def follow(self, instructions):
now = time.time()
result = instructions
print 'Instructions =', instructions
if '-' in instructions:
prefix, instructionID = instructions.split('-')
else:
instructionID = instructions
setLogs(instructionID)
logger.runComplete('Following %s', instructionID)
RunResults = []
for label, step in self.stages:
startTime = now
logger.stageComplete('Starting %s', label)
result, CaughtError, CaughtErrorTxt = step(result, instructionID)
if self.NLUQueue: self.NLUQueue.put((label, result))
logger.stageComplete('Ending %s', label)
if isinstance(result, list):
for rst in result:
logger.stageComplete("%r", rst)
else:
logger.stageComplete('%r', result)
now = time.time()
logger.info('%s took %d', label, now - startTime)
RunResults.append(result)
if CaughtError == 'EOFError':
return RunResults, CaughtError, CaughtErrorTxt
logger.flush()
return RunResults, CaughtError, CaughtErrorTxt
def TrainSenseTagger(Pcfg, CFDist):
logger.info("Training unigram tagger:")
SenseUnigramTagger = UnigramTagger(TAG="SENSE", TEXT="STEM")
# SenseUnigramTagger.train(taggedData)
SenseUnigramTagger._freqdist = invertConditionalFreqDist(CFDist)
SenseDefaultTagger = DefaultTagger("APPEAR", TAG="SENSE", TEXT="STEM")
backoff = BackoffTagger([SenseUnigramTagger, SenseDefaultTagger], TAG="SENSE", TEXT="STEM")
return backoff
def readCleaned(instructions,instructID):
try:
text = open('Directions/CleanDirs/Cleaned-'+instructID).read()
except: text = ''
if not text.strip(): # Does it have non-whitespace characters?
return text,'EOFError',EOFError('Empty Instruction Set')
for sent in text.split('.'): logger.info(sent)
return text,None,''
def TrainSenseTagger(Pcfg,CFDist):
logger.info("Training unigram tagger:")
SenseUnigramTagger = UnigramTagger(TAG='SENSE',TEXT='STEM')
#SenseUnigramTagger.train(taggedData)
SenseUnigramTagger._freqdist = invertConditionalFreqDist(CFDist)
SenseDefaultTagger = DefaultTagger('APPEAR', TAG='SENSE',TEXT='STEM')
backoff = BackoffTagger([SenseUnigramTagger,SenseDefaultTagger], TAG='SENSE',TEXT='STEM')
return backoff
def travel(self):
self.pomdp.observed = None
PrintRobot.travel(self)
if not self.pomdp.observed:
logger.info('travel observing...')
self.pomdp.observe()
self.viewCache.update(Front,self.pomdp.observed)
logger.info("post travel obs: %r; viewCache: %r", self.pomdp.observed, self.viewCache)
return self.pomdp.perform('TravelFwd')
def readCleaned(instructions, instructID):
try:
text = open('Directions/CleanDirs/Cleaned-' + instructID).read()
except:
text = ''
if not text.strip(): # Does it have non-whitespace characters?
return text, 'EOFError', EOFError('Empty Instruction Set')
for sent in text.split('.'):
logger.info(sent)
return text, None, ''
def _execute(self,Actions):
for i,action in enumerate(Actions):
logger.info('<%d> %s',i,action)
if self.NLUQueue: self.NLUQueue.put(('Executing',i))
try:
results = action.execute(self.robot)
logger.info('<%d> %s => %r', i,action,results)
except OverflowWarning,e:
logger.warning('<%d> %s => %s', i,action,e)
except StopIteration,e:
results = e
logger.info('<%d> %s => %r', i,action,results)
logger.info('End of Instruction Execution after <%d>', i)
def _execute(self,Actions):
for i,action in enumerate(Actions):
logger.info('<%d> %s',i,action)
if self.NLUQueue: self.NLUQueue.put(('Executing',i))
try:
results = action.execute(self.robot)
logger.info('<%d> %s => %r', i,action,results)
except Warning,e:
logger.warning('<%d> %s => %s', i,action,e)
except StopIteration,e:
results = e
logger.info('<%d> %s => %r', i,action,results)
logger.info('End of Instruction Execution after <%d>', i)
def executeRoute(self, Actions):
action = "Observe"
self.robot.teleport(self.robot.currentState)
while (action != "Stop" or action != "DeclareGoal"):
for i, action in enumerate(Actions):
if dynamic and self.checkQueue():
break
logger.info('<%d> %s', i, action)
if self.StatusQueue: self.StatusQueue.put(('Executing', i))
try:
results = self.robot.perform(action)
#self.robot.perform("Observe")
logger.info('<%d> %s => %r', i, action, results)
except StopIteration, e:
results = e
logger.info('<%d> %s => %r', i, action, results)
logger.info('End of Instruction Execution after <%d>', i)
def teleport(self,pose):
logger.info('Teleporting to %r.', pose)
def pose(self,pose):
logger.info('At pose %r.', pose)
def setRoute(self,Start,Dest):
logger.info('Initializing route from %r to %r', Start,Dest)
self.completed = False
def declareGoal(self):
logger.info('Declaring at the goal.')
def recognize(self,description,sim = False):
logger.info('Recognizing %r.', description)
if sim:
match = random.choice((True,False))
logger.info('%r was%r recognized', match and ' ' or ' not')
return match
def travel(self):
logger.info('Traveling forward.')
def turn(self,direction):
logger.info('Turning %r.', direction)
def readCorrParse(text, instructID, path='Directions/CorrFullTrees/'):
parses = open(path+'FullTree-'+instructID).read()
logger.info("%r",parses)
return parses,None,''
def readCorrParse(text, instructID, path='Directions/CorrFullTrees/'):
parses = open(path + 'FullTree-' + instructID).read()
logger.info("%r", parses)
return parses, None, ''
def recognize(self,description):
PrintRobot.recognize(self,description)
if not self.pomdp.observed:
logger.info('recognize observing...')
self.pomdp.observe()
logger.info('Observed %r',self.pomdp.observed)
self.viewCache.update(At,self.pomdp.observed)
for desc in description:
logger.info('.....Examining %s\n.....for %r', self.pomdp.observed, desc)
if self.NLUQueue: self.NLUQueue.put(('Recognize', repr(desc)))
turnDir,descSide = self.getLookTurn(desc)
match = self.recognizer.recDesc(desc, self.viewCache)
self.turnBack(turnDir,descSide)
if not match:
logger.info('.....Did NOT recognize %r',desc)
return False
logger.info('.....Recognized %r',desc)
logger.info('.....Recognized entire description!')
return True
