# Creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display=DISPLAY_FUNC, verbose=2)
# Add phases by name
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Cleanup", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
# Add the modules which instantiate basic operation
#myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.NBeaconsActionSimulator(wind=WIND_ENABLED,wind_dir=WIND_DIR,wind_strength=WIND_STRENGTH,dim=DIMENSION,wind_schedule=wind_schedule))
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer(DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.StateDiscrepancyDetector())
myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
myMidca.append_module("Interpret", guide.SimpleNBeaconsGoalManager())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Interpret", guide.NBeaconsGoalGenerator(numbeacons=2,goalList=goal_list))
myMidca.append_module("Eval", evaluate.NBeaconsDataRecorder())
myMidca.append_module("Cleanup", simulator.NBeaconsSimulator(beacon_fail_rate=BEACON_FAIL_RATE))
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.HeuristicSearchPlanner())
#myMidca.append_module("Plan", planning.PyHopPlanner(nbeacons_util.pyhop_state_from_world,
# nbeacons_util.pyhop_tasks_from_goals,
# DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC)) # set up planner for sample domain
myMidca.append_module("Act", act.NBeaconsSimpleAct())
def create_meta_MIDCA(self):
#STATE_FILE = DOMAIN_ROOT + "states/.sim" # state file is generated dynamically
DISPLAY_FUNC = nbeacons_util.drawNBeaconsScene
DECLARE_METHODS_FUNC = methods_nbeacons.declare_methods
DECLARE_OPERATORS_FUNC = operators_nbeacons.declare_operators
GOAL_GRAPH_CMP_FUNC = nbeacons_util.preferFree
WIND_ENABLED = True
# Load domain
world = domainread.load_domain(DOMAIN_FILE)
# Load state
stateread.apply_state_str(world, self.start_state)
# Creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world,
display=DISPLAY_FUNC,
verbose=2,
metaEnabled=True)
# Add phases by name
for phase in [
"Simulate", "Perceive", "Interpret1", "Interpret2",
"Interpret3", "Eval", "Cleanup", "Intend", "Plan", "Act"
]:
myMidca.append_phase(phase)
# Add the modules which instantiate basic operation
#myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module(
"Simulate",
simulator.NBeaconsActionSimulator(wind=WIND_ENABLED,
wind_dir=self.wind_dir,
wind_strength=self.wind_strength,
dim=DIMENSION,
wind_schedule=WIND_SCHEDULE_1,
logfilenm=DATADIR + "meta" +
NOW_STR + ".log"))
myMidca.append_module("Simulate",
simulator.ASCIIWorldViewer(DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret1", note.StateDiscrepancyDetector())
myMidca.append_module("Interpret2", assess.SimpleNBeaconsExplain())
myMidca.append_module("Interpret3", guide.SimpleNBeaconsGoalManager())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module(
"Interpret3",
guide.NBeaconsGoalGenerator(numbeacons=2, goalList=self.goal_list))
myMidca.append_module("Eval", evaluate.NBeaconsDataRecorder())
myMidca.append_module(
"Cleanup",
simulator.NBeaconsSimulator(beacon_fail_rate=BEACON_FAIL_RATE))
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.HeuristicSearchPlanner())
#myMidca.append_module("Plan", planning.PyHopPlanner(nbeacons_util.pyhop_state_from_world,
# nbeacons_util.pyhop_tasks_from_goals,
# DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC)) # set up planner for sample domain
myMidca.append_module("Act", act.NBeaconsSimpleAct())
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
#myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGenForGoalTrans())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
# Set world viewer to output text
myMidca.set_display_function(nbeacons_util.drawNBeaconsScene)
# Tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
# Note: Turning this on drastically increases MIDCA's running time.
myMidca.storeHistory = False
myMidca.mem.logEachAccess = False
# Initialize and start running!
myMidca.initGoalGraph(cmpFunc=GOAL_GRAPH_CMP_FUNC)
return myMidca