src/control_backend/agents/user_interrupt/user_interrupt_agent.py

@@ -8,7 +8,12 @@ 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.program import ConditionalNorm, Program
-from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, SpeechCommand
+from control_backend.schemas.ri_message import (
+    GestureCommand,
+    PauseCommand,
+    RIEndpoint,
+    SpeechCommand,
+)
 
 
 class UserInterruptAgent(BaseAgent):
@@ -70,6 +75,9 @@ class UserInterruptAgent(BaseAgent):
         - type: "speech", context: string that the robot has to say.
         - type: "gesture", context: single gesture name that the robot has to perform.
         - type: "override", context: belief_id that overrides the goal/trigger/conditional norm.
+        - type: "pause", context: boolean indicating whether to pause
+        - type: "reset_phase", context: None, indicates to the BDI Core to
+        - type: "reset_experiment", context: None, indicates to the BDI Core to
         """
         while True:
             topic, body = await self.sub_socket.recv_multipart()
@@ -112,6 +120,18 @@ class UserInterruptAgent(BaseAgent):
                     )
                 else:
                     self.logger.warning("Could not determine which element to override.")
+            elif event_type == "pause":
+                self.logger.debug(
+                    "Received pause/resume button press with context '%s'.", event_context
+                )
+                await self._send_pause_command(event_context)
+                if event_context:
+                    self.logger.info("Sent pause command.")
+                else:
+                    self.logger.info("Sent resume command.")
+
+            elif event_type in ["next_phase", "reset_phase", "reset_experiment"]:
+                await self._send_experiment_control_to_bdi_core(event_type)
             else:
                 self.logger.warning(
                     "Received button press with unknown type '%s' (context: '%s').",
@@ -271,3 +291,65 @@ class UserInterruptAgent(BaseAgent):
         msg = InternalMessage(to=settings.agent_settings.bdi_core_name, thread=thread, body=body)
         await self.send(msg)
         self.logger.info(f"Directly forced {thread} in BDI: {body}")
+
+    async def _send_experiment_control_to_bdi_core(self, type):
+        """
+        method to send experiment control buttons to bdi core.
+
+        :param type: the type of control button we should send to the bdi core.
+        """
+        # Switch which thread we should send to bdi core
+        thread = ""
+        match type:
+            case "next_phase":
+                thread = "force_next_phase"
+            case "reset_phase":
+                thread = "reset_current_phase"
+            case "reset_experiment":
+                thread = "reset_experiment"
+            case _:
+                self.logger.warning(
+                    "Received unknown experiment control type '%s' to send to BDI Core.",
+                    type,
+                )
+
+        out_msg = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            sender=self.name,
+            thread=thread,
+            body="",
+        )
+        self.logger.debug("Sending experiment control '%s' to BDI Core.", thread)
+        await self.send(out_msg)
+
+    async def _send_pause_command(self, pause):
+        """
+        Send a pause command to the Robot Interface via the RI Communication Agent.
+        Send a pause command to the other internal agents; for now just VAD agent.
+        """
+        cmd = PauseCommand(data=pause)
+        message = InternalMessage(
+            to=settings.agent_settings.ri_communication_name,
+            sender=self.name,
+            body=cmd.model_dump_json(),
+        )
+        await self.send(message)
+
+        if pause == "true":
+            # Send pause to VAD agent
+            vad_message = InternalMessage(
+                to=settings.agent_settings.vad_name,
+                sender=self.name,
+                body="PAUSE",
+            )
+            await self.send(vad_message)
+            self.logger.info("Sent pause command to VAD Agent and RI Communication Agent.")
+        else:
+            # Send resume to VAD agent
+            vad_message = InternalMessage(
+                to=settings.agent_settings.vad_name,
+                sender=self.name,
+                body="RESUME",
+            )
+            await self.send(vad_message)
+            self.logger.info("Sent resume command to VAD Agent and RI Communication Agent.")