From c1f147b6bae347878131e48cfcd54cdd2f11d317 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Mon, 6 Jun 2016 22:43:42 +0800
Subject: [PATCH 01/26] Clarify the chatbot arguments

---
 src/btree-eva.scm | 12 ++++++------
 src/btree-psi.scm | 18 +++++++++---------
 src/btree.scm     | 14 +++++++-------
 3 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/src/btree-eva.scm b/src/btree-eva.scm
index c73eb0dd..99562318 100644
--- a/src/btree-eva.scm
+++ b/src/btree-eva.scm
@@ -57,18 +57,18 @@
 (use-modules (opencog nlp relex2logic))
 
 ; Work-around to circular dependency: define `dispatch-text` at the
-; top level of the guile executation environment.
-(define-public (dispatch-text txt)
+; top level of the guile execution environment.
+(define-public (dispatch-text TXT-ATOM)
 "
-  dispatch-text TEXT
+  dispatch-text TXT-ATOM
 
-  Pass the TEXT that STT heard into the OpenCog chatbot.
+  Pass the TXT-ATOM that STT heard into the OpenCog chatbot.
 "
    (call-with-new-thread
 		; Must run in a new thread, else it deadlocks in python,
 		; since the text processing results in python calls.
-      ; (lambda () (process-query "luser" (cog-name txt)))
-      (lambda () (grounded-talk "luser" (cog-name txt)))
+      ; (lambda () (process-query "luser" (cog-name TXT-ATOM)))
+      (lambda () (grounded-talk "luser" (cog-name TXT-ATOM)))
    )
    (stv 1 1)
 )
diff --git a/src/btree-psi.scm b/src/btree-psi.scm
index 17ceefd6..56e1c6ec 100644
--- a/src/btree-psi.scm
+++ b/src/btree-psi.scm
@@ -46,8 +46,8 @@
 
 ;; Call (run) to run the main loop, (halt) to pause the loop.
 ;; The main loop runs in its own thread.
-(define (run) (behavior-tree-run))
-(define (halt) (behavior-tree-halt))
+(define (run) (psi-run))
+(define (halt) (psi-halt))
 
 ; ---------------------------------------------------------
 ; Load the chat modules.
@@ -59,19 +59,19 @@
 (use-modules (opencog nlp relex2logic))
 
 ; Work-around to circular dependency: define `dispatch-text` at the
-; top level of the guile executation environment.
-(define-public (dispatch-text txt)
+; top level of the guile execution environment.
+(define-public (dispatch-text TXT-ATOM)
 "
-  dispatch-text TEXT
+  dispatch-text TXT-ATOM
 
-  Pass the TEXT that STT heard into the OpenCog chatbot.
+  Pass the TXT-ATOM that STT heard into the OpenCog chatbot.
 "
    (call-with-new-thread
 		; Must run in a new thread, else it deadlocks in python,
 		; since the text processing results in python calls.
-      ; (lambda () (process-query "luser" (cog-name txt)))
-      ; (lambda () (grounded-talk "luser" (cog-name txt)))
-      (lambda () (chat (cog-name txt)))
+      ; (lambda () (process-query "luser" (cog-name TXT-ATOM)))
+      ; (lambda () (grounded-talk "luser" (cog-name TXT-ATOM)))
+      (lambda () (chat (cog-name TXT-ATOM)))
    )
    (stv 1 1)
 )
diff --git a/src/btree.scm b/src/btree.scm
index 55449923..17350568 100644
--- a/src/btree.scm
+++ b/src/btree.scm
@@ -74,20 +74,20 @@
 ;(use-modules (opencog nlp relex2logic))
 
 ; Work-around to circular dependency: define `dispatch-text` at the
-; top level of the guile executation environment.
-(define-public (dispatch-text txt)
+; top level of the guile execution environment.
+(define-public (dispatch-text TXT-ATOM)
 "
-  dispatch-text TEXT
+  dispatch-text TXT-ATOM
 
-  Pass the TEXT that STT heard into the OpenCog chatbot.
+  Pass the TXT-ATOM that STT heard into the OpenCog chatbot.
 "
 ;	(call-with-new-thread
 		; Must run in a new thread, else it deadlocks in python,
 		; since the text processing results in python calls.
-		; (lambda () (process-query "luser" (cog-name txt)))
-		; (lambda () (grounded-talk "luser" (cog-name txt)))
+		; (lambda () (process-query "luser" (cog-name TXT-ATOM)))
+		; (lambda () (grounded-talk "luser" (cog-name TXT-ATOM)))
 		; XXX Need to ... auuh load the chatbot...
-;		(lambda () (chat txt))
+;		(lambda () (chat TXT-ATOM))
 ;	)
 	(stv 1 1)
 )

From 588598da006af8752841b5e9182f1127e55f00ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Mon, 6 Jun 2016 22:50:51 +0800
Subject: [PATCH 02/26] Load the actual psi rules

---
 src/btree-psi.scm    | 10 +++++++
 src/psi-behavior.scm | 71 ++++++++++++++++++--------------------------
 2 files changed, 39 insertions(+), 42 deletions(-)

diff --git a/src/btree-psi.scm b/src/btree-psi.scm
index 56e1c6ec..2829bfe2 100644
--- a/src/btree-psi.scm
+++ b/src/btree-psi.scm
@@ -43,12 +43,22 @@
 ; (display %load-path)
 (add-to-load-path "../src")
 (load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
+; (load-from-path "cfg-sophia.scm") ;;; <<<=== See, its Sophia here!
+
+;; Load the actual psi rules.
+(load-from-path "psi-behavior.scm")
 
 ;; Call (run) to run the main loop, (halt) to pause the loop.
 ;; The main loop runs in its own thread.
 (define (run) (psi-run))
 (define (halt) (psi-halt))
 
+; XXX FIXME
+; If ROS is dead, or the continue flag not set, then stop
+; running the behavior loop.
+(DefinedPredicate "Continue running loop?")
+(DefinedPredicate "ROS is running?")
+
 ; ---------------------------------------------------------
 ; Load the chat modules.
 ;
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 8fd3afbf..ae0cdfe5 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -8,6 +8,35 @@
 (use-modules (opencog exec))
 (use-modules (opencog openpsi))
 ;
+;; ------------------------------------------------------------------
+;; Main loop.
+;			(SequentialOr
+;			    (DefinedPredicate "Skip Interaction?")
+;				(DefinedPredicate "Interaction requested")
+;				(DefinedPredicate "New arrival sequence")
+;				(DefinedPredicate "Someone left")
+;				(DefinedPredicate "Interact with people")
+;				(DefinedPredicate "Nothing is happening")
+;				(True))
+
+;			;; XXX FIXME chatbot is disengaged from everything else.
+;			;; The room can be empty, the head is bored or even asleep,
+;			;; but the chatbot is still smiling and yabbering.
+;			;; If interaction is turned-off need keep alive gestures
+;			(SequentialOr
+;				(DefinedPredicate "Speech started?")
+;				(DefinedPredicate "Speech ongoing?")
+;				(DefinedPredicate "Speech ended?")
+;				(DefinedPredicate "Listening started?")
+;				(DefinedPredicate "Listening?")
+;				(DefinedPredicate "Listening ended?")
+;				(SequentialAnd
+;				    (DefinedPredicate "Skip Interaction?")
+;				    (DefinedPredicate "Keep alive")
+;				)
+;				(True)
+;			)
+
 ;;
 (define (pred-2-schema pnode-str) 
 	(DefineLink 
@@ -108,46 +137,4 @@
 	(DefinedSchemaNode "Keep alive") 
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-;; ------------------------------------------------------------------
-;; Main loop. Uses tail recursion optimization to form the loop.
-(DefineLink
-	(DefinedPredicate "main loop")
-	(SatisfactionLink
-		(SequentialAnd
-;			(SequentialOr
-;			    (DefinedPredicate "Skip Interaction?")
-;				(DefinedPredicate "Interaction requested")
-;				(DefinedPredicate "New arrival sequence")
-;				(DefinedPredicate "Someone left")
-;				(DefinedPredicate "Interact with people")
-;				(DefinedPredicate "Nothing is happening")
-;				(True))
-
-;			;; XXX FIXME chatbot is disengaged from everything else.
-;			;; The room can be empty, the head is bored or even asleep,
-;			;; but the chatbot is still smiling and yabbering.
-;			;; If interaction is turned-off need keep alive gestures
-;			(SequentialOr
-;				(DefinedPredicate "Speech started?")
-;				(DefinedPredicate "Speech ongoing?")
-;				(DefinedPredicate "Speech ended?")
-;				(DefinedPredicate "Listening started?")
-;				(DefinedPredicate "Listening?")
-;				(DefinedPredicate "Listening ended?")
-;				(SequentialAnd
-;				    (DefinedPredicate "Skip Interaction?")
-;				    (DefinedPredicate "Keep alive")
-;				)
-;				(True)
-;			)
-
-			; If ROS is dead, or the continue flag not set, then stop
-			; running the behavior loop.
-			(DefinedPredicate "Continue running loop?")
-			(DefinedPredicate "ROS is running?")
-
-			;; Call self -- tail-recurse.
-			(DefinedPredicate "main loop")
-		)))
-
 ; ----------------------------------------------------------------------

From 6c878fb3c768540330daff6d3659bb2db1b3d953 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Mon, 6 Jun 2016 23:30:32 +0800
Subject: [PATCH 03/26] Cleanup the main loop.

---
 src/btree-psi.scm | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/src/btree-psi.scm b/src/btree-psi.scm
index 2829bfe2..e1c670f8 100644
--- a/src/btree-psi.scm
+++ b/src/btree-psi.scm
@@ -53,11 +53,23 @@
 (define (run) (psi-run))
 (define (halt) (psi-halt))
 
-; XXX FIXME
-; If ROS is dead, or the continue flag not set, then stop
-; running the behavior loop.
-(DefinedPredicate "Continue running loop?")
-(DefinedPredicate "ROS is running?")
+; There MUST be a DefinedPredicateNode with exactly the name
+; below in order for psi-run to work. Or we could just blow
+; that off, and use our own loop...
+(define loop-name (string-append psi-prefix-str "loop"))
+(DefineLink
+	(DefinedPredicateNode loop-name)
+	(SatisfactionLink
+		(SequentialAnd
+			(Evaluation (GroundedPredicate "scm: psi-step")
+				(ListLink))
+			(Evaluation (GroundedPredicate "scm: psi-run-continue?")
+				(ListLink))
+			; If ROS is dead, or the continue flag not set,
+			; then stop running the behavior loop.
+			(DefinedPredicate "ROS is running?")
+			(DefinedPredicateNode loop-name))))
+
 
 ; ---------------------------------------------------------
 ; Load the chat modules.

From 7f9040c41ea789872a37655d1882acb4fc9353b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:07:23 +0800
Subject: [PATCH 04/26] Start refactoring the missing predicates

---
 src/behavior.scm     |  8 ++++----
 src/btree-psi.scm    | 20 ++++++++++++--------
 src/psi-behavior.scm |  9 +++++++--
 3 files changed, 23 insertions(+), 14 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index ba2b04a8..7a33616c 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -170,9 +170,8 @@
 ;; If interaction is requested, then interact with that specific person.
 ;; Make sure we look at that person ...
 (DefineLink
-	(DefinedPredicate "Interaction requested")
+	(DefinedPredicate "Interaction requested action")
 	(SequentialAnd
-		(DefinedPredicate "Someone requests interaction?")
 		(True (DefinedPredicate "If sleeping then wake"))
 		(True (DefinedPredicate "If bored then alert"))
 		(DefinedPredicate "interact with requested person")
@@ -765,8 +764,9 @@
 	(SatisfactionLink
 		(SequentialAnd
 			(SequentialOr
-			    (DefinedPredicate "Skip Interaction?")
-				(DefinedPredicate "Interaction requested")
+				(DefinedPredicate "Skip Interaction?")
+				(DefinedPredicate "Someone requests interaction?")
+				(DefinedPredicate "Interaction requested action")
 				(DefinedPredicate "New arrival sequence")
 				(DefinedPredicate "Someone left")
 				(DefinedPredicate "Interact with people")
diff --git a/src/btree-psi.scm b/src/btree-psi.scm
index e1c670f8..095665d1 100644
--- a/src/btree-psi.scm
+++ b/src/btree-psi.scm
@@ -48,28 +48,32 @@
 ;; Load the actual psi rules.
 (load-from-path "psi-behavior.scm")
 
-;; Call (run) to run the main loop, (halt) to pause the loop.
-;; The main loop runs in its own thread.
-(define (run) (psi-run))
-(define (halt) (psi-halt))
-
 ; There MUST be a DefinedPredicateNode with exactly the name
 ; below in order for psi-run to work. Or we could just blow
 ; that off, and use our own loop...
 (define loop-name (string-append psi-prefix-str "loop"))
 (DefineLink
-	(DefinedPredicateNode loop-name)
+	(DefinedPredicate loop-name)
 	(SatisfactionLink
 		(SequentialAnd
+(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "start")))
 			(Evaluation (GroundedPredicate "scm: psi-step")
 				(ListLink))
+(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "middle")))
 			(Evaluation (GroundedPredicate "scm: psi-run-continue?")
 				(ListLink))
+(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "more")))
 			; If ROS is dead, or the continue flag not set,
 			; then stop running the behavior loop.
 			(DefinedPredicate "ROS is running?")
-			(DefinedPredicateNode loop-name))))
+(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "tail")))
+			(DefinedPredicate loop-name))))
 
+(define (wtf x) (display "heyyyyy\n") (display x)(newline) (stv 1 1))
+;; Call (run) to run the main loop, (halt) to pause the loop.
+;; The main loop runs in its own thread.
+(define (run) (psi-run))
+(define (halt) (psi-halt))
 
 ; ---------------------------------------------------------
 ; Load the chat modules.
@@ -100,7 +104,7 @@
 
 ; ---------------------------------------------------------
 ; Run the hacky garbage collection loop.
-(run-behavior-tree-gc)
+; (run-behavior-tree-gc)
 
 ; Silence the output.
 *unspecified*
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index ae0cdfe5..fe3c6197 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -37,11 +37,16 @@
 ;				(True)
 ;			)
 
+(define (foobar x)
+(display "duuuuuuuude wtf foobar\n")
+(display x) (newline)
+	(cog-evaluate! x)
+ (Node "bad value"))
 ;;
 (define (pred-2-schema pnode-str) 
 	(DefineLink 
 		(DefinedSchemaNode pnode-str)
-		(ExecutionOutputLink (GroundedSchemaNode "scm: cog-evaluate!")
+		(ExecutionOutputLink (GroundedSchemaNode "scm: foobar")
 			(ListLink (DefinedPredicateNode pnode-str))
 )))
 ;;
@@ -79,7 +84,7 @@
 
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Interaction requested"))
+		(DefinedPredicate "Someone requests interaction?"))
 	(DefinedSchemaNode "Interaction requested action") 
 	demand-satisfied (stv 1 1) face-demand)
 

From 4c276637066a27d5dd428237d17cd709032e1baf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:09:45 +0800
Subject: [PATCH 05/26] Refactor another interaction

---
 src/behavior.scm     |  2 +-
 src/psi-behavior.scm | 70 ++++++++++++++++++++++----------------------
 2 files changed, 36 insertions(+), 36 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 7a33616c..5a8a596e 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -234,7 +234,6 @@
 (DefineLink
 	(DefinedPredicate "New arrival sequence")
 	(SequentialAnd
-		(DefinedPredicate "Did someone arrive?")
 		(True (DefinedPredicate "If sleeping then wake"))
 		(True (DefinedPredicate "If bored then alert"))
 		(DefinedPredicate "Respond to new arrival")
@@ -767,6 +766,7 @@
 				(DefinedPredicate "Skip Interaction?")
 				(DefinedPredicate "Someone requests interaction?")
 				(DefinedPredicate "Interaction requested action")
+				(DefinedPredicate "Did someone arrive?")
 				(DefinedPredicate "New arrival sequence")
 				(DefinedPredicate "Someone left")
 				(DefinedPredicate "Interact with people")
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index fe3c6197..dfb0b95c 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -43,8 +43,8 @@
 	(cog-evaluate! x)
  (Node "bad value"))
 ;;
-(define (pred-2-schema pnode-str) 
-	(DefineLink 
+(define (pred-2-schema pnode-str)
+	(DefineLink
 		(DefinedSchemaNode pnode-str)
 		(ExecutionOutputLink (GroundedSchemaNode "scm: foobar")
 			(ListLink (DefinedPredicateNode pnode-str))
@@ -83,63 +83,63 @@
 ;(psi-rule (list (DefinedPredicate "Skip Interaction?")) (DefinedSchemaNode "Keep alive") speech-demand-satisfied (stv 1 1) speech-demand)
 
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Someone requests interaction?"))
-	(DefinedSchemaNode "Interaction requested action") 
+	(DefinedSchemaNode "Interaction requested action")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "New arrival sequence")) 
-	(DefinedSchemaNode "New arrival sequence action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Did someone arrive?"))
+	(DefinedSchemaNode "New arrival sequence")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Someone left")) 
-	(DefinedSchemaNode "Someone left action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Someone left"))
+	(DefinedSchemaNode "Someone left action")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Interact with people")) 
-	(DefinedSchemaNode "Interact with people action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Interact with people"))
+	(DefinedSchemaNode "Interact with people action")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Nothing is happening")) 
-	(DefinedSchemaNode "Nothing is happening action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Nothing is happening"))
+	(DefinedSchemaNode "Nothing is happening action")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Speech started?")) 
-	(DefinedSchemaNode "Speech started? action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Speech started?"))
+	(DefinedSchemaNode "Speech started? action")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Speech ongoing?")) 
-	(DefinedSchemaNode "Speech ongoing? action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Speech ongoing?"))
+	(DefinedSchemaNode "Speech ongoing? action")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Speech ended?")) 	
-	(DefinedSchemaNode "Speech ended? action") 
+	(DefinedSchemaNode "Speech ended? action")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Listening started?")) 
-	(DefinedSchemaNode "Listening started? action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Listening started?"))
+	(DefinedSchemaNode "Listening started? action")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Listening?")) 
-	(DefinedSchemaNode "Listening? action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Listening?"))
+	(DefinedSchemaNode "Listening? action")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?")) 
-		(DefinedPredicate "Listening ended?")) 
-	(DefinedSchemaNode "Listening ended? action") 
+(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+		(DefinedPredicate "Listening ended?"))
+	(DefinedSchemaNode "Listening ended? action")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (DefinedPredicate "Skip Interaction?")) 
-	(DefinedSchemaNode "Keep alive") 
+(psi-rule (list (DefinedPredicate "Skip Interaction?"))
+	(DefinedSchemaNode "Keep alive")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 ; ----------------------------------------------------------------------

From d04147f71de9ee5c729c74f7ae2bf953bcef2529 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:12:52 +0800
Subject: [PATCH 06/26] Another predicate conversion

---
 src/behavior.scm     | 10 +++++++---
 src/psi-behavior.scm |  4 ++--
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 5a8a596e..8c10a139 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -242,9 +242,8 @@
 
 ;; Check to see if someone left.
 (DefineLink
-	(DefinedPredicate "Someone left")
+	(DefinedPredicate "Someone left action")
 	(SequentialAnd
-		(DefinedPredicate "Did someone leave?")
 		(Put (DefinedPredicate "Publish behavior")
 			(Concept "Someone left"))
 		(Evaluation (GroundedPredicate "scm: print-msg")
@@ -764,11 +763,16 @@
 		(SequentialAnd
 			(SequentialOr
 				(DefinedPredicate "Skip Interaction?")
+
 				(DefinedPredicate "Someone requests interaction?")
 				(DefinedPredicate "Interaction requested action")
+
 				(DefinedPredicate "Did someone arrive?")
 				(DefinedPredicate "New arrival sequence")
-				(DefinedPredicate "Someone left")
+
+				(DefinedPredicate "Did someone leave?")
+				(DefinedPredicate "Someone left action")
+
 				(DefinedPredicate "Interact with people")
 				(DefinedPredicate "Nothing is happening")
 				(True))
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index dfb0b95c..0010f850 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -51,7 +51,7 @@
 )))
 ;;
 (pred-2-schema "Interaction requested action")
-(pred-2-schema "New arrival sequence action")
+(pred-2-schema "New arrival sequence")
 (pred-2-schema "Someone left action")
 (pred-2-schema "Interact with people action")
 (pred-2-schema "Nothing is happening action")
@@ -94,7 +94,7 @@
 	demand-satisfied (stv 1 1) face-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Someone left"))
+		(DefinedPredicate "Did someone leave?"))
 	(DefinedSchemaNode "Someone left action")
 	demand-satisfied (stv 1 1) face-demand)
 

From cbd3198a69d6934d83ea7172bc984a140f6c6194 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:17:12 +0800
Subject: [PATCH 07/26] Another conversion

---
 src/behavior.scm     | 6 +++---
 src/psi-behavior.scm | 6 +++---
 src/self-model.scm   | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 8c10a139..76ceb0f8 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -284,9 +284,6 @@
 (DefineLink
 	(DefinedPredicate "Interact with people")
 	(SequentialAnd
-		; True, if there is anyone visible.
-		(DefinedPredicate "Someone visible")
-
 		; Say something, if no one else has said anything in a while.
 		; i.e. if are being ignored, then say something.
 ;		(SequentialOr
@@ -773,7 +770,10 @@
 				(DefinedPredicate "Did someone leave?")
 				(DefinedPredicate "Someone left action")
 
+				; True, if there is anyone visible.
+				(DefinedPredicate "Someone visible?")
 				(DefinedPredicate "Interact with people")
+
 				(DefinedPredicate "Nothing is happening")
 				(True))
 
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 0010f850..bb856c44 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -53,7 +53,7 @@
 (pred-2-schema "Interaction requested action")
 (pred-2-schema "New arrival sequence")
 (pred-2-schema "Someone left action")
-(pred-2-schema "Interact with people action")
+(pred-2-schema "Interact with people")
 (pred-2-schema "Nothing is happening action")
 (pred-2-schema "Speech started? action")
 (pred-2-schema "Speech ongoing? action")
@@ -99,8 +99,8 @@
 	demand-satisfied (stv 1 1) face-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Interact with people"))
-	(DefinedSchemaNode "Interact with people action")
+		(DefinedPredicate "Someone visible?"))
+	(DefinedSchemaNode "Interact with people")
 	demand-satisfied (stv 1 1) face-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index 0a79f28e..ce950f2f 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -29,7 +29,7 @@
 ; (cog-evaluate! (DefinedPredicate "chatbot is listening"))
 ; (cog-evaluate! (DefinedPredicate "chatbot is happy"))
 ; (cog-evaluate! (DefinedPredicateNode "Did someone arrive?"))
-; (cog-evaluate! (DefinedPredicateNode "Someone visible"))
+; (cog-evaluate! (DefinedPredicateNode "Someone visible?"))
 ; (cog-execute! (DefinedSchemaNode "Num visible faces"))
 ;
 (add-to-load-path "/usr/local/share/opencog/scm")
@@ -379,7 +379,7 @@
 ;; Is there someone present?  We check for acked faces.
 ;; The someone-arrived code converts newly-visible faces to acked faces.
 (DefineLink
-	(DefinedPredicateNode "Someone visible")
+	(DefinedPredicateNode "Someone visible?")
 	(SatisfactionLink
 		(TypedVariable (Variable "$face-id") (Type "NumberNode"))
 		(PresentLink

From 6ece4c6ba75484c28bcb877c5b36202c7cc0dc2b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:23:46 +0800
Subject: [PATCH 08/26] the nothing is happening predicate

---
 src/psi-behavior.scm | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index bb856c44..c54e0224 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -54,7 +54,7 @@
 (pred-2-schema "New arrival sequence")
 (pred-2-schema "Someone left action")
 (pred-2-schema "Interact with people")
-(pred-2-schema "Nothing is happening action")
+(pred-2-schema "Nothing is happening")
 (pred-2-schema "Speech started? action")
 (pred-2-schema "Speech ongoing? action")
 (pred-2-schema "Speech ended? action")
@@ -82,6 +82,15 @@
 ;(psi-rule (list (DefinedPredicate "Speech ended?")) (DefinedSchemaNode "Speech ended? action") speech-demand-satisfied (stv 1 1) speech-demand)
 ;(psi-rule (list (DefinedPredicate "Skip Interaction?")) (DefinedSchemaNode "Keep alive") speech-demand-satisfied (stv 1 1) speech-demand)
 
+(DefineLink
+	(DefinedPredicate "Nothing happening?")
+	(NotLink
+		(SequentialOr
+			(DefinedPredicate "Someone requests interaction?")
+			(DefinedPredicate "Did someone arrive?")
+			(DefinedPredicate "Did someone leave?")
+			(DefinedPredicate "Someone visible?"))))
+
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Someone requests interaction?"))
@@ -104,8 +113,8 @@
 	demand-satisfied (stv 1 1) face-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Nothing is happening"))
-	(DefinedSchemaNode "Nothing is happening action")
+		(DefinedPredicate "Nothing happening?"))
+	(DefinedSchemaNode "Nothing is happening")
 	demand-satisfied (stv 1 1) face-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))

From 6a67797e457d2307d8ae894428737ad1b8a79dd2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:32:26 +0800
Subject: [PATCH 09/26] Convert the speech-started action

---
 src/behavior.scm     | 12 +++++++-----
 src/psi-behavior.scm |  4 ++--
 src/self-model.scm   |  2 +-
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 76ceb0f8..2deaa412 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -553,11 +553,9 @@
 ; Things to do, if TTS vocalization just started.
 (DefineLink
 	; owyl "chatbot_speech_start()" method
-	(DefinedPredicate "Speech started?")
+	(DefinedPredicate "Speech started")
 	(SequentialAnd
-		; If the TTS vocalization started (chatbot started talking) ...
-		(DefinedPredicate "chatbot started talking")
-		; ... then switch to face-study saccade ...
+		; Switch to face-study saccade ...
 		(Evaluation (GroundedPredicate "py:conversational_saccade")
 				(ListLink))
 		; ... and show one random gesture from "conversing" set.
@@ -782,7 +780,11 @@
 			;; but the chatbot is still smiling and yabbering.
 			;; If interaction is turned-off need keep alive gestures
 			(SequentialOr
-				(DefinedPredicate "Speech started?")
+				; If the TTS vocalization started (chatbot started talking) ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot started talking?")
+					(DefinedPredicate "Speech started"))
+
 				(DefinedPredicate "Speech ongoing?")
 				(DefinedPredicate "Speech ended?")
 				(DefinedPredicate "Listening started?")
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index c54e0224..e77202eb 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -118,8 +118,8 @@
 	demand-satisfied (stv 1 1) face-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Speech started?"))
-	(DefinedSchemaNode "Speech started? action")
+		(DefinedPredicate "chatbot started talking?"))
+	(DefinedSchemaNode "Speech started")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index ce950f2f..d312438b 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -138,7 +138,7 @@
 (StateLink chat-state chat-idle)
 
 (DefineLink
-	(DefinedPredicate "chatbot started talking")
+	(DefinedPredicate "chatbot started talking?")
 	(Equal (Set chat-start)
 		(Get (State chat-state (Variable "$x")))))
 

From 0c9189da6d9241040ab31efb578be0e0a44650bf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:38:19 +0800
Subject: [PATCH 10/26] Convert the is-talking predicate

---
 src/behavior.scm     | 12 +++++++-----
 src/psi-behavior.scm |  8 ++++----
 src/self-model.scm   |  4 ++--
 3 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 2deaa412..0a09d981 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -596,11 +596,9 @@
 
 ;; Things to do, if the chatbot is currently talking.
 (DefineLink
-	(DefinedPredicate "Speech ongoing?")
+	(DefinedPredicate "Speech ongoing")
 	(SequentialAnd
-		; If the chatbot currently talking ...
-		(DefinedPredicate "chatbot is talking")
-		; ... then handle the various affect states.
+		; Handle the various affect states.
 		(SequentialOr
 			(SequentialAnd
 				; If chatbot is happy ...
@@ -785,7 +783,11 @@
 					(DefinedPredicate "chatbot started talking?")
 					(DefinedPredicate "Speech started"))
 
-				(DefinedPredicate "Speech ongoing?")
+				; If the chatbot currently talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot is talking?")
+					(DefinedPredicate "Speech ongoing"))
+
 				(DefinedPredicate "Speech ended?")
 				(DefinedPredicate "Listening started?")
 				(DefinedPredicate "Listening?")
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index e77202eb..f6c26395 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -55,8 +55,8 @@
 (pred-2-schema "Someone left action")
 (pred-2-schema "Interact with people")
 (pred-2-schema "Nothing is happening")
-(pred-2-schema "Speech started? action")
-(pred-2-schema "Speech ongoing? action")
+(pred-2-schema "Speech started")
+(pred-2-schema "Speech ongoing")
 (pred-2-schema "Speech ended? action")
 (pred-2-schema "Listening started? action")
 (pred-2-schema "Listening? action")
@@ -123,8 +123,8 @@
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Speech ongoing?"))
-	(DefinedSchemaNode "Speech ongoing? action")
+		(DefinedPredicate "chatbot is talking?"))
+	(DefinedSchemaNode "Speech ongoing")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index d312438b..0f54a806 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -25,7 +25,7 @@
 ;
 ; Examples and debugging hints:
 ; Some (but not all) state queries:
-; (cog-evaluate! (DefinedPredicate "chatbot is talking"))
+; (cog-evaluate! (DefinedPredicate "chatbot is talking?"))
 ; (cog-evaluate! (DefinedPredicate "chatbot is listening"))
 ; (cog-evaluate! (DefinedPredicate "chatbot is happy"))
 ; (cog-evaluate! (DefinedPredicateNode "Did someone arrive?"))
@@ -148,7 +148,7 @@
 		(Get (State chat-state (Variable "$x")))))
 
 (DefineLink
-	(DefinedPredicate "chatbot is talking")
+	(DefinedPredicate "chatbot is talking?")
 	(Equal (Set chat-talk)
 		(Get (State chat-state (Variable "$x")))))
 

From f1caaf98ef6ecad17745f5e71d1f5a66f24091ca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:43:48 +0800
Subject: [PATCH 11/26] Convert the stop-talking action

---
 src/behavior.scm     | 13 +++++++------
 src/psi-behavior.scm |  6 +++---
 src/self-model.scm   |  2 +-
 3 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 0a09d981..e6d3e246 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -654,12 +654,9 @@
 
 ; Things to do, if the chattbot stopped talking.
 (DefineLink
-	(DefinedPredicate "Speech ended?")
+	(DefinedPredicate "Speech ended")
 	(SequentialAnd
-		; If the chatbot stopped talking ...
-		(DefinedPredicate "chatbot stopped talking")
-
-		; ... then switch back to exploration saccade ...
+		; Switch back to exploration saccade ...
 		(Evaluation (GroundedPredicate "py:explore_saccade")
 			(ListLink))
 
@@ -788,7 +785,11 @@
 					(DefinedPredicate "chatbot is talking?")
 					(DefinedPredicate "Speech ongoing"))
 
-				(DefinedPredicate "Speech ended?")
+				; If the chatbot stopped talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot stopped talking?")
+					(DefinedPredicate "Speech ended"))
+
 				(DefinedPredicate "Listening started?")
 				(DefinedPredicate "Listening?")
 				(DefinedPredicate "Listening ended?")
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index f6c26395..5e14d62c 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -57,7 +57,7 @@
 (pred-2-schema "Nothing is happening")
 (pred-2-schema "Speech started")
 (pred-2-schema "Speech ongoing")
-(pred-2-schema "Speech ended? action")
+(pred-2-schema "Speech ended")
 (pred-2-schema "Listening started? action")
 (pred-2-schema "Listening? action")
 (pred-2-schema "Listening ended? action")
@@ -128,8 +128,8 @@
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Speech ended?")) 	
-	(DefinedSchemaNode "Speech ended? action")
+		(DefinedPredicate "chatbot stopped talking?"))
+	(DefinedSchemaNode "Speech ended")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index 0f54a806..59618f6e 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -153,7 +153,7 @@
 		(Get (State chat-state (Variable "$x")))))
 
 (DefineLink
-	(DefinedPredicate "chatbot stopped talking")
+	(DefinedPredicate "chatbot stopped talking?")
 	(Equal (Set chat-stop)
 		(Get (State chat-state (Variable "$x")))))
 

From c1d37970654ec942bbcf9025d7b364cd772d527c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:49:10 +0800
Subject: [PATCH 12/26] convert the listening action

---
 src/behavior.scm     | 13 ++++++++-----
 src/psi-behavior.scm |  6 +++---
 src/self-model.scm   |  2 +-
 3 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index e6d3e246..93a1ac11 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -572,12 +572,12 @@
 			(ListLink (Node "--- Start talking")))
 ))
 
-; Currently used for scripted behaviors while STT doesnt publish accurate events.
+; Currently used for scripted behaviors while STT doesn't publish
+; accurate events.
 (DefineLink
-	(DefinedPredicate "Listening started?")
+	(DefinedPredicate "Listening started")
 	(SequentialAnd
-		(DefinedPredicate "chatbot started listening")
-		; ... then switch to face-study saccade ...
+		; Switch to face-study saccade ...
 		(Evaluation (GroundedPredicate "py:listening_saccade")
 				(ListLink))
 		; ... and show one random gesture from "conversing" set.
@@ -790,7 +790,10 @@
 					(DefinedPredicate "chatbot stopped talking?")
 					(DefinedPredicate "Speech ended"))
 
-				(DefinedPredicate "Listening started?")
+				(SequentialAnd
+					(DefinedPredicate "chatbot started listening?")
+					(DefinedPredicate "Listening started"))
+
 				(DefinedPredicate "Listening?")
 				(DefinedPredicate "Listening ended?")
 				(SequentialAnd
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 5e14d62c..74d0b6c6 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -58,7 +58,7 @@
 (pred-2-schema "Speech started")
 (pred-2-schema "Speech ongoing")
 (pred-2-schema "Speech ended")
-(pred-2-schema "Listening started? action")
+(pred-2-schema "Listening started")
 (pred-2-schema "Listening? action")
 (pred-2-schema "Listening ended? action")
 (pred-2-schema "Keep alive")
@@ -133,8 +133,8 @@
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Listening started?"))
-	(DefinedSchemaNode "Listening started? action")
+		(DefinedPredicate "chatbot started listening?"))
+	(DefinedSchemaNode "Listening started")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index 59618f6e..15fa0d36 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -158,7 +158,7 @@
 		(Get (State chat-state (Variable "$x")))))
 
 (DefineLink
-	(DefinedPredicate "chatbot started listening")
+	(DefinedPredicate "chatbot started listening?")
 	(Equal (Set chat-listen-start)
 		(Get (State chat-state (Variable "$x")))))
 

From 42607b83b98a06f6412db25e3b9dae2dec86afe1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:53:16 +0800
Subject: [PATCH 13/26] Perform the ongoing-lisgten action

---
 src/behavior.scm     | 12 +++++++-----
 src/psi-behavior.scm |  6 +++---
 src/self-model.scm   |  2 +-
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 93a1ac11..09d7e407 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -701,11 +701,9 @@
 
 ; Things to do, if the chatbot is listening.
 (DefineLink
-	(DefinedPredicate "Listening?")
+	(DefinedPredicate "Listening ongoing")
 	(SequentialAnd
-		; If the chatbot stopped talking ...
-		(DefinedPredicate "chatbot is listening")
-        ; ... show one of the neutral-speech expressions
+        ; Show one of the neutral-speech expressions
         (SequentialOr
             (Not (DefinedPredicate "Time to change expression"))
             (Put (DefinedPredicateNode "Show random expression")
@@ -794,7 +792,11 @@
 					(DefinedPredicate "chatbot started listening?")
 					(DefinedPredicate "Listening started"))
 
-				(DefinedPredicate "Listening?")
+				; If the chatbot stopped talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot is listening")
+					(DefinedPredicate "Listening ongoing"))
+
 				(DefinedPredicate "Listening ended?")
 				(SequentialAnd
 				    (DefinedPredicate "Skip Interaction?")
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 74d0b6c6..e86008f1 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -59,7 +59,7 @@
 (pred-2-schema "Speech ongoing")
 (pred-2-schema "Speech ended")
 (pred-2-schema "Listening started")
-(pred-2-schema "Listening? action")
+(pred-2-schema "Listening ongoing")
 (pred-2-schema "Listening ended? action")
 (pred-2-schema "Keep alive")
 ;;
@@ -138,8 +138,8 @@
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Listening?"))
-	(DefinedSchemaNode "Listening? action")
+		(DefinedPredicate "chatbot is listening?"))
+	(DefinedSchemaNode "Listening ongoing")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index 15fa0d36..9642c736 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -163,7 +163,7 @@
 		(Get (State chat-state (Variable "$x")))))
 
 (DefineLink
-	(DefinedPredicate "chatbot is listening")
+	(DefinedPredicate "chatbot is listening?")
 	(Equal (Set chat-listen)
 		(Get (State chat-state (Variable "$x")))))
 

From 2b803fb920e37f27ede152e3cc204d2022068a88 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:56:24 +0800
Subject: [PATCH 14/26] Concert the stop-listening action

---
 src/behavior.scm     | 13 +++++++------
 src/psi-behavior.scm |  6 +++---
 src/self-model.scm   |  2 +-
 3 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 09d7e407..7e7daa17 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -676,12 +676,9 @@
 
 ; Things to do, if stopped listening.
 (DefineLink
-	(DefinedPredicate "Listening ended?")
+	(DefinedPredicate "Listening ended")
 	(SequentialAnd
-		; If the chatbot stopped talking ...
-		(DefinedPredicate "chatbot stopped listening")
-
-		; ... then switch back to exploration saccade ...
+		; Switch back to exploration saccade ...
 		(Evaluation (GroundedPredicate "py:explore_saccade")
 			(ListLink))
 
@@ -797,7 +794,11 @@
 					(DefinedPredicate "chatbot is listening")
 					(DefinedPredicate "Listening ongoing"))
 
-				(DefinedPredicate "Listening ended?")
+				; If the chatbot stopped talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot stopped listening")
+					(DefinedPredicate "Listening ended"))
+
 				(SequentialAnd
 				    (DefinedPredicate "Skip Interaction?")
 				    (DefinedPredicate "Keep alive")
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index e86008f1..a41b5b62 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -60,7 +60,7 @@
 (pred-2-schema "Speech ended")
 (pred-2-schema "Listening started")
 (pred-2-schema "Listening ongoing")
-(pred-2-schema "Listening ended? action")
+(pred-2-schema "Listening ended")
 (pred-2-schema "Keep alive")
 ;;
 ;(DefineLink (DefinedPredicateNode "do-noop") (True))
@@ -143,8 +143,8 @@
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
-		(DefinedPredicate "Listening ended?"))
-	(DefinedSchemaNode "Listening ended? action")
+		(DefinedPredicate "chatbot stopped listening?"))
+	(DefinedSchemaNode "Listening ended")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
 (psi-rule (list (DefinedPredicate "Skip Interaction?"))
diff --git a/src/self-model.scm b/src/self-model.scm
index 9642c736..5ab55079 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -168,7 +168,7 @@
 		(Get (State chat-state (Variable "$x")))))
 
 (DefineLink
-	(DefinedPredicate "chatbot stopped listening")
+	(DefinedPredicate "chatbot stopped listening?")
 	(Equal (Set chat-listen-stop)
 		(Get (State chat-state (Variable "$x")))))
 

From 3fc333e54336bd83976a3c2945b12e79ef7b3d5d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 12:58:44 +0800
Subject: [PATCH 15/26] whitespace

---
 src/behavior.scm | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 7e7daa17..930201e7 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -801,8 +801,8 @@
 
 				(SequentialAnd
 				    (DefinedPredicate "Skip Interaction?")
-				    (DefinedPredicate "Keep alive")
-				)
+				    (DefinedPredicate "Keep alive"))
+
 				(True)
 			)
 

From e65987a157446002963efab67d27c6007cb06c64 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 13:08:15 +0800
Subject: [PATCH 16/26] Remove commented-out code

---
 src/psi-behavior.scm | 37 -------------------------------------
 1 file changed, 37 deletions(-)

diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index a41b5b62..0b3df4e7 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -9,33 +9,6 @@
 (use-modules (opencog openpsi))
 ;
 ;; ------------------------------------------------------------------
-;; Main loop.
-;			(SequentialOr
-;			    (DefinedPredicate "Skip Interaction?")
-;				(DefinedPredicate "Interaction requested")
-;				(DefinedPredicate "New arrival sequence")
-;				(DefinedPredicate "Someone left")
-;				(DefinedPredicate "Interact with people")
-;				(DefinedPredicate "Nothing is happening")
-;				(True))
-
-;			;; XXX FIXME chatbot is disengaged from everything else.
-;			;; The room can be empty, the head is bored or even asleep,
-;			;; but the chatbot is still smiling and yabbering.
-;			;; If interaction is turned-off need keep alive gestures
-;			(SequentialOr
-;				(DefinedPredicate "Speech started?")
-;				(DefinedPredicate "Speech ongoing?")
-;				(DefinedPredicate "Speech ended?")
-;				(DefinedPredicate "Listening started?")
-;				(DefinedPredicate "Listening?")
-;				(DefinedPredicate "Listening ended?")
-;				(SequentialAnd
-;				    (DefinedPredicate "Skip Interaction?")
-;				    (DefinedPredicate "Keep alive")
-;				)
-;				(True)
-;			)
 
 (define (foobar x)
 (display "duuuuuuuude wtf foobar\n")
@@ -72,16 +45,6 @@
 (define speech-demand (psi-demand "speech interaction" 1))
 (define run-demand (psi-demand "run demand" 1))
 
-;(psi-rule (list (DefinedPredicate "Interaction requested"))(DefinedSchemaNode "Interaction requested action") demand-satisfied (stv 1 1) face-demand)
-;(psi-rule (list (DefinedPredicate "New arrival sequence")) (DefinedSchemaNode "New arrival sequence action") demand-satisfied (stv 1 1) face-demand)
-;(psi-rule (list (DefinedPredicate "Someone left")) (DefinedSchemaNode "Someone left action") demand-satisfied (stv 1 1) face-demand)
-;(psi-rule (list (DefinedPredicate "Interact with people")) (DefinedSchemaNode "Interact with people action") demand-satisfied (stv 1 1) face-demand)
-;(psi-rule (list (DefinedPredicate "Nothing is happening")) (DefinedSchemaNode "Nothing is happening action") demand-satisfied (stv 1 1) face-demand)
-;(psi-rule (list (DefinedPredicate "Speech started?")) (DefinedSchemaNode "Speech started? action") speech-demand-satisfied (stv 1 1) speech-demand)
-;(psi-rule (list (DefinedPredicate "Speech ongoing?")) (DefinedSchemaNode "Speech ongoing? action") speech-demand-satisfied (stv 1 1) speech-demand)
-;(psi-rule (list (DefinedPredicate "Speech ended?")) (DefinedSchemaNode "Speech ended? action") speech-demand-satisfied (stv 1 1) speech-demand)
-;(psi-rule (list (DefinedPredicate "Skip Interaction?")) (DefinedSchemaNode "Keep alive") speech-demand-satisfied (stv 1 1) speech-demand)
-
 (DefineLink
 	(DefinedPredicate "Nothing happening?")
 	(NotLink

From a8c01cc6890101e8f48f63b3fa8d35d9b912ce71 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 13:12:40 +0800
Subject: [PATCH 17/26] whitespace

---
 src/psi-behavior.scm | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 0b3df4e7..43062bca 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -11,7 +11,7 @@
 ;; ------------------------------------------------------------------
 
 (define (foobar x)
-(display "duuuuuuuude wtf foobar\n")
+(display "duuuuuuuude foobar pred-schema wrapper\n")
 (display x) (newline)
 	(cog-evaluate! x)
  (Node "bad value"))
@@ -55,57 +55,57 @@
 			(DefinedPredicate "Someone visible?"))))
 
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Someone requests interaction?"))
 	(DefinedSchemaNode "Interaction requested action")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Did someone arrive?"))
 	(DefinedSchemaNode "New arrival sequence")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Did someone leave?"))
 	(DefinedSchemaNode "Someone left action")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Someone visible?"))
 	(DefinedSchemaNode "Interact with people")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "Nothing happening?"))
 	(DefinedSchemaNode "Nothing is happening")
 	demand-satisfied (stv 1 1) face-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "chatbot started talking?"))
 	(DefinedSchemaNode "Speech started")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "chatbot is talking?"))
 	(DefinedSchemaNode "Speech ongoing")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "chatbot stopped talking?"))
 	(DefinedSchemaNode "Speech ended")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "chatbot started listening?"))
 	(DefinedSchemaNode "Listening started")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "chatbot is listening?"))
 	(DefinedSchemaNode "Listening ongoing")
 	speech-demand-satisfied (stv 1 1) speech-demand)
 
-(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
+(psi-rule (list (NotLink (DefinedPredicate "Skip Interaction?"))
 		(DefinedPredicate "chatbot stopped listening?"))
 	(DefinedSchemaNode "Listening ended")
 	speech-demand-satisfied (stv 1 1) speech-demand)

From 2dec140af24407a779763174482b2e68ee3fde83 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 13:34:41 +0800
Subject: [PATCH 18/26] There are no run demands

---
 src/psi-behavior.scm | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 43062bca..11045416 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -43,7 +43,7 @@
 (define speech-demand-satisfied (True))
 (define face-demand (psi-demand "face interaction" 1))
 (define speech-demand (psi-demand "speech interaction" 1))
-(define run-demand (psi-demand "run demand" 1))
+; (define run-demand (psi-demand "run demand" 1))
 
 (DefineLink
 	(DefinedPredicate "Nothing happening?")

From 4aa73fc9351bf99f23464c9edbe161b9c34ef11d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 13:38:49 +0800
Subject: [PATCH 19/26] Bad indentation

---
 src/atomic-dbg.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/atomic-dbg.py b/src/atomic-dbg.py
index e731c865..cd215ad3 100644
--- a/src/atomic-dbg.py
+++ b/src/atomic-dbg.py
@@ -174,10 +174,10 @@ def blink_rate(mean_node, var_node):
 	return TruthValue(1, 1)
 
 def say_text(text_node):
-   text = text_node.name
+	text = text_node.name
 	print "(Eva says: ", text, ")"
-   # evl.say_text(text)
-   return TruthValue(1, 1)
+	# evl.say_text(text)
+	return TruthValue(1, 1)
 
 # Return true as long as ROS is running.
 def ros_is_running():

From 64cd9990d05d6cc75fe3690396e4060096632917 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 13:59:22 +0800
Subject: [PATCH 20/26] Add more missing stanzas

---
 src/cfg-eva.scm | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/cfg-eva.scm b/src/cfg-eva.scm
index 386353b3..c86eb631 100644
--- a/src/cfg-eva.scm
+++ b/src/cfg-eva.scm
@@ -67,6 +67,19 @@
 (emo-expr-spec "neutral-speech"  "comprehending" 0.4  0.5 0.8 4 8)
 (emo-expr-spec "neutral-speech"  "engaged"       0.4  0.5 0.8 4 8)
 
+(emo-expr-spec "neutral-listen"  "happy"         0.2  0.1 0.3 4 8)
+(emo-expr-spec "neutral-listen"  "comprehending" 0.4  0.5 0.8 4 8)
+(emo-expr-spec "neutral-listen"  "engaged"       0.4  0.5 0.8 4 8)
+
+(emo-expr-spec "neutral-keep-alive"  "happy"          0.2  0.4 1.0 2 8)
+(emo-expr-spec "neutral-keep-alive"  "confused"       0.2  0.6 1.0 3 8)
+(emo-expr-spec "neutral-keep-alive"  "engaged"        0.2  0.4 1.0 4 9)
+(emo-expr-spec "neutral-keep-alive"  "amused"         0.2  0.3 1.0 2 5)
+(emo-expr-spec "neutral-keep-alive"  "recoil"         0.1  0.2 0.5 1 4)
+(emo-expr-spec "neutral-keep-alive"  "irritated"      0.1 0.1 0.7 1 4)
+(emo-expr-spec "neutral-keep-alive"  "angry"          0.1 0.1 0.6 1 4)
+(emo-expr-spec "neutral-keep-alive"  "bored"          0.1 0.1 1.0 3 7)
+
 ; Used for imperatives, i.e. when she is verbally told to do something.
 ; Thus, we list all of them here. The probability column is ignored.
 ; The strength has to be 0.6 or more, or else blender doesn't play the

From 29d3932161c4655ae3d535ec0a17f39589940b1b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 14:11:31 +0800
Subject: [PATCH 21/26] More missing stanzas

---
 src/cfg-eva.scm | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/cfg-eva.scm b/src/cfg-eva.scm
index c86eb631..c257e754 100644
--- a/src/cfg-eva.scm
+++ b/src/cfg-eva.scm
@@ -168,6 +168,10 @@
 ; (emo-gest-spec "chat-neg-think" "think-browsDown.003"  0.8 0.5 0.7 1 1 0.3 0.5)
 (emo-gest-spec "chat-neg-think" "noop"                 0.2 0   0   1 1 0   0  )
 
+; Gestures to use during listening.
+(emo-gest-spec "listening" "thoughtful"  0.4 0.7 1.0 1 1 0.6 0.8)
+(emo-gest-spec "listening" "noop"        0.6 0.0 1.0 1 1 0.0 0.0)
+
 ; Used for imperatives, i.e. when she is verbally told to do something.
 ; Thus, we list all of them here. The probability column is ignored.
 ; The shake and nod gestures are very weak, for some reason.

From 54c4a523bb77cc72251b29410002ebfda48ba6aa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 15:37:44 +0800
Subject: [PATCH 22/26] Add missing conversions

---
 src/behavior.scm   | 6 +++---
 src/btree-psi.scm  | 4 ++--
 src/self-model.scm | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 930201e7..80a8c91f 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -129,7 +129,7 @@
 
 		;; Show random expressions only if NOT talking
 		(SequentialOr
-			;(Not (DefinedPredicate "chatbot is listening"))
+			;(Not (DefinedPredicate "chatbot is listening?"))
 			(SequentialAnd
 
 				(SequentialOrLink
@@ -791,12 +791,12 @@
 
 				; If the chatbot stopped talking ...
 				(SequentialAnd
-					(DefinedPredicate "chatbot is listening")
+					(DefinedPredicate "chatbot is listening?")
 					(DefinedPredicate "Listening ongoing"))
 
 				; If the chatbot stopped talking ...
 				(SequentialAnd
-					(DefinedPredicate "chatbot stopped listening")
+					(DefinedPredicate "chatbot stopped listening?")
 					(DefinedPredicate "Listening ended"))
 
 				(SequentialAnd
diff --git a/src/btree-psi.scm b/src/btree-psi.scm
index 095665d1..adca545e 100644
--- a/src/btree-psi.scm
+++ b/src/btree-psi.scm
@@ -42,8 +42,8 @@
 ; Load the Eva personality configuration.
 ; (display %load-path)
 (add-to-load-path "../src")
-(load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
-; (load-from-path "cfg-sophia.scm") ;;; <<<=== See, its Sophia here!
+; (load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
+(load-from-path "cfg-sophia.scm") ;;; <<<=== See, its Sophia here!
 
 ;; Load the actual psi rules.
 (load-from-path "psi-behavior.scm")
diff --git a/src/self-model.scm b/src/self-model.scm
index 5ab55079..ce4d0fef 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -26,7 +26,7 @@
 ; Examples and debugging hints:
 ; Some (but not all) state queries:
 ; (cog-evaluate! (DefinedPredicate "chatbot is talking?"))
-; (cog-evaluate! (DefinedPredicate "chatbot is listening"))
+; (cog-evaluate! (DefinedPredicate "chatbot is listening?"))
 ; (cog-evaluate! (DefinedPredicate "chatbot is happy"))
 ; (cog-evaluate! (DefinedPredicateNode "Did someone arrive?"))
 ; (cog-evaluate! (DefinedPredicateNode "Someone visible?"))
@@ -468,7 +468,7 @@
 	(DefinedPredicate "Is interacting with someone?")
 	(OrLink
 		; true if talking not listening.
-		(NotLink (DefinedPredicate "chatbot is listening"))
+		(NotLink (DefinedPredicate "chatbot is listening?"))
 		; true if not not-making eye-contact.
 		(NotLink (Equal
 			(SetLink no-interaction)

From 8e362f586dd8e36c9d011b6b44e31e7b91f2c569 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 16:26:34 +0800
Subject: [PATCH 23/26] Avoid a crash

---
 src/self-model.scm | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/self-model.scm b/src/self-model.scm
index ce4d0fef..10ed509f 100644
--- a/src/self-model.scm
+++ b/src/self-model.scm
@@ -628,9 +628,14 @@
 ;; (DefinedSchema "look at person") to make it look.
 (DefineLink
 	(DefinedPredicate "interact with new person")
-	(True (Put (DefinedPredicate "Set interaction target")
-		; If more than one new arrival, pick one randomly.
-		(RandomChoice (DefinedSchema "New arrivals"))))
+	; XXX Double-check that the "New arrivals" list is non-empty;
+	; some OpenPsi bug sometimes sends us here, and the RandomChoice
+	; crashes if the list is empty.
+	(SequentialAnd
+		(DefinedPredicateNode "Did someone arrive?")
+		(True (Put (DefinedPredicate "Set interaction target")
+			; If more than one new arrival, pick one randomly.
+			(RandomChoice (DefinedSchema "New arrivals")))))
 )
 
 ;; Set eye-contact face to the requested face.

From 269fd60611277a9b26ace28aae689820ffd7e214 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 16:42:19 +0800
Subject: [PATCH 24/26] Bug fix

---
 src/behavior.scm | 22 +++++++++++++---------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/src/behavior.scm b/src/behavior.scm
index 80a8c91f..1f3cecda 100644
--- a/src/behavior.scm
+++ b/src/behavior.scm
@@ -197,7 +197,7 @@
 
 ;; Respond to a new face becoming visible.
 ;
-;; XXX TODO -- need to also do line 590, if interacting for a while
+;; XXX TODO -- if interacting for a while
 ;; this alters probability of glance...
 (DefineLink
 	(DefinedPredicate "Respond to new arrival")
@@ -749,18 +749,22 @@
 			(SequentialOr
 				(DefinedPredicate "Skip Interaction?")
 
-				(DefinedPredicate "Someone requests interaction?")
-				(DefinedPredicate "Interaction requested action")
+				(SequentialAnd
+					(DefinedPredicate "Someone requests interaction?")
+					(DefinedPredicate "Interaction requested action"))
 
-				(DefinedPredicate "Did someone arrive?")
-				(DefinedPredicate "New arrival sequence")
+				(SequentialAnd
+					(DefinedPredicate "Did someone arrive?")
+					(DefinedPredicate "New arrival sequence"))
 
-				(DefinedPredicate "Did someone leave?")
-				(DefinedPredicate "Someone left action")
+				(SequentialAnd
+					(DefinedPredicate "Did someone leave?")
+					(DefinedPredicate "Someone left action"))
 
 				; True, if there is anyone visible.
-				(DefinedPredicate "Someone visible?")
-				(DefinedPredicate "Interact with people")
+				(SequentialAnd
+					(DefinedPredicate "Someone visible?")
+					(DefinedPredicate "Interact with people"))
 
 				(DefinedPredicate "Nothing is happening")
 				(True))

From 10a5738799f14649284d02ea8cbd7b285d03eda5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 16:47:53 +0800
Subject: [PATCH 25/26] Remove some debug prints

---
 src/btree-psi.scm | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/btree-psi.scm b/src/btree-psi.scm
index adca545e..4bc0e490 100644
--- a/src/btree-psi.scm
+++ b/src/btree-psi.scm
@@ -56,20 +56,15 @@
 	(DefinedPredicate loop-name)
 	(SatisfactionLink
 		(SequentialAnd
-(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "start")))
 			(Evaluation (GroundedPredicate "scm: psi-step")
 				(ListLink))
-(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "middle")))
 			(Evaluation (GroundedPredicate "scm: psi-run-continue?")
 				(ListLink))
-(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "more")))
 			; If ROS is dead, or the continue flag not set,
 			; then stop running the behavior loop.
 			(DefinedPredicate "ROS is running?")
-(Evaluation (GroundedPredicate "scm: wtf") (ListLink (Node "tail")))
 			(DefinedPredicate loop-name))))
 
-(define (wtf x) (display "heyyyyy\n") (display x)(newline) (stv 1 1))
 ;; Call (run) to run the main loop, (halt) to pause the loop.
 ;; The main loop runs in its own thread.
 (define (run) (psi-run))

From af05bc22a7e1b81f67ec8d255bb533b216af074d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Linas=20Vep=C5=A1tas?= <linasvepstas@gmail.com>
Date: Tue, 7 Jun 2016 18:31:55 +0800
Subject: [PATCH 26/26] Stub out debug print

---
 src/README.md        | 8 ++++++++
 src/psi-behavior.scm | 4 ++--
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/README.md b/src/README.md
index 2e1aa901..2398daee 100644
--- a/src/README.md
+++ b/src/README.md
@@ -185,3 +185,11 @@ A list of random ideas.
   (DefinedPredicateNode "Is interacting with someone?")
 
   Everything emitted to ROS is a state.... look for the behavior pubs.
+
+----------------
+
+Pending bugs:
+* (DefinedPredicateNode "Did someone leave?")  being called much much
+   too often!!! ... why???
+* Psi hung ... for no apparent reason.
+  (psi-running?)    (psi-get-loop-count)
diff --git a/src/psi-behavior.scm b/src/psi-behavior.scm
index 11045416..74613eb5 100644
--- a/src/psi-behavior.scm
+++ b/src/psi-behavior.scm
@@ -11,8 +11,8 @@
 ;; ------------------------------------------------------------------
 
 (define (foobar x)
-(display "duuuuuuuude foobar pred-schema wrapper\n")
-(display x) (newline)
+; (display "duuuuuuuude foobar pred-schema wrapper\n")
+; (display x) (newline)
 	(cog-evaluate! x)
  (Node "bad value"))
 ;;