.
+    :ivar critical: When true, this norm should absolutely not be violated (checked separately).
+    """
+
+    pass
+
+
+class ConditionalNorm(Norm):
+    """
+    Represents a norm that is only active when a condition is met (i.e., a certain belief holds).
+
+    :ivar condition: When to activate this norm.
+    """
+
+    condition: Belief
+
+
+type PlanElement = Goal | Action
+
+
+class Plan(ProgramElement):
+    """
+    Represents a list of steps to execute. Each of these steps can be a goal (with its own plan)
+    or a simple action.
+
+    :ivar steps: The actions or subgoals to execute, in order.
+    """
+
+    name: str = ""
+    steps: list[PlanElement]
+
+
+class Goal(ProgramElement):
+    """
+    Represents an objective to be achieved. To reach the goal, we should execute
+    the corresponding plan. If we can fail to achieve a goal after executing the plan,
+    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
+
+
+type Action = SpeechAction | GestureAction | LLMAction
+
+
+class SpeechAction(ProgramElement):
+    """
+    Represents the action of the robot speaking a literal text.
+
+    :ivar text: The text to speak.
+    """
+
+    name: str = ""
+    text: str
+
+
+class Gesture(BaseModel):
+    """
+    Represents a gesture to be performed. Can be either a single gesture,
+    or a random gesture from a category (tag).
+
+    :ivar type: The type of the gesture, "tag" or "single".
+    :ivar name: The name of the single gesture or tag.
+    """
+
+    type: Literal["tag", "single"]
+    name: str
+
+
+class GestureAction(ProgramElement):
+    """
+    Represents the action of the robot performing a gesture.
+
+    :ivar gesture: The gesture to perform.
+    """
+
+    name: str = ""
+    gesture: Gesture
+
+
+class LLMAction(ProgramElement):
+    """
+    Represents the action of letting an LLM generate a reply based on its chat history
+    and an additional goal added in the prompt.
+
+    :ivar goal: The extra (temporary) goal to add to the LLM.
+    """
+
+    name: str = ""
+    goal: str
+
+
+class Trigger(ProgramElement):
+    """
+    Represents a belief-based trigger. When a belief is set, the corresponding plan is executed.
+
+    :ivar condition: When to activate the trigger.
+    :ivar plan: The plan to execute.
+    """
+
+    condition: Belief
+    plan: Plan
+
+
+class Phase(ProgramElement):
     """
     A distinct phase within a program, containing norms, goals, and triggers.
 
-    :ivar id: Unique identifier.
-    :ivar label: Human-readable label.
     :ivar norms: List of norms active in this phase.
     :ivar goals: List of goals to pursue in this phase.
     :ivar triggers: List of triggers that define transitions out of this phase.
     """
 
-    id: str
+    name: str = ""
-    label: str
+    norms: list[BasicNorm | ConditionalNorm]
-    norms: list[Norm]
     goals: list[Goal]
-    triggers: list[KeywordTrigger]
+    triggers: list[Trigger]
 
 
 class Program(BaseModel):

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
@@ -51,7 +51,7 @@ async def test_handle_belief_collector_message(agent, mock_settings):
     msg = InternalMessage(
         to="bdi_agent",
         sender=mock_settings.agent_settings.bdi_belief_collector_name,
-        body=BeliefMessage(beliefs=beliefs).model_dump_json(),
+        body=BeliefMessage(create=beliefs).model_dump_json(),
         thread="beliefs",
     )
 
@@ -64,6 +64,26 @@ async def test_handle_belief_collector_message(agent, mock_settings):
     assert args[2] == agentspeak.Literal("user_said", (agentspeak.Literal("Hello"),))
 
 
+@pytest.mark.asyncio
+async def test_handle_delete_belief_message(agent, mock_settings):
+    """Test that incoming beliefs to be deleted are removed from the BDI agent"""
+    beliefs = [Belief(name="user_said", arguments=["Hello"])]
+
+    msg = InternalMessage(
+        to="bdi_agent",
+        sender=mock_settings.agent_settings.bdi_belief_collector_name,
+        body=BeliefMessage(delete=beliefs).model_dump_json(),
+        thread="beliefs",
+    )
+    await agent.handle_message(msg)
+
+    # Expect bdi_agent.call to be triggered to remove belief
+    args = agent.bdi_agent.call.call_args.args
+    assert args[0] == agentspeak.Trigger.removal
+    assert args[1] == agentspeak.GoalType.belief
+    assert args[2] == agentspeak.Literal("user_said", (agentspeak.Literal("Hello"),))
+
+
 @pytest.mark.asyncio
 async def test_incorrect_belief_collector_message(agent, mock_settings):
     """Test that incorrect message format triggers an exception."""
@@ -113,14 +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):
@@ -128,7 +148,8 @@ def test_add_belief_sets_event(agent):
     agent._wake_bdi_loop = MagicMock()
 
     belief = Belief(name="test_belief", arguments=["a", "b"])
-    agent._apply_beliefs([belief])
+    belief_changes = BeliefMessage(replace=[belief])
+    agent._apply_belief_changes(belief_changes)
 
     assert agent.bdi_agent.call.called
     agent._wake_bdi_loop.set.assert_called()
@@ -137,7 +158,7 @@ def test_add_belief_sets_event(agent):
 def test_apply_beliefs_empty_returns(agent):
     """Line: if not beliefs: return"""
     agent._wake_bdi_loop = MagicMock()
-    agent._apply_beliefs([])
+    agent._apply_belief_changes(BeliefMessage())
     agent.bdi_agent.call.assert_not_called()
     agent._wake_bdi_loop.set.assert_not_called()
 
@@ -220,8 +241,9 @@ def test_replace_belief_calls_remove_all(agent):
     agent._remove_all_with_name = MagicMock()
     agent._wake_bdi_loop = MagicMock()
 
-    belief = Belief(name="user_said", arguments=["Hello"], replace=True)
+    belief = Belief(name="user_said", arguments=["Hello"])
-    agent._apply_beliefs([belief])
+    belief_changes = BeliefMessage(replace=[belief])
+    agent._apply_belief_changes(belief_changes)
 
     agent._remove_all_with_name.assert_called_with("user_said")
 

test/unit/agents/bdi/test_bdi_program_manager.py

@@ -1,6 +1,6 @@
 import asyncio
-import json
 import sys
+import uuid
 from unittest.mock import AsyncMock
 
 import pytest
@@ -8,38 +8,54 @@ import pytest
 from control_backend.agents.bdi.bdi_program_manager import BDIProgramManager
 from control_backend.core.agent_system import InternalMessage
 from control_backend.schemas.belief_message import BeliefMessage
-from control_backend.schemas.program import Program
+from control_backend.schemas.program import BasicNorm, Goal, Phase, Plan, Program
 
 # Fix Windows Proactor loop for zmq
 if sys.platform.startswith("win"):
     asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())
 
 
-def make_valid_program_json(norm="N1", goal="G1"):
+def make_valid_program_json(norm="N1", goal="G1") -> str:
-    return json.dumps(
+    return Program(
-        {
+        phases=[
-            "phases": [
+            Phase(
-                {
+                id=uuid.uuid4(),
-                    "id": "phase1",
+                name="Basic Phase",
-                    "label": "Phase 1",
+                norms=[
-                    "triggers": [],
+                    BasicNorm(
-                    "norms": [{"id": "n1", "label": "Norm 1", "norm": norm}],
+                        id=uuid.uuid4(),
-                    "goals": [
+                        name=norm,
-                        {"id": "g1", "label": "Goal 1", "description": goal, "achieved": False}
+                        norm=norm,
-                    ],
+                    ),
-                }
+                ],
-            ]
+                goals=[
-        }
+                    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",
+                            steps=[],
+                        ),
+                        can_fail=False,
+                    ),
+                ],
+                triggers=[],
+            ),
+        ],
+    ).model_dump_json()
 
 
+@pytest.mark.skip(reason="Functionality being rebuilt.")
 @pytest.mark.asyncio
 async def test_send_to_bdi():
     manager = BDIProgramManager(name="program_manager_test")
     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]
@@ -61,8 +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()
     manager._send_clear_llm_history = AsyncMock()
 
     try:
@@ -72,10 +89,10 @@ 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].norm == "N1"
+    assert forwarded.phases[0].norms[0].name == "N1"
-    assert forwarded.phases[0].goals[0].description == "G1"
+    assert forwarded.phases[0].goals[0].name == "G1"
 
     # Verify history clear was triggered
     assert manager._send_clear_llm_history.await_count == 1
@@ -91,8 +108,8 @@ async def test_send_clear_llm_history(mock_settings):
 
     await manager._send_clear_llm_history()
 
-    assert manager.send.await_count == 1
+    assert manager.send.await_count == 2
-    msg: InternalMessage = manager.send.await_args[0][0]
+    msg: InternalMessage = manager.send.await_args_list[0][0][0]
 
     # Verify the content and recipient
     assert msg.body == "clear_history"

test/unit/agents/bdi/test_belief_collector.py

@@ -86,7 +86,7 @@ async def test_send_beliefs_to_bdi(agent):
     sent: InternalMessage = agent.send.call_args.args[0]
     assert sent.to == settings.agent_settings.bdi_core_name
     assert sent.thread == "beliefs"
-    assert json.loads(sent.body)["beliefs"] == [belief.model_dump() for belief in beliefs]
+    assert json.loads(sent.body)["create"] == [belief.model_dump() for belief in beliefs]
 
 
 @pytest.mark.asyncio

test/unit/agents/bdi/test_text_belief_extractor.py

@@ -0,0 +1,376 @@
+import json
+import uuid
+from unittest.mock import AsyncMock, MagicMock, patch
+
+import httpx
+import pytest
+
+from control_backend.agents.bdi import TextBeliefExtractorAgent
+from control_backend.agents.bdi.text_belief_extractor_agent import BeliefState
+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 (
+    ConditionalNorm,
+    KeywordBelief,
+    LLMAction,
+    Phase,
+    Plan,
+    Program,
+    SemanticBelief,
+    Trigger,
+)
+
+
+@pytest.fixture
+def llm():
+    llm = TextBeliefExtractorAgent.LLM(MagicMock(), 4)
+    llm._query_llm = AsyncMock()
+    return llm
+
+
+@pytest.fixture
+def agent(llm):
+    with patch(
+        "control_backend.agents.bdi.text_belief_extractor_agent.TextBeliefExtractorAgent.LLM",
+        return_value=llm,
+    ):
+        agent = TextBeliefExtractorAgent("text_belief_agent")
+        agent.send = AsyncMock()
+        return agent
+
+
+@pytest.fixture
+def sample_program():
+    return Program(
+        phases=[
+            Phase(
+                name="Some phase",
+                id=uuid.uuid4(),
+                norms=[
+                    ConditionalNorm(
+                        name="Some norm",
+                        id=uuid.uuid4(),
+                        norm="Use nautical terms.",
+                        critical=False,
+                        condition=SemanticBelief(
+                            name="is_pirate",
+                            id=uuid.uuid4(),
+                            description="The user is a pirate. Perhaps because they say "
+                            "they are, or because they speak like a pirate "
+                            'with terms like "arr".',
+                        ),
+                    ),
+                ],
+                goals=[],
+                triggers=[
+                    Trigger(
+                        name="Some trigger",
+                        id=uuid.uuid4(),
+                        condition=SemanticBelief(
+                            name="no_more_booze",
+                            id=uuid.uuid4(),
+                            description="There is no more alcohol.",
+                        ),
+                        plan=Plan(
+                            name="Some plan",
+                            id=uuid.uuid4(),
+                            steps=[
+                                LLMAction(
+                                    name="Some action",
+                                    id=uuid.uuid4(),
+                                    goal="Suggest eating chocolate instead.",
+                                ),
+                            ],
+                        ),
+                    ),
+                ],
+            ),
+        ],
+    )
+
+
+def make_msg(sender: str, body: str, thread: str | None = None) -> InternalMessage:
+    return InternalMessage(to="unused", sender=sender, body=body, thread=thread)
+
+
+@pytest.mark.asyncio
+async def test_handle_message_ignores_other_agents(agent):
+    msg = make_msg("unknown", "some data", None)
+
+    await agent.handle_message(msg)
+
+    agent.send.assert_not_called()  # noqa  # `agent.send` has no such property, but we mock it.
+
+
+@pytest.mark.asyncio
+async def test_handle_message_from_transcriber(agent, mock_settings):
+    transcription = "hello world"
+    msg = make_msg(mock_settings.agent_settings.transcription_name, transcription, None)
+
+    await agent.handle_message(msg)
+
+    agent.send.assert_awaited_once()  # noqa  # `agent.send` has no such property, but we mock it.
+    sent: InternalMessage = agent.send.call_args.args[0]  # noqa
+    assert sent.to == mock_settings.agent_settings.bdi_core_name
+    assert sent.thread == "beliefs"
+    parsed = BeliefMessage.model_validate_json(sent.body)
+    replaced_last = parsed.replace.pop()
+    assert replaced_last.name == "user_said"
+    assert replaced_last.arguments == [transcription]
+
+
+@pytest.mark.asyncio
+async def test_query_llm():
+    mock_response = MagicMock()
+    mock_response.json.return_value = {
+        "choices": [
+            {
+                "message": {
+                    "content": "null",
+                }
+            }
+        ]
+    }
+    mock_client = AsyncMock()
+    mock_client.post.return_value = mock_response
+    mock_async_client = MagicMock()
+    mock_async_client.__aenter__.return_value = mock_client
+    mock_async_client.__aexit__.return_value = None
+
+    with patch(
+        "control_backend.agents.bdi.text_belief_extractor_agent.httpx.AsyncClient",
+        return_value=mock_async_client,
+    ):
+        llm = TextBeliefExtractorAgent.LLM(MagicMock(), 4)
+
+        res = await llm._query_llm("hello world", {"type": "null"})
+        # Response content was set as "null", so should be deserialized as None
+        assert res is None
+
+
+@pytest.mark.asyncio
+async def test_retry_query_llm_success(llm):
+    llm._query_llm.return_value = None
+    res = await llm.query("hello world", {"type": "null"})
+
+    llm._query_llm.assert_called_once()
+    assert res is None
+
+
+@pytest.mark.asyncio
+async def test_retry_query_llm_success_after_failure(llm):
+    llm._query_llm.side_effect = [KeyError(), "real value"]
+    res = await llm.query("hello world", {"type": "string"})
+
+    assert llm._query_llm.call_count == 2
+    assert res == "real value"
+
+
+@pytest.mark.asyncio
+async def test_retry_query_llm_failures(llm):
+    llm._query_llm.side_effect = [KeyError(), KeyError(), KeyError(), "real value"]
+    res = await llm.query("hello world", {"type": "string"})
+
+    assert llm._query_llm.call_count == 3
+    assert res is None
+
+
+@pytest.mark.asyncio
+async def test_retry_query_llm_fail_immediately(llm):
+    llm._query_llm.side_effect = [KeyError(), "real value"]
+    res = await llm.query("hello world", {"type": "string"}, tries=1)
+
+    assert llm._query_llm.call_count == 1
+    assert res is None
+
+
+@pytest.mark.asyncio
+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.belief_inferrer.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=beliefs.model_dump_json(),
+            thread="beliefs",
+        ),
+    )
+    assert len(agent.belief_inferrer.available_beliefs) == 2
+
+
+@pytest.mark.asyncio
+async def test_handle_invalid_beliefs(agent, sample_program):
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].norms[0].condition)
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].triggers[0].condition)
+    assert len(agent.belief_inferrer.available_beliefs) == 2
+
+    await agent.handle_message(
+        InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=settings.agent_settings.bdi_program_manager_name,
+            body=json.dumps({"phases": "Invalid"}),
+            thread="beliefs",
+        ),
+    )
+
+    assert len(agent.belief_inferrer.available_beliefs) == 2
+
+
+@pytest.mark.asyncio
+async def test_handle_robot_response(agent):
+    initial_length = len(agent.conversation.messages)
+    response = "Hi, I'm Pepper. What's your name?"
+
+    await agent.handle_message(
+        InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=settings.agent_settings.llm_name,
+            body=response,
+        ),
+    )
+
+    assert len(agent.conversation.messages) == initial_length + 1
+    assert agent.conversation.messages[-1].role == "assistant"
+    assert agent.conversation.messages[-1].content == response
+
+
+@pytest.mark.asyncio
+async def test_simulated_real_turn_with_beliefs(agent, llm, sample_program):
+    """Test sending user message to extract beliefs from."""
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].norms[0].condition)
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].triggers[0].condition)
+
+    # Send a user message with the belief that there's no more booze
+    llm._query_llm.return_value = {"is_pirate": None, "no_more_booze": True}
+    assert len(agent.conversation.messages) == 0
+    await agent.handle_message(
+        InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=settings.agent_settings.transcription_name,
+            body="We're all out of schnaps.",
+        ),
+    )
+    assert len(agent.conversation.messages) == 1
+
+    # There should be a belief set and sent to the BDI core, as well as the user_said belief
+    assert agent.send.call_count == 2
+
+    # First should be the beliefs message
+    message: InternalMessage = agent.send.call_args_list[1].args[0]
+    beliefs = BeliefMessage.model_validate_json(message.body)
+    assert len(beliefs.create) == 1
+    assert beliefs.create[0].name == "no_more_booze"
+
+
+@pytest.mark.asyncio
+async def test_simulated_real_turn_no_beliefs(agent, llm, sample_program):
+    """Test a user message to extract beliefs from, but no beliefs are formed."""
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].norms[0].condition)
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].triggers[0].condition)
+
+    # Send a user message with no new beliefs
+    llm._query_llm.return_value = {"is_pirate": None, "no_more_booze": None}
+    await agent.handle_message(
+        InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=settings.agent_settings.transcription_name,
+            body="Hello there!",
+        ),
+    )
+
+    # Only the user_said belief should've been sent
+    agent.send.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_simulated_real_turn_no_new_beliefs(agent, llm, sample_program):
+    """
+    Test a user message to extract beliefs from, but no new beliefs are formed because they already
+    existed.
+    """
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].norms[0].condition)
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].triggers[0].condition)
+    agent._current_beliefs = BeliefState(true={InternalBelief(name="is_pirate", arguments=None)})
+
+    # Send a user message with the belief the user is a pirate, still
+    llm._query_llm.return_value = {"is_pirate": True, "no_more_booze": None}
+    await agent.handle_message(
+        InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=settings.agent_settings.transcription_name,
+            body="Arr, nice to meet you, matey.",
+        ),
+    )
+
+    # Only the user_said belief should've been sent, as no beliefs have changed
+    agent.send.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_simulated_real_turn_remove_belief(agent, llm, sample_program):
+    """
+    Test a user message to extract beliefs from, but an existing belief is determined no longer to
+    hold.
+    """
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].norms[0].condition)
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].triggers[0].condition)
+    agent._current_beliefs = BeliefState(
+        true={InternalBelief(name="no_more_booze", arguments=None)},
+    )
+
+    # Send a user message with the belief the user is a pirate, still
+    llm._query_llm.return_value = {"is_pirate": None, "no_more_booze": False}
+    await agent.handle_message(
+        InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            sender=settings.agent_settings.transcription_name,
+            body="I found an untouched barrel of wine!",
+        ),
+    )
+
+    # Both user_said and belief change should've been sent
+    assert agent.send.call_count == 2
+
+    # Agent's current beliefs should've changed
+    assert any(b.name == "no_more_booze" for b in agent._current_beliefs.false)
+
+
+@pytest.mark.asyncio
+async def test_llm_failure_handling(agent, llm, sample_program):
+    """
+    Check that the agent handles failures gracefully without crashing.
+    """
+    llm._query_llm.side_effect = httpx.HTTPError("")
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].norms[0].condition)
+    agent.belief_inferrer.available_beliefs.append(sample_program.phases[0].triggers[0].condition)
+
+    belief_changes = await agent.belief_inferrer.infer_from_conversation(
+        ChatHistory(
+            messages=[ChatMessage(role="user", content="Good day!")],
+        ),
+    )
+
+    assert len(belief_changes.true) == 0
+    assert len(belief_changes.false) == 0

test/unit/agents/bdi/test_text_extractor.py

@@ -1,65 +0,0 @@
-import json
-from unittest.mock import AsyncMock
-
-import pytest
-
-from control_backend.agents.bdi import (
-    TextBeliefExtractorAgent,
-)
-from control_backend.core.agent_system import InternalMessage
-
-
-@pytest.fixture
-def agent():
-    agent = TextBeliefExtractorAgent("text_belief_agent")
-    agent.send = AsyncMock()
-    return agent
-
-
-def make_msg(sender: str, body: str, thread: str | None = None) -> InternalMessage:
-    return InternalMessage(to="unused", sender=sender, body=body, thread=thread)
-
-
-@pytest.mark.asyncio
-async def test_handle_message_ignores_other_agents(agent):
-    msg = make_msg("unknown", "some data", None)
-
-    await agent.handle_message(msg)
-
-    agent.send.assert_not_called()  # noqa  # `agent.send` has no such property, but we mock it.
-
-
-@pytest.mark.asyncio
-async def test_handle_message_from_transcriber(agent, mock_settings):
-    transcription = "hello world"
-    msg = make_msg(mock_settings.agent_settings.transcription_name, transcription, None)
-
-    await agent.handle_message(msg)
-
-    agent.send.assert_awaited_once()  # noqa  # `agent.send` has no such property, but we mock it.
-    sent: InternalMessage = agent.send.call_args.args[0]  # noqa
-    assert sent.to == mock_settings.agent_settings.bdi_belief_collector_name
-    assert sent.thread == "beliefs"
-    parsed = json.loads(sent.body)
-    assert parsed == {"beliefs": {"user_said": [transcription]}, "type": "belief_extraction_text"}
-
-
-@pytest.mark.asyncio
-async def test_process_transcription_demo(agent, mock_settings):
-    transcription = "this is a test"
-
-    await agent._process_transcription_demo(transcription)
-
-    agent.send.assert_awaited_once()  # noqa  # `agent.send` has no such property, but we mock it.
-    sent: InternalMessage = agent.send.call_args.args[0]  # noqa
-    assert sent.to == mock_settings.agent_settings.bdi_belief_collector_name
-    assert sent.thread == "beliefs"
-    parsed = json.loads(sent.body)
-    assert parsed["beliefs"]["user_said"] == [transcription]
-
-
-@pytest.mark.asyncio
-async def test_setup_initializes_beliefs(agent):
-    """Covers the setup method and ensures beliefs are initialized."""
-    await agent.setup()
-    assert agent.beliefs == {"mood": ["X"], "car": ["Y"]}

test/unit/agents/llm/test_llm_agent.py

@@ -66,7 +66,7 @@ async def test_llm_processing_success(mock_httpx_client, mock_settings):
     # "Hello world." constitutes one sentence/chunk based on punctuation split
     # The agent should call send once with the full sentence
     assert agent.send.called
-    args = agent.send.call_args[0][0]
+    args = agent.send.call_args_list[0][0][0]
     assert args.to == mock_settings.agent_settings.bdi_core_name
     assert "Hello world." in args.body
 

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

@@ -1,4 +1,5 @@
 import json
+import uuid
 from unittest.mock import AsyncMock
 
 import pytest
@@ -6,7 +7,7 @@ from fastapi import FastAPI
 from fastapi.testclient import TestClient
 
 from control_backend.api.v1.endpoints import program
-from control_backend.schemas.program import Program
+from control_backend.schemas.program import BasicNorm, Goal, Phase, Plan, Program
 
 
 @pytest.fixture
@@ -25,29 +26,39 @@ def client(app):
 
 def make_valid_program_dict():
     """Helper to create a valid Program JSON structure."""
-    return {
+    # Converting to JSON using Pydantic because it knows how to convert a UUID object
-        "phases": [
+    program_json_str = Program(
-            {
+        phases=[
-                "id": "phase1",
+            Phase(
-                "label": "basephase",
+                id=uuid.uuid4(),
-                "norms": [{"id": "n1", "label": "norm", "norm": "be nice"}],
+                name="Basic Phase",
-                "goals": [
+                norms=[
-                    {"id": "g1", "label": "goal", "description": "test goal", "achieved": False}
+                    BasicNorm(
+                        id=uuid.uuid4(),
+                        name="Some norm",
+                        norm="Do normal.",
+                    ),
                 ],
-                "triggers": [
+                goals=[
-                    {
+                    Goal(
-                        "id": "t1",
+                        id=uuid.uuid4(),
-                        "label": "trigger",
+                        name="Some goal",
-                        "type": "keywords",
+                        description="This description can be used to determine whether the goal "
-                        "keywords": [
+                        "has been achieved.",
-                            {"id": "kw1", "keyword": "keyword1"},
+                        plan=Plan(
-                            {"id": "kw2", "keyword": "keyword2"},
+                            id=uuid.uuid4(),
-                        ],
+                            name="Goal Plan",
-                    },
+                            steps=[],
+                        ),
+                        can_fail=False,
+                    ),
                 ],
-            }
+                triggers=[],
-        ]
+            ),
-    }
+        ],
+    ).model_dump_json()
+    # Converting back to a dict because that's what's expected
+    return json.loads(program_json_str)
 
 
 def test_receive_program_success(client):
@@ -71,7 +82,8 @@ def test_receive_program_success(client):
     sent_bytes = args[0][1]
     sent_obj = json.loads(sent_bytes.decode())
 
-    expected_obj = Program.model_validate(program_dict).model_dump()
+    # Converting to JSON using Pydantic because it knows how to handle UUIDs
+    expected_obj = json.loads(Program.model_validate(program_dict).model_dump_json())
     assert sent_obj == expected_obj
 
 

test/unit/schemas/test_ui_program_message.py

@@ -1,49 +1,66 @@
+import uuid
+
 import pytest
 from pydantic import ValidationError
 
 from control_backend.schemas.program import (
+    BasicNorm,
+    ConditionalNorm,
     Goal,
-    KeywordTrigger,
+    InferredBelief,
-    Norm,
+    KeywordBelief,
+    LogicalOperator,
     Phase,
+    Plan,
     Program,
-    TriggerKeyword,
+    SemanticBelief,
+    Trigger,
 )
 
 
-def base_norm() -> Norm:
+def base_norm() -> BasicNorm:
-    return Norm(
+    return BasicNorm(
-        id="norm1",
+        id=uuid.uuid4(),
-        label="testNorm",
+        name="testNormName",
         norm="testNormNorm",
+        critical=False,
     )
 
 
 def base_goal() -> Goal:
     return Goal(
-        id="goal1",
+        id=uuid.uuid4(),
-        label="testGoal",
+        name="testGoalName",
-        description="testGoalDescription",
+        description="This description can be used to determine whether the goal has been achieved.",
-        achieved=False,
+        plan=Plan(
+            id=uuid.uuid4(),
+            name="testGoalPlanName",
+            steps=[],
+        ),
+        can_fail=False,
     )
 
 
-def base_trigger() -> KeywordTrigger:
+def base_trigger() -> Trigger:
-    return KeywordTrigger(
+    return Trigger(
-        id="trigger1",
+        id=uuid.uuid4(),
-        label="testTrigger",
+        name="testTriggerName",
-        type="keywords",
+        condition=KeywordBelief(
-        keywords=[
+            id=uuid.uuid4(),
-            TriggerKeyword(id="keyword1", keyword="testKeyword1"),
+            name="testTriggerKeywordBeliefTriggerName",
-            TriggerKeyword(id="keyword1", keyword="testKeyword2"),
+            keyword="Keyword",
-        ],
+        ),
+        plan=Plan(
+            id=uuid.uuid4(),
+            name="testTriggerPlanName",
+            steps=[],
+        ),
     )
 
 
 def base_phase() -> Phase:
     return Phase(
-        id="phase1",
+        id=uuid.uuid4(),
-        label="basephase",
         norms=[base_norm()],
         goals=[base_goal()],
         triggers=[base_trigger()],
@@ -58,7 +75,7 @@ def invalid_program() -> dict:
     # wrong types inside phases list (not Phase objects)
     return {
         "phases": [
-            {"id": "phase1"},  # incomplete
+            {"id": uuid.uuid4()},  # incomplete
             {"not_a_phase": True},
         ]
     }
@@ -77,11 +94,112 @@ def test_valid_deepprogram():
     # validate nested components directly
     phase = validated.phases[0]
     assert isinstance(phase.goals[0], Goal)
-    assert isinstance(phase.triggers[0], KeywordTrigger)
+    assert isinstance(phase.triggers[0], Trigger)
-    assert isinstance(phase.norms[0], Norm)
+    assert isinstance(phase.norms[0], BasicNorm)
 
 
 def test_invalid_program():
     bad = invalid_program()
     with pytest.raises(ValidationError):
         Program.model_validate(bad)
+
+
+def test_conditional_norm_parsing():
+    """
+    Check that pydantic is able to preserve the type of the norm, that it doesn't lose its
+    "condition" field when serializing and deserializing.
+    """
+    norm = ConditionalNorm(
+        name="testNormName",
+        id=uuid.uuid4(),
+        norm="testNormNorm",
+        critical=False,
+        condition=KeywordBelief(
+            name="testKeywordBelief",
+            id=uuid.uuid4(),
+            keyword="testKeywordBelief",
+        ),
+    )
+    program = Program(
+        phases=[
+            Phase(
+                name="Some phase",
+                id=uuid.uuid4(),
+                norms=[norm],
+                goals=[],
+                triggers=[],
+            ),
+        ],
+    )
+
+    parsed_program = Program.model_validate_json(program.model_dump_json())
+    parsed_norm = parsed_program.phases[0].norms[0]
+
+    assert hasattr(parsed_norm, "condition")
+    assert isinstance(parsed_norm, ConditionalNorm)
+
+
+def test_belief_type_parsing():
+    """
+    Check that pydantic is able to discern between the different types of beliefs when serializing
+    and deserializing.
+    """
+    keyword_belief = KeywordBelief(
+        name="testKeywordBelief",
+        id=uuid.uuid4(),
+        keyword="something",
+    )
+    semantic_belief = SemanticBelief(
+        name="testSemanticBelief",
+        id=uuid.uuid4(),
+        description="something",
+    )
+    inferred_belief = InferredBelief(
+        name="testInferredBelief",
+        id=uuid.uuid4(),
+        operator=LogicalOperator.OR,
+        left=keyword_belief,
+        right=semantic_belief,
+    )
+
+    program = Program(
+        phases=[
+            Phase(
+                name="Some phase",
+                id=uuid.uuid4(),
+                norms=[],
+                goals=[],
+                triggers=[
+                    Trigger(
+                        name="testTriggerKeywordTrigger",
+                        id=uuid.uuid4(),
+                        condition=keyword_belief,
+                        plan=Plan(name="testTriggerPlanName", id=uuid.uuid4(), steps=[]),
+                    ),
+                    Trigger(
+                        name="testTriggerSemanticTrigger",
+                        id=uuid.uuid4(),
+                        condition=semantic_belief,
+                        plan=Plan(name="testTriggerPlanName", id=uuid.uuid4(), steps=[]),
+                    ),
+                    Trigger(
+                        name="testTriggerInferredTrigger",
+                        id=uuid.uuid4(),
+                        condition=inferred_belief,
+                        plan=Plan(name="testTriggerPlanName", id=uuid.uuid4(), steps=[]),
+                    ),
+                ],
+            ),
+        ],
+    )
+
+    parsed_program = Program.model_validate_json(program.model_dump_json())
+
+    parsed_keyword_belief = parsed_program.phases[0].triggers[0].condition
+    assert isinstance(parsed_keyword_belief, KeywordBelief)
+
+    parsed_semantic_belief = parsed_program.phases[0].triggers[1].condition
+    assert isinstance(parsed_semantic_belief, SemanticBelief)
+
+    parsed_inferred_belief = parsed_program.phases[0].triggers[2].condition
+    assert isinstance(parsed_inferred_belief, InferredBelief)

uv.lock

@@ -997,6 +997,7 @@ dependencies = [
     { name = "pydantic" },
     { name = "pydantic-settings" },
     { name = "python-json-logger" },
+    { name = "python-slugify" },
     { name = "pyyaml" },
     { name = "pyzmq" },
     { name = "silero-vad" },
@@ -1046,6 +1047,7 @@ requires-dist = [
     { name = "pydantic", specifier = ">=2.12.0" },
     { name = "pydantic-settings", specifier = ">=2.11.0" },
     { name = "python-json-logger", specifier = ">=4.0.0" },
+    { name = "python-slugify", specifier = ">=8.0.4" },
     { name = "pyyaml", specifier = ">=6.0.3" },
     { name = "pyzmq", specifier = ">=27.1.0" },
     { name = "silero-vad", specifier = ">=6.0.0" },
@@ -1341,6 +1343,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/45/58/38b5afbc1a800eeea951b9285d3912613f2603bdf897a4ab0f4bd7f405fc/python_multipart-0.0.20-py3-none-any.whl", hash = "sha256:8a62d3a8335e06589fe01f2a3e178cdcc632f3fbe0d492ad9ee0ec35aab1f104", size = 24546, upload-time = "2024-12-16T19:45:44.423Z" },
 ]
 
+[[package]]
+name = "python-slugify"
+version = "8.0.4"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "text-unidecode" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/87/c7/5e1547c44e31da50a460df93af11a535ace568ef89d7a811069ead340c4a/python-slugify-8.0.4.tar.gz", hash = "sha256:59202371d1d05b54a9e7720c5e038f928f45daaffe41dd10822f3907b937c856", size = 10921, upload-time = "2024-02-08T18:32:45.488Z" }
+wheels = [
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