src/control_backend/agents/bdi/bdi_program_manager.py

@@ -31,6 +31,7 @@ class BDIProgramManager(BaseAgent):
     :ivar sub_socket: The ZMQ SUB socket used to receive program updates.
     :ivar _program: The current Program.
     :ivar _phase: The current Phase.
+    :ivar _goal_mapping: A mapping of goal IDs to goals.
     """
 
     _program: Program
@@ -39,6 +40,7 @@ class BDIProgramManager(BaseAgent):
     def __init__(self, **kwargs):
         super().__init__(**kwargs)
         self.sub_socket = None
+        self._goal_mapping: dict[str, Goal] = {}
 
     def _initialize_internal_state(self, program: Program):
         """
@@ -49,7 +51,7 @@ class BDIProgramManager(BaseAgent):
         """
         self._program = program
         self._phase = program.phases[0]  # start in first phase
-        self._goal_mapping: dict[str, Goal] = {}
+        self._goal_mapping = {}
         for phase in program.phases:
             for goal in phase.goals:
                 self._populate_goal_mapping_with_goal(goal)
@@ -107,6 +109,9 @@ class BDIProgramManager(BaseAgent):
         :param old: The ID of the old phase.
         :param new: The ID of the new phase.
         """
+        if self._phase is None:
+            return
+
         if old != str(self._phase.id):
             self.logger.warning(
                 f"Phase transition desync detected! ASL requested move from '{old}', "
@@ -146,6 +151,12 @@ class BDIProgramManager(BaseAgent):
 
     def _extract_current_beliefs(self) -> list[Belief]:
         """Extract beliefs from the current phase."""
+        assert self._phase is not None, (
+            "Invalid state, no phase set. Call this method only when "
+            "a program has been received and the end-phase has not "
+            "been reached."
+        )
+
         beliefs: list[Belief] = []
 
         for norm in self._phase.norms:
@@ -198,6 +209,12 @@ class BDIProgramManager(BaseAgent):
 
         :return: A list of Goal objects.
         """
+        assert self._phase is not None, (
+            "Invalid state, no phase set. Call this method only when "
+            "a program has been received and the end-phase has not "
+            "been reached."
+        )
+
         goals: list[Goal] = []
 
         for goal in self._phase.goals:

src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -335,6 +335,8 @@ class UserInterruptAgent(BaseAgent):
             belief_name = f"force_{asl}"
         else:
             self.logger.warning("Tried to send belief with unknown type")
+            return
+
         belief = Belief(name=belief_name, arguments=None)
         self.logger.debug(f"Sending belief to BDI Core: {belief_name}")
         # Conditional norms are unachieved by removing the belief