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The Big One #43

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k.marinus merged 93 commits from feat/reset-experiment-and-phase into dev 2026-01-26 19:20:45 +00:00
Conversation 68 Commits 93 Files Changed 64 +4 -8
4 changed files with 4 additions and 8 deletions
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2
src/control_backend/agents/bdi/bdi_program_manager.py
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@@ -85,7 +85,7 @@ class BDIProgramManager(BaseAgent):
await self._transition_phase(phases["old"], phases["new"]) await self._transition_phase(phases["old"], phases["new"])
case "achieve_goal": case "achieve_goal":
goal_id = msg.body goal_id = msg.body
self._send_achieved_goal_to_semantic_belief_extractor(goal_id) await self._send_achieved_goal_to_semantic_belief_extractor(goal_id)
async def _transition_phase(self, old: str, new: str): async def _transition_phase(self, old: str, new: str):
if old != str(self._phase.id): if old != str(self._phase.id):

7
src/control_backend/agents/user_interrupt/user_interrupt_agent.py
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@@ -32,7 +32,7 @@ class UserInterruptAgent(BaseAgent):
Prioritized actions clear the current RI queue before inserting the new item, Prioritized actions clear the current RI queue before inserting the new item,
ensuring they are executed immediately after Pepper's current action has been fulfilled. ensuring they are executed immediately after Pepper's current action has been fulfilled.
:ivar sub_socket: The ZMQ SUB socket used to receive user intterupts. :ivar sub_socket: The ZMQ SUB socket used to receive user interrupts.
""" """
def __init__(self, **kwargs): def __init__(self, **kwargs):
@@ -135,8 +135,6 @@ class UserInterruptAgent(BaseAgent):
await self.send(goal_achieve_msg) await self.send(goal_achieve_msg)
else: else:
self.logger.warning("Could not determine which element to override.") self.logger.warning("Could not determine which element to override.")
self.logger.warning(self._goal_map)
self.loger.warning(ui_id)
elif event_type == "pause": elif event_type == "pause":
self.logger.debug( self.logger.debug(
@@ -317,11 +315,10 @@ class UserInterruptAgent(BaseAgent):
belief_message = BeliefMessage(create=[belief]) belief_message = BeliefMessage(create=[belief])
msg = InternalMessage( msg = InternalMessage(
to=settings.agent_settings.bdi_core_name, to=settings.agent_settings.bdi_core_name,
thread="belief_update", thread="beliefs",
body=belief_message.model_dump_json(), body=belief_message.model_dump_json(),
) )
await self.send(msg) await self.send(msg)
self.logger.info(f"Sent belief to BDI Core: {msg}")
async def _send_experiment_control_to_bdi_core(self, type): async def _send_experiment_control_to_bdi_core(self, type):
""" """

1
src/control_backend/api/v1/endpoints/robot.py
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@@ -137,7 +137,6 @@ async def ping_stream(request: Request):
logger.info("Client disconnected from SSE") logger.info("Client disconnected from SSE")
break break
logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
connectedJson = json.dumps(connected) connectedJson = json.dumps(connected)
yield (f"data: {connectedJson}\n\n") yield (f"data: {connectedJson}\n\n")

2
src/control_backend/schemas/belief_message.py
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@@ -11,7 +11,7 @@ class Belief(BaseModel):
""" """
name: str name: str
arguments: list[str] | None arguments: list[str] | None = None
# To make it hashable # To make it hashable
model_config = {"frozen": True} model_config = {"frozen": True}