def init_kb(width, matrix, cellVectorX, cellVectorY):
log_to_terminal("Initializing KB...")
if global_vars.LOG_KB:
log_kb()
reset_prolog_files(cellVectorX, cellVectorY)
doors = [[]]
dyn_nodes = []
room_list = []
print "resetted prolog"
for i in xrange(len(matrix)):
if (matrix[i] != "0"):
room_tag, obj_tag, door_adj, obj_par = matrix[i].split(";")
obj_list = obj_tag.split("#")
par_list = obj_par.split("#")
door_map = {}
column = int(i % width)
row = int(i / width)
if(room_tag != "0"):
if not (room_tag in room_list):
room_list.append(room_tag)
logic_form = "cellCoordIsPartOf(%s,%s,%s)"%(column,row,room_tag)
global_vars.prolog_files["cells"].write(logic_form + ".\n")
if (obj_tag != "0"):
for index in xrange(len(obj_list)):
learn(room_tag, obj_list[index], par_list[index], column, row)
#if ("room_center" in obj_list[index]):
#logic_form = "dyn_node(%s_center,%s,%s)"%(room_tag,column,row)
#global_vars.prolog_files["graph"].write(logic_form + ".\n")
#dyn_nodes.append(room_tag)
#else:
if (door_adj != "false#false#false#false"):
doors.append(["%s#%s%s"%(room_tag,column,row),column,row])
print "processed all the cells"
global_vars.prolog_files["cells"].flush()
global_vars.prolog_load_handle("cells.pl")
calculate_and_assert_rooms_center_and_type(room_list)
global_vars.prolog_load_handle("rooms.pl")
write_doors_to_file(doors)
create_topological_graph(room_list, doors)
flush_prolog_files()
global_vars.prolog_load_handle("graph.pl")
global_vars.old_matrix = matrix
log_to_terminal("Done Initializing KB")
if global_vars.DRAW_GRAPH:
drawGraph()
def reset_prolog_files(cellVectorX, cellVectorY):
for key in global_vars.prolog_files.keys():
if os.path.exists(key + ".pl") and key != "old_objects" and key != "plans":
os.remove(key + ".pl")
global_vars.prolog_files[key] = open(key + ".pl", "a")
if key == "rooms":
global_vars.prolog_files[key].write(":- dynamic roomType/2, roomCenter/3.\n")
elif key == "objects":
global_vars.prolog_files[key].write(
":- dynamic objectPos/4, objectType/2, objectLastSeen/2, objectAngle/2.\n"
)
elif key == "graph":
global_vars.prolog_files[key].write(":- dynamic edge/2, dyn_node/3, stat_node/3.\n")
elif key == "centroids":
for i in xrange(len(cellVectorX)):
for j in xrange(len(cellVectorY)):
global_vars.prolog_files[key].write(
"cellCenterInMap(%s,%s,%s,%s).\n" % (i, j, cellVectorX[i], cellVectorY[j])
)
global_vars.prolog_files[key].flush()
global_vars.prolog_load_handle("centroids.pl")
global_vars.prolog_load_handle("plans.pl")
global_vars.prolog_load_handle("searchGraph.pl")
global_vars.prolog_load_handle("cone_based_reasoner.pl")
global_vars.prolog_load_handle("logicalFormTranslator.pl")
global_vars.prolog_load_handle("plan_reasoner.pl")
def reset_prolog_files(cellVectorX, cellVectorY):
for key in global_vars.prolog_files.keys():
if (os.path.exists(key + ".pl") and key != "old_objects"
and key != "plans"):
os.remove(key + ".pl")
global_vars.prolog_files[key] = open(key + ".pl", 'a')
if key == "rooms":
global_vars.prolog_files[key].write(
":- dynamic roomType/2, roomCenter/3.\n")
elif key == "objects":
global_vars.prolog_files[key].write(
":- dynamic objectPos/4, objectType/2, objectLastSeen/2, objectAngle/2.\n"
)
elif key == "graph":
global_vars.prolog_files[key].write(
":- dynamic edge/2, dyn_node/3, stat_node/3.\n")
elif key == "centroids":
for i in xrange(len(cellVectorX)):
for j in xrange(len(cellVectorY)):
global_vars.prolog_files[key].write(
"cellCenterInMap(%s,%s,%s,%s).\n" %
(i, j, cellVectorX[i], cellVectorY[j]))
global_vars.prolog_files[key].flush()
global_vars.prolog_load_handle("centroids.pl")
global_vars.prolog_load_handle("plans.pl")
global_vars.prolog_load_handle("searchGraph.pl")
global_vars.prolog_load_handle("cone_based_reasoner.pl")
global_vars.prolog_load_handle("logicalFormTranslator.pl")
global_vars.prolog_load_handle("plan_reasoner.pl")
