src/control_backend/agents/bdi/__init__.py

@@ -1,7 +1,7 @@
 from .bdi_core_agent.bdi_core_agent import BDICoreAgent as BDICoreAgent
-from .belief_collector_agent.belief_collector_agent import (
+from .belief_collector_agent import (
     BDIBeliefCollectorAgent as BDIBeliefCollectorAgent,
 )
-from .text_belief_extractor_agent.text_belief_extractor_agent import (
+from .text_belief_extractor_agent import (
     TextBeliefExtractorAgent as TextBeliefExtractorAgent,
 )

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

@@ -1,6 +1,7 @@
 import asyncio
 import copy
 import json
+import time
 from collections.abc import Iterable
 
 import agentspeak
@@ -22,6 +23,7 @@ class BDICoreAgent(BaseAgent):
         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()
 
     async def setup(self) -> None:
         self.logger.debug("Setup started.")
@@ -32,6 +34,7 @@ class BDICoreAgent(BaseAgent):
 
         # Start the BDI cycle loop
         await self.add_behavior(self._bdi_loop())
+        self._wake_bdi_loop.set()
         self.logger.debug("Setup complete.")
 
     async def _load_asl(self):
@@ -43,10 +46,28 @@ class BDICoreAgent(BaseAgent):
             self.bdi_agent = agentspeak.runtime.Agent(self.env, self.name)
 
     async def _bdi_loop(self):
-        """Runs the AgentSpeak BDI loop."""
+        """
+        Runs the AgentSpeak BDI loop. Efficiently checks for when the next expected work will be.
+        """
         while self._running:
-            self.bdi_agent.step()
-            await asyncio.sleep(0.01)
+            await (
+                self._wake_bdi_loop.wait()
+            )  # gets set whenever there's an update to the belief base
+
+            # Agent knows when it's expected to have to do its next thing
+            maybe_more_work = True
+            while maybe_more_work:
+                maybe_more_work = False
+                if self.bdi_agent.step():
+                    maybe_more_work = True
+
+                if not maybe_more_work:
+                    deadline = self.bdi_agent.shortest_deadline()
+                    if deadline:
+                        await asyncio.sleep(deadline - time.time())
+                        maybe_more_work = True
+                    else:
+                        self._wake_bdi_loop.clear()
 
     async def handle_message(self, msg: InternalMessage):
         """
@@ -93,6 +114,9 @@ class BDICoreAgent(BaseAgent):
             term,
             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]):
@@ -111,6 +135,7 @@ class BDICoreAgent(BaseAgent):
 
         if result:
             self.logger.debug(f"Removed belief {self.format_belief_string(name, args)}")
+            self._wake_bdi_loop.set()
         else:
             self.logger.debug("Failed to remove belief (it was not in the belief base).")
 
@@ -135,6 +160,8 @@ class BDICoreAgent(BaseAgent):
                 )
                 removed_count += 1
 
+        self._wake_bdi_loop.set()
+
         self.logger.debug(f"Removed {removed_count} beliefs.")
 
     def _add_custom_actions(self) -> None:

src/control_backend/agents/perception/vad_agent.py

@@ -63,7 +63,7 @@ class VADAgent(BaseAgent):
 
         self.audio_buffer = np.array([], dtype=np.float32)
         self.i_since_speech = settings.behaviour_settings.vad_initial_since_speech
-        self._ready = False
+        self._ready = asyncio.Event()
         self.model = None
 
     async def setup(self):
@@ -141,14 +141,11 @@ class VADAgent(BaseAgent):
         while await self.audio_in_poller.poll(1) is not None:
             discarded += 1
         self.logger.info(f"Discarded {discarded} audio packets before starting.")
-        self._ready = True
+        self._ready.set()
 
     async def _streaming_loop(self):
+        await self._ready.wait()
         while self._running:
-            if not self._ready:
-                await asyncio.sleep(0.1)
-                continue
-
             assert self.audio_in_poller is not None
             data = await self.audio_in_poller.poll()
             if data is None: