.logging_config.yaml

@@ -8,7 +8,7 @@ formatters:
   # Console output
   colored:
     (): "colorlog.ColoredFormatter"
-    format: "{log_color}{asctime} | {levelname:11} | {name:70} | {message}"
+    format: "{log_color}{asctime}.{msecs:03.0f} | {levelname:11} | {name:70} | {message}"
     style: "{"
     datefmt: "%H:%M:%S"
 

pyproject.toml

@@ -5,6 +5,7 @@ description = "Add your description here"
 readme = "README.md"
 requires-python = ">=3.13"
 dependencies = [
+    "agentspeak>=0.2.2",
     "colorlog>=6.10.1",
     "fastapi[all]>=0.115.6",
     "mlx-whisper>=0.4.3 ; sys_platform == 'darwin'",

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

@@ -13,11 +13,12 @@ from control_backend.schemas.ri_message import SpeechCommand
 
 
 class BDICoreAgent(BaseAgent):
+    bdi_agent: agentspeak.runtime.Agent
+
     def __init__(self, name: str, asl: str):
         super().__init__(name)
         self.asl_file = asl
         self.env = agentspeak.runtime.Environment()
-        self.bdi_agent = None
         self.actions = agentspeak.stdlib.actions
 
     async def setup(self) -> None:
@@ -42,7 +43,6 @@ class BDICoreAgent(BaseAgent):
     async def _bdi_loop(self):
         """Runs the AgentSpeak BDI loop."""
         while self._running:
-            assert self.bdi_agent is not None
             self.bdi_agent.step()
             await asyncio.sleep(0.01)
 
@@ -74,30 +74,72 @@ class BDICoreAgent(BaseAgent):
                 )
                 await self.send(out_msg)
 
-    # TODO: test way of adding beliefs
     def _add_beliefs(self, beliefs: dict[str, list[str]]):
         if not beliefs:
             return
 
-        for belief_name, args in beliefs.items():
+        for name, args in beliefs.items():
-            self._add_belief(belief_name, args)
+            self._add_belief(name, args)
 
-            if belief_name == "user_said":
+    def _add_belief(self, name: str, args: Iterable[str] = []):
-                self._add_belief("new_message")
+        new_args = (agentspeak.Literal(arg) for arg in args)
-
+        term = agentspeak.Literal(name, new_args)
-    def _add_belief(self, belief_name: str, arguments: Iterable[str] = []):
-        args = (agentspeak.Literal(arg) for arg in arguments)
-        literal_belief = agentspeak.Literal(belief_name, args)
 
         assert self.bdi_agent is not None
 
         self.bdi_agent.call(
             agentspeak.Trigger.addition,
             agentspeak.GoalType.belief,
-            literal_belief,
+            term,
             agentspeak.runtime.Intention(),
         )
-        self.logger.debug(f"Added belief {belief_name}({','.join(arguments)})")
+        self.logger.debug(f"Added belief {self.format_belief_string(name, args)}")
+
+    def _remove_belief(self, name: str, args: Iterable[str]):
+        """
+        Removes a specific belief (with arguments), if it exists.
+        """
+        new_args = (agentspeak.Literal(arg) for arg in args)
+        term = agentspeak.Literal(name, new_args)
+
+        assert self.bdi_agent is not None
+
+        result = self.bdi_agent.call(
+            agentspeak.Trigger.removal,
+            agentspeak.GoalType.belief,
+            term,
+            agentspeak.runtime.Intention(),
+        )
+
+        if result:
+            self.logger.debug(f"Removed belief {self.format_belief_string(name, args)}")
+        else:
+            self.logger.debug("Failed to remove belief (it was not in the belief base).")
+
+    # TODO: decide if this is needed
+    def _remove_all_with_name(self, name: str):
+        """
+        Removes all beliefs that match the given `name`.
+        """
+        assert self.bdi_agent is not None
+
+        relevant_groups = []
+        for key in self.bdi_agent.beliefs:
+            if key[0] == name:
+                relevant_groups.append(key)
+
+        removed_count = 0
+        for group in relevant_groups:
+            for belief in self.bdi_agent.beliefs[group]:
+                self.bdi_agent.call(
+                    agentspeak.Trigger.removal,
+                    agentspeak.GoalType.belief,
+                    belief,
+                    agentspeak.runtime.Intention(),
+                )
+                removed_count += 1
+
+        self.logger.debug(f"Removed {removed_count} beliefs.")
 
     def _add_custom_actions(self) -> None:
         """Add any custom actions here."""
@@ -119,3 +161,10 @@ class BDICoreAgent(BaseAgent):
         msg = InternalMessage(to=settings.agent_settings.llm_name, sender=self.name, body=text)
         await self.send(msg)
         self.logger.info("Message sent to LLM agent: %s", text)
+
+    @staticmethod
+    def format_belief_string(name: str, args: Iterable[str] = []):
+        """
+        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 ''}"

src/control_backend/agents/bdi/bdi_core_agent/rules.asl

@@ -1,3 +1,3 @@
-+new_message : user_said(Message) <-
++user_said(NewMessage) <-
-  -new_message;
+  -user_said(NewMessage);
-  .reply(Message).
+  .reply(NewMessage).

src/control_backend/agents/perception/vad_agent.py

@@ -67,7 +67,7 @@ class VADAgent(BaseAgent):
         self.model = None
 
     async def setup(self):
-        self.logger.info("Setting up %s", self.jid)
+        self.logger.info("Setting up %s", self.name)
 
         self._connect_audio_in_socket()
 
@@ -99,7 +99,7 @@ class VADAgent(BaseAgent):
         transcriber = TranscriptionAgent(audio_out_address)
         await transcriber.start()
 
-        self.logger.info("Finished setting up %s", self.jid)
+        self.logger.info("Finished setting up %s", self.name)
 
     async def stop(self):
         """

src/control_backend/core/agent_system.py

@@ -1,8 +1,7 @@
 import asyncio
 import logging
 from abc import ABC, abstractmethod
-from dataclasses import dataclass, field
+from dataclasses import dataclass
-from typing import Any
 
 # Central directory to resolve agent names to instances
 _agent_directory: dict[str, "BaseAgent"] = {}
@@ -14,7 +13,6 @@ class InternalMessage:
     sender: str
     body: str
     thread: str | None = None
-    metadata: dict[str, Any] = field(default_factory=dict)
 
 
 class AgentDirectory:
@@ -32,7 +30,6 @@ class BaseAgent(ABC):
 
     def __init__(self, name: str):
         self.name = name
-        self.jid = name  # present for backwards compatibility
         self.inbox: asyncio.Queue[InternalMessage] = asyncio.Queue()
         self._tasks: set[asyncio.Task] = set()
         self._running = False
@@ -83,5 +80,3 @@ class BaseAgent(ABC):
         task = asyncio.create_task(coro)
         self._tasks.add(task)
         task.add_done_callback(self._tasks.discard)
-
-        # await asyncio.sleep(1)

uv.lock

@@ -6,6 +6,18 @@ resolution-markers = [
     "python_full_version < '3.14'",
 ]
 
+[[package]]
+name = "agentspeak"
+version = "0.2.2"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "colorama" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/d0/a3/f8e9292cfd47aa5558f4578c498ca12c068a3a1d60ddfd0af13a87c1e47a/agentspeak-0.2.2.tar.gz", hash = "sha256:7c7fcf689fd54460597be1798ce11535f42a60c3d79af59381af3e13ef7a41bb", size = 59628, upload-time = "2024-03-21T11:55:39.026Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/03/b5/e95cbd9d9e999ac8dc4e0bb7a940112a2751cf98880b4ff0626e53d14249/agentspeak-0.2.2-py3-none-any.whl", hash = "sha256:9b454bc0adf63cb0d73fb4a3a9a489e7d892d5fbf17f750de532670736c0c4dd", size = 61628, upload-time = "2024-03-21T11:55:36.741Z" },
+]
+
 [[package]]
 name = "alabaster"
 version = "0.7.16"
@@ -975,6 +987,7 @@ name = "pepperplus-cb"
 version = "0.1.0"
 source = { virtual = "." }
 dependencies = [
+    { name = "agentspeak" },
     { name = "colorlog" },
     { name = "fastapi", extra = ["all"] },
     { name = "mlx-whisper", marker = "sys_platform == 'darwin'" },
@@ -1016,6 +1029,7 @@ test = [
 
 [package.metadata]
 requires-dist = [
+    { name = "agentspeak", specifier = ">=0.2.2" },
     { name = "colorlog", specifier = ">=6.10.1" },
     { name = "fastapi", extras = ["all"], specifier = ">=0.115.6" },
     { name = "mlx-whisper", marker = "sys_platform == 'darwin'", specifier = ">=0.4.3" },