Ejemplo n.º 1
0
 def request(self,pattern,partial=None,require_new=False):
    if partial is None and len(self.partials)>0: partial=self.partials[0]
    self.busy=True
    if self.error: self.error=False
    self._request_count+=1
    b=getattr(self.sch,'bound',None)
    pattern=Pattern(pattern,b,partial=partial)
    
    all=self.dm
    if require_new: all=[x for x in all if not self.finst.contains(x)]
    
    matches=[x for x in all if pattern.match(x) is not None]
    
    #for x in matches: print `x`,self.get_activation(x)
    
      
    for a in self.adaptors: a.matched(matches)
    if len(matches)==0:
        self.fail(self._request_count)
    else:
        maximum=None    
        for chunk in matches:
            chunk.activation=self.get_activation(chunk)
            if partial is not None:
              chunk.activation+=chunk._partial
            if maximum is None or chunk.activation>maximum:
              maximum=chunk.activation
        if maximum<self.threshold:
            self.fail(self._request_count)
        else:    
            best=[x for x in matches if x.activation==maximum]
            
            choice=self.random.choice(best)
            self.recall(choice,matches=matches,request_number=self._request_count)
Ejemplo n.º 2
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 def find_matching_chunks(self,pattern,threshold=None):
    bound=getattr(self.sch,'bound',None)
    pattern=Pattern(pattern,bound)
    matches=[x for x in self.dm if pattern.match(x) is not None]
    if threshold is not None:
      matches=[x for x in matches if self.get_activation(x)>=threshold]
    return matches  
Ejemplo n.º 3
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 def find_matching_chunks(self,pattern,threshold=None):
    bound=getattr(self.sch,'bound',None)
    pattern=Pattern(pattern,bound)
    matches=[x for x in self.dm if pattern.match(x) is not None]
    if threshold is not None:
      matches=[x for x in matches if self.get_activation(x)>=threshold]
    return matches  
Ejemplo n.º 4
0
 def request(self,pattern,partial=None,require_new=False):
    if partial is None and len(self.partials)>0: partial=self.partials[0]
    self.busy=True
    if self.error: self.error=False
    self._request_count+=1
    b=getattr(self.sch,'bound',None)
    pattern=Pattern(pattern,b,partial=partial)
    
    all=self.dm
    if require_new: all=[x for x in all if not self.finst.contains(x)]
    
    matches=[x for x in all if pattern.match(x) is not None]
    #if self.log:
    #  for x in matches:
    #    self.log[`x`]=self.get_activation(x)
      
    for a in self.adaptors: a.matched(matches)
    if len(matches)==0:
        self.fail(self._request_count)
    else:
        maximum=None    
        for chunk in matches:
            chunk.activation=self.get_activation(chunk)
            if partial is not None:
              chunk.activation+=chunk._partial
            if maximum is None or chunk.activation>maximum:
              maximum=chunk.activation
        if maximum<self.threshold:
            self.fail(self._request_count)
        else:    
            best=[x for x in matches if x.activation==maximum]
            
            choice=self.random.choice(best)
            self.recall(choice,matches=matches,request_number=self._request_count)
Ejemplo n.º 5
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 def test_group(self):
   obj={'a':dict(a=1,b=None),'c':dict(d=2,e=1)}
   
   self.assertEqual(Pattern(dict(c='d:2 e:1')).match(obj),{})
   self.assertEqual(Pattern(dict(a='a:?x',c='d:2 e:?x')).match(obj),{'x':'1'})
   self.assertEqual(Pattern(dict(a='b:!?x',c='d:!?x e:?x')).match(obj),{'x':'1'})
   self.assertEqual(Pattern(dict(a='a:!?x b:!?x',c='d:!?x e:?x')).match(obj),None)
Ejemplo n.º 6
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    def compress_shoulder(self, function_name, **kwargs):
        '''
         This function compresses the shoulder (should be in ribs rotation direction)
         to help reduce agent width.
         :param function_name:
         :param kwargs: bone='shoulder.L' OR bone='shoulder.R'
         :return:applies the shoulder compression with set_rotation on Morse side
         '''
        #Check the max rotation
        print("Compress Shoulder")
        if self.busy:
            return
        self.busy = True

        maxReached = False
        minReached = False

        kwargs.update(self.function_map[function_name][1])
        #if kwargs['bone'] == 'shoulder.R':
        #    kwargs['radians'] = kwargs['radians'] * 1
        if kwargs['bone'] == 'shoulder.L':
            kwargs['radians'] = kwargs['radians'] * -1

        minR, maxR = self._boneProperties[kwargs['bone']][kwargs['axis']]
        #print("MINR", minR)
        if Decimal(kwargs['radians']).quantize(
                Decimal('0.000'),
                rounding=ROUND_HALF_UP) >= Decimal(maxR).quantize(
                    Decimal('0.000'), rounding=ROUND_HALF_UP):
            print("SET TO MAX")
            maxReached = True
            kwargs['radians'] = maxR
        if Decimal(kwargs['radians']).quantize(
                Decimal('0.000'),
                rounding=ROUND_HALF_UP) <= Decimal(minR).quantize(
                    Decimal('0.000'), rounding=ROUND_HALF_UP):
            print("SET TO MIN")

            minReached = True
            kwargs['radians'] = minR

        print("RADIANS", kwargs['radians'])
        middleware.send(self.function_map[function_name][0], **kwargs)
        #middleware.send('rotate_torso',axis=axis, radians=radians)
        pattern = 'type:proprioception ' + 'bone:' + kwargs['bone']
        matcher = Pattern(pattern)
        for obj in self._internalChunks:
            #if axis='0.0'
            if matcher.match(obj) != None:
                obj.rotation0 = kwargs['radians']
                if kwargs['radians'] < 0:
                    obj.rotation_direction = 'right'
                elif kwargs['radians'] > 0:
                    obj.rotation_direction = 'left'
                if maxReached:
                    obj.rotation0_quality = 'max'
                if minReached:
                    obj.rotation0_quality = 'min'
        self.busy = False
        self.update_posture()
Ejemplo n.º 7
0
    def request(self, pattern=''):
        print("REQUEST")
        if self.busy: return

        #for obj in self._internalChunks:
        #    print("OBJ............")
        #    for attr, value in obj.__dict__.items():
        #        print(attr,value)

        matcher = Pattern(pattern)
        print("Matcher", matcher)

        self.error = False
        r = []
        for obj in self._internalChunks:
            #print("one",obj)
            if matcher.match(obj) != None:
                r.append(obj)

        self.busy = True
        d = self.delay
        if self.delay_sd is not None:
            d = max(0, self.random.gauss(d, self.delay_sd))
        yield d
        print("YEILDED", d)
        self.busy = False
        if len(r) == 0:
            self._b1.clear()
            self.error = True
        else:
            obj = self.random.choice(r)
            self._b1.set(obj)
Ejemplo n.º 8
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    def request(self,pattern=''):
        print("REQUEST")
        if self.busy: return

        #for obj in self._internalChunks:
        #    print("OBJ............")
        #    for attr, value in obj.__dict__.items():
        #        print(attr,value)

        matcher = Pattern(pattern)
        print("Matcher",matcher)

        self.error=False
        r=[]
        for obj in self._internalChunks:
            #print("one",obj)
            if matcher.match(obj)!= None:
                r.append(obj)

        self.busy = True
        d = self.delay
        if self.delay_sd is not None:
            d=max(0,self.random.gauss(d,self.delay_sd))
        yield d
        print("YEILDED", d)
        self.busy=False
        if len(r) == 0:
            self._b1.clear()
            self.error = True
        else:
            obj=self.random.choice(r)
            self._b1.set(obj)
 def test_exact(self):
   obj={'self':Obj(a=1,b=2,c=3)}
   p=Pattern(dict(self='a:1 b:2 c:3'))
   self.assertEqual(p.match(obj),{})
   obj['self'].c=2
   self.assertEqual(p.match(obj),None)
   self.assertEqual(Pattern(dict(self='a:1 a:2')).match(obj),None)
   self.assertEqual(p.match({'self':None}),None)
   self.assertEqual(Pattern(dict(self=None)).match({'self':None}),{})
Ejemplo n.º 10
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    def compress_shoulder(self,function_name,**kwargs):
        '''
         This function compresses the shoulder (should be in ribs rotation direction)
         to help reduce agent width.
         :param function_name:
         :param kwargs: bone='shoulder.L' OR bone='shoulder.R'
         :return:applies the shoulder compression with set_rotation on Morse side
         '''
        #Check the max rotation
        print("Compress Shoulder")
        if self.busy:
            return
        self.busy = True

        maxReached = False
        minReached = False


        kwargs.update(self.function_map[function_name][1])
        #if kwargs['bone'] == 'shoulder.R':
        #    kwargs['radians'] = kwargs['radians'] * 1
        if kwargs['bone'] == 'shoulder.L':
            kwargs['radians'] = kwargs['radians'] * -1


        minR,maxR = self._boneProperties[kwargs['bone']][kwargs['axis']]
        #print("MINR", minR)
        if Decimal(kwargs['radians']).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP) >= Decimal(maxR).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP):
            print("SET TO MAX")
            maxReached=True
            kwargs['radians'] = maxR
        if Decimal(kwargs['radians']).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP) <= Decimal(minR).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP):
            print("SET TO MIN")

            minReached = True
            kwargs['radians'] = minR

        print("RADIANS",kwargs['radians'])
        middleware.send(self.function_map[function_name][0],**kwargs)
        #middleware.send('rotate_torso',axis=axis, radians=radians)
        pattern='type:proprioception ' + 'bone:' + kwargs['bone']
        matcher=Pattern(pattern)
        for obj in self._internalChunks:
            #if axis='0.0'
            if matcher.match(obj)!=None:
                obj.rotation0=kwargs['radians']
                if kwargs['radians'] < 0:
                    obj.rotation_direction = 'right'
                elif kwargs['radians'] > 0:
                    obj.rotation_direction = 'left'
                if maxReached:
                    obj.rotation0_quality='max'
                if minReached:
                    obj.rotation0_quality='min'
        self.busy=False
        self.update_posture()
Ejemplo n.º 11
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 def __init__(self, visual, location):
     ccm.Model.__init__(self)
     self._visual = visual
     self._location = location
     self.busy = False
     self.lastLocationPattern = Pattern('')
     self.tracking = None
     self.timeAppeared = {}
     self.visualOnsetSpan = 0.5
     self.finst = Finst(self)
Ejemplo n.º 12
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 def context(self,pattern):
   pat=Pattern(pattern)
   chunks=[x for x in self.memory.dm if pat.match(x) is not None]
   for k,hist in self.histogram.items():
     hist.clear()
   if len(chunks)==0: raise Exception('No chunks match salience pattern: "%s"'%pattern)
   dw=1.0/len(chunks)
   for c in chunks:
     for k,hist in self.histogram.items():
       val=c.get(k,None)
       if val not in hist: hist[val]=dw
       else: hist[val]+=dw
Ejemplo n.º 13
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    def request(self,pattern=''):
        print("REQUEST")
        if self.busy: return

        matcher = Pattern(pattern)

        self.error=False
        r=[]
        for obj in self._internalChunks:
            print("one")
            if matcher.match(obj)!=None:
                print("Not None", obj)
Ejemplo n.º 14
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    def request(self, pattern=''):
        print("REQUEST")
        if self.busy: return

        matcher = Pattern(pattern)

        self.error = False
        r = []
        for obj in self._internalChunks:
            print("one")
            if matcher.match(obj) != None:
                print("Not None", obj)
Ejemplo n.º 15
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 def context(self,pattern):
   pat=Pattern(pattern)
   chunks=[x for x in self.memory.dm if pat.match(x) is not None]
   for k,hist in list(self.histogram.items()):
     hist.clear()
   if len(chunks)==0: raise Exception('No chunks match salience pattern: "%s"'%pattern)
   dw=1.0/len(chunks)
   for c in chunks:
     for k,hist in list(self.histogram.items()):
       val=c.get(k,None)
       if val not in hist: hist[val]=dw
       else: hist[val]+=dw
Ejemplo n.º 16
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    def examine(self, pat):
        if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
            pat = 'x:%s y:%s' % tuple(pat.split(' '))

        self.lastExamine = Pattern(pat, self.sch.bound)

        pat = self.lastExamine

        for obj in self.parent.parent.get_children():
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                if pat.match(obj) is not None:
                    #if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
                    self.busy = True
                    yield 0.085
                    self.busy = False
                    if obj in self.parent.parent.get_children():
                        self.tracking = obj
                        self.log._ = 'Vision sees %s' % Chunk(obj)
                        self._visual.set(obj)
                        self.finst.add(obj)
                    else:
                        self.tracking = None
                        self.log._ = 'Vision sees nothing'
                        self._visual.clear()
                    break
Ejemplo n.º 17
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    def __init__(self, pre, post, keep, retrieve, pre_bound, post_bound):
        self.name = '%s-%s-%d' % (pre.name, post.name, id(self))
        self.system = pre.system
        self.base_utility = 0
        self.bound = None

        code1 = []
        for k, v in list(pre_bound.items()):
            code1.append(' %s=%s' % (k, repr(v)))
        code1.append(' if True:  # compiled from %s' % pre.name)
        added_line = False
        for line in pre.code.splitlines():
            for k in keep:
                if line.strip().startswith(k):
                    code1.append('  ' + line)
                    added_line = True
                    break
        if not added_line:
            code1.append('  pass')

        code1 = '\n'.join(code1)
        for k, v in list(pre_bound.items()):
            code1 = code1.replace('?' + k, v)

        code2 = []
        for k, v in list(post_bound.items()):
            code2.append(' %s=%s' % (k, repr(v)))
        code2.append(' if True:  # compiled from %s' % post.name)
        for line in post.code.splitlines():
            if len(line.strip()) > 0:
                code2.append('  ' + line)

        code2 = '\n'.join(code2)
        for k, v in list(post_bound.items()):
            code2 = code2.replace('?' + k, v)

        self.code = 'if True:\n%s\n%s' % (code1, code2)

        self.func = compile(self.code, '<production-%s>' % self.name, 'exec')

        keys = list(pre.keys)
        patterns = {}
        for buf, pat in list(pre.pattern_specs.items()):
            for k, v in list(pre_bound.items()):
                pat = pat.replace('?' + k, v)
            patterns[buf] = pat

        for m in post.keys:
            if m == retrieve: pass
            elif m not in keys:
                keys.append(m)
                pat = post.pattern_specs[m]
                for k, v in list(post_bound.items()):
                    pat = pat.replace('?' + k, v)
                patterns[buf] = pat

        self.keys = keys
        self.pattern_specs = patterns
        self.pattern = Pattern(patterns)
Ejemplo n.º 18
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    def attendTo(self, pattern, unattended=False, new=False):
        if isinstance(pattern,
                      str) and ':' not in pattern and pattern.count(' ') == 1:
            pattern = 'x:%s y:%s' % tuple(pattern.split(' '))

        self.lastLocationPattern = Pattern(pattern, self.sch.bound)
        r = []
        for obj in self.parent.parent.get_children():
            if new == True and not self.isNew(obj): continue
            if unattended == True and self.finst.isIn(obj): continue
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                if self.lastLocationPattern.match(obj) != None:
                    r.append(obj)
        if len(r) > 0:
            obj = self.random.choice(r)
            self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
            self._location.set('%g %g' % (obj.x, obj.y))
Ejemplo n.º 19
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    def request(self, pattern=''):
        if self.busy: return

        matcher = Pattern(pattern)

        self.error = False
        r = []
        for obj in self.parent.parent.get_children():
            if matcher.match(obj) != None:
                if not hasattr(obj, 'salience') and not hasattr(
                        obj, 'visible'):
                    continue

                if hasattr(obj, 'salience'):
                    if self.random.random() > obj.salience:
                        continue
                if hasattr(obj, 'visible'):
                    if obj.visible == False:
                        continue
                if hasattr(obj, 'value'):
                    if obj.value == None:
                        continue
                r.append(obj)

        self.busy = True
        d = self.delay
        if self.delay_sd is not None:
            d = max(0, self.random.gauss(d, self.delay_sd))
        yield d
        self.busy = False

        if len(r) == 0:
            self._buffer.clear()
            self.error = True
        else:
            obj = self.random.choice(r)
            if obj not in self.parent.parent.get_children():
                self._buffer.clear()
                self.error = True
            elif hasattr(obj, 'visible') and obj.visible == False:
                self._buffer.clear()
                self.error = True
            else:
                self._buffer.set(obj)
Ejemplo n.º 20
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  def request(self,pattern=''):
    if self.busy: return

    matcher=Pattern(pattern)
      
    self.error=False
    r=[]
    for obj in self.parent.parent.get_children():
      if matcher.match(obj)!=None:
        print("Not None")
        if not hasattr(obj,'salience') and not hasattr(obj,'visible'):
          continue
        
        if hasattr(obj,'salience'):
          if self.random.random()>obj.salience:
            continue
        if hasattr(obj,'visible'):
          if obj.visible==False:
            continue
        if hasattr(obj,'value'):
          if obj.value==None:
            continue
        r.append(obj)

    self.busy=True
    d=self.delay
    if self.delay_sd is not None:
        d=max(0,self.random.gauss(d,self.delay_sd))
    yield d
    self.busy=False

    if len(r)==0:
      self._buffer.clear()
      self.error=True
    else:
      obj=self.random.choice(r)
      if obj not in self.parent.parent.get_children():
        self._buffer.clear()
        self.error=True
      elif hasattr(obj,'visible') and obj.visible==False:
        self._buffer.clear()
        self.error=True
      else:
        self._buffer.set(obj)
Ejemplo n.º 21
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    def rotate_torso(self,function_name,**kwargs):
        '''Rotate ribs on axis by radians'''
        #Check the max rotation
        print("ROTATE TORSO")
        if self.busy:
            return
        self.busy = True
        print("ROTATE TORSO2")
        maxReached = False
        minReached = False

        kwargs.update(self.function_map[function_name][1])
        print("KW", kwargs)

        minR,maxR = self._boneProperties['part.torso'][kwargs['axis']]
        #print("MINR", minR)
        if kwargs['radians'] >= maxR:
            #print("SET TO MAX")
            maxReached=True
            kwargs['radians'] = maxR
        if kwargs['radians'] <= minR:
            #print("SET TO MIN")
            minReached = True
            kwargs['radians'] = minR

        #print("RADIANS",radians)
        middleware.send(self.function_map[function_name][0],**kwargs)
        #middleware.send('rotate_torso',axis=axis, radians=radians)
        pattern='type:proprioception bone:torso'
        matcher=Pattern(pattern)
        for obj in self._internalChunks:
            #if axis='0.0'
            if matcher.match(obj)!=None:
                obj.rotation0=kwargs['radians']
                if kwargs['radians'] < 0:
                    obj.rotation_direction = 'right'
                elif kwargs['radians'] > 0:
                    obj.rotation_direction = 'left'
                if maxReached:
                    obj.rotation0_quality='max'
                if minReached:
                    obj.rotation0_quality='min'
        self.busy=False
        self.update_posture()
Ejemplo n.º 22
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    def rotate_torso(self, function_name, **kwargs):
        '''Rotate ribs on axis by radians'''
        #Check the max rotation
        print("ROTATE TORSO")
        if self.busy:
            return
        self.busy = True
        print("ROTATE TORSO2")
        maxReached = False
        minReached = False

        kwargs.update(self.function_map[function_name][1])
        print("KW", kwargs)

        minR, maxR = self._boneProperties['part.torso'][kwargs['axis']]
        #print("MINR", minR)
        if kwargs['radians'] >= maxR:
            #print("SET TO MAX")
            maxReached = True
            kwargs['radians'] = maxR
        if kwargs['radians'] <= minR:
            #print("SET TO MIN")
            minReached = True
            kwargs['radians'] = minR

        #print("RADIANS",radians)
        middleware.send(self.function_map[function_name][0], **kwargs)
        #middleware.send('rotate_torso',axis=axis, radians=radians)
        pattern = 'type:proprioception bone:torso'
        matcher = Pattern(pattern)
        for obj in self._internalChunks:
            #if axis='0.0'
            if matcher.match(obj) != None:
                obj.rotation0 = kwargs['radians']
                if kwargs['radians'] < 0:
                    obj.rotation_direction = 'right'
                elif kwargs['radians'] > 0:
                    obj.rotation_direction = 'left'
                if maxReached:
                    obj.rotation0_quality = 'max'
                if minReached:
                    obj.rotation0_quality = 'min'
        self.busy = False
        self.update_posture()
Ejemplo n.º 23
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 def __init__(self,visual,location):
   ccm.Model.__init__(self)
   self._visual=visual
   self._location=location
   self.busy=False
   self.lastLocationPattern=Pattern('')
   self.tracking=None
   self.timeAppeared={}
   self.visualOnsetSpan=0.5
   self.finst=Finst(self)   
Ejemplo n.º 24
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 def examine(self, pat):
     """
 Check the visible object at a visual location.
 :param pat: specify the visual location.
 :return:
 """
     # The argument "pat" (pattern) contains the information of a visual location.
     # If pat provides only the values of x-coordinate and y-coordinate,
     # we reorganize pat into 'x: x-coordinate y: y-coordinate'.
     if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
         pat = 'x:%s y:%s' % tuple(pat.split(' '))
     # The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
     # the variables to the values stored in sch.bound.
     self.lastExamine = Pattern(pat, self.sch.bound)
     # Now we update the variable pat which has assigned valules.
     pat = self.lastExamine
     # In the following self is the vision module, self.parent is the agent which includes the vision module,
     # and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
     # is checked to see if they are visiable objects.
     for obj in self.parent.parent.get_children():
         # First, let us check if an object is a visible object. We do so by checking if the object contains the attributes
         # "x", "y", and if the attribute "visible=True".
         if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                 obj, 'visible', True):
             # Further, if the visual location pat matches the location of the visible object,
             if pat.match(obj) is not None:
                 #(obsolete) if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
                 # The vision module starts working; it is busy.
                 self.busy = True
                 # The default time required for a vision module request is set as 0.085s.
                 yield 0.085
                 # The vision module finishes working; it is not busy.
                 self.busy = False
                 # In the following, self is the vision module, self.parent is the agent which includes the vision module,
                 # and self.parent.parent is the environment in which the agent is.
                 # If obj is still an object in the environment,
                 if obj in self.parent.parent.get_children():
                     # The vision module is tracking this object.
                     self.tracking = obj
                     # We print the following information to the display.
                     self.log._ = 'Vision sees %s' % Chunk(obj)
                     # We put the object into the visual buffer.
                     self._visual.set(obj)
                     # We add the object into the list of finst (finger instantiation).
                     self.finst.add(obj)
                 # If obj is no longer an object in the environment,
                 else:
                     # There is nothing to track.
                     self.tracking = None
                     # We print the following information to the display.
                     self.log._ = 'Vision sees nothing'
                     # We clear the visual buffer.
                     self._visual.clear()
                 # Each time, only one object can be seen. When we find one, we break the for-loop.
                 break
Ejemplo n.º 25
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 def test_exact(self):
     obj = {'self': Obj(a=1, b=2, c=3)}
     p = Pattern(dict(self='a:1 b:2 c:3'))
     self.assertEqual(p.match(obj), {})
     obj['self'].c = 2
     self.assertEqual(p.match(obj), None)
     self.assertEqual(Pattern(dict(self='a:1 a:2')).match(obj), None)
     self.assertEqual(p.match({'self': None}), None)
     self.assertEqual(Pattern(dict(self=None)).match({'self': None}), {})
Ejemplo n.º 26
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    def lower_arms(self, function_name, **kwargs):
        '''
        This function lowers the arms completly.
        :param function_name: 'lower_arms'
        :param kwargs: {}
        :return: Moves the arms by so they are pointing downward
        :special note: The arms currently do not map properly to the desired arms for the model.
           Because the armature start somewhere near 45 (or -45) deg., when you lower the
            arms, you have to lower them to -45 (or 45) deg.,. On the ACT-R side, I'm calling
            this 0 deg. '''

        print("LOWER ARMS", kwargs)
        if self.busy:
            return
        self.busy = True

        # minR,maxR = self._boneProperties['part.torso'][kwargs['axis']]
        # #print("MINR", minR)
        # if kwargs['radians'] > maxR:
        #     #print("SET TO MAX")
        #     maxReached=True
        #     kwargs['radians'] = maxR
        # if kwargs['radians'] < minR:
        #     #print("SET TO MIN")
        #     minReached = True
        #     kwargs['radians'] = minR

        patterns = [
            'type:proprioception bone:upper_arm.R',
            'type:proprioception bone:upper_arm.L'
        ]
        for pattern in patterns:
            matcher = Pattern(pattern)
            for obj in self._internalChunks:
                #if axis='0.0'
                if matcher.match(obj) != None:
                    obj.rotation0 = '0'
                    obj.overall_quality = 'lowered'
            self.busy = False
        self.update_posture()

        middleware.send(self.function_map[function_name][0], **kwargs)
Ejemplo n.º 27
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    def lower_arms(self,function_name,**kwargs):
        '''
        This function lowers the arms completly.
        :param function_name: 'lower_arms'
        :param kwargs: {}
        :return: Moves the arms by so they are pointing downward
        :special note: The arms currently do not map properly to the desired arms for the model.
           Because the armature start somewhere near 45 (or -45) deg., when you lower the
            arms, you have to lower them to -45 (or 45) deg.,. On the ACT-R side, I'm calling
            this 0 deg. '''

        print("LOWER ARMS", kwargs)
        if self.busy:
            return
        self.busy = True

        # minR,maxR = self._boneProperties['part.torso'][kwargs['axis']]
        # #print("MINR", minR)
        # if kwargs['radians'] > maxR:
        #     #print("SET TO MAX")
        #     maxReached=True
        #     kwargs['radians'] = maxR
        # if kwargs['radians'] < minR:
        #     #print("SET TO MIN")
        #     minReached = True
        #     kwargs['radians'] = minR

        patterns = ['type:proprioception bone:upper_arm.R',
                   'type:proprioception bone:upper_arm.L']
        for pattern in patterns:
            matcher=Pattern(pattern)
            for obj in self._internalChunks:
                #if axis='0.0'
                if matcher.match(obj)!=None:
                    obj.rotation0='0'
                    obj.overall_quality='lowered'
            self.busy=False
        self.update_posture()

        middleware.send(self.function_map[function_name][0],**kwargs)
Ejemplo n.º 28
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    def get_bounding_box(self):
        print("get_bounding_box")
        if self.busy:
            return

        self.busy = True
        self._boundingBox = [x * 1.00 for x in middleware.request('getBoundingBox', [])]

        pattern='type:proprioception feature:bounding_box'
        matcher=Pattern(pattern)
        objs = 0
        for obj in self._internalChunks:
            if matcher.match(obj)!= None:
                objs+=1
                obj.width=repr(self._boundingBox[0])
                obj.depth=repr(self._boundingBox[1])
                obj.height=repr(self._boundingBox[2])
            if objs > 1:
                raise Exception("There shouldn't be more than one match...")
        print("get_bounding_box done.")
        self.busy = False
        self.update_posture()
Ejemplo n.º 29
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 def attendTo(self, pattern, unattended=False, new=False):
     self.lastLocationPattern = Pattern(pattern, self.sch.bound)
     r = []
     for obj in self.parent.parent.get_children():
         #if new==True and not self.isNew(obj): continue
         #if unattended==True and self.finst.isIn(obj): continue
         if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                 obj, 'visible', True):
             if pattern.isMatch(obj) != None:
                 r.append(obj)
     if len(r) > 0:
         obj = self.random.choice(r)
         self.log._ = 'Vision found obj at (%d,%d)' % (obj.x, obj.y)
         self._location.set('%d %d' % (obj.x, obj.y))
Ejemplo n.º 30
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    def get_bounding_box(self):
        print("get_bounding_box")
        if self.busy:
            return

        self.busy = True
        self._boundingBox = [
            x * 1.00 for x in middleware.request('getBoundingBox', [])
        ]

        pattern = 'type:proprioception feature:bounding_box'
        matcher = Pattern(pattern)
        objs = 0
        for obj in self._internalChunks:
            if matcher.match(obj) != None:
                objs += 1
                obj.width = repr(self._boundingBox[0])
                obj.depth = repr(self._boundingBox[1])
                obj.height = repr(self._boundingBox[2])
            if objs > 1:
                raise Exception("There shouldn't be more than one match...")
        print("get_bounding_box done.")
        self.busy = False
        self.update_posture()
Ejemplo n.º 31
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 def attendTo(self, pattern, unattended=False, new=False):
     # The argument "pattern" contains the information of a visual location.
     # If pat provides only the values of x-coordinate and y-coordinate,
     # we reorganize pat into 'x: x-coordinate y: y-coordinate'.
     if isinstance(pattern,
                   str) and ':' not in pattern and pattern.count(' ') == 1:
         pattern = 'x:%s y:%s' % tuple(pattern.split(' '))
     # The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
     # the variables to the values stored in sch.bound.
     self.lastLocationPattern = Pattern(pattern, self.sch.bound)
     r = []
     # In the following self is the vision module, self.parent is the agent which includes the vision module,
     # and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
     # is checked to see if they are visiable objects.
     for obj in self.parent.parent.get_children():
         # If the visual location is new, but the object is not new, we directly go to check the next object.
         if new == True and not self.isNew(obj): continue
         # If the location is unattended, but the object is in finst (finger instantiation) list, we directly go to check
         # the next object.
         if unattended == True and self.finst.isIn(obj): continue
         # Let us check if an object is a visible object. We do so by checking if the object contains the attributes
         # "x", "y", and if the attribute "visible=True".
         if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                 obj, 'visible', True):
             # Further, if the visual location matches the location of the visible object,
             if self.lastLocationPattern.match(obj) != None:
                 # We add this object to the list r.
                 r.append(obj)
     # If we found more than one visible objects in the list r,
     if len(r) > 0:
         # We randomly chose one object from the list.
         obj = self.random.choice(r)
         # We print the following information to the display.
         self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
         # We store the object's location into the visual location buffer.
         self._location.set('%g %g' % (obj.x, obj.y))
Ejemplo n.º 32
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 def attendTo(self,pattern,unattended=False,new=False):
   if isinstance(pattern, str) and ':' not in pattern and pattern.count(' ')==1:
       pattern='x:%s y:%s'%tuple(pattern.split(' '))
 
   self.lastLocationPattern=Pattern(pattern,self.sch.bound)
   r=[]
   for obj in self.parent.parent.get_children():
     if new==True and not self.isNew(obj): continue
     if unattended==True and self.finst.isIn(obj): continue
     if hasattr(obj,'x') and hasattr(obj,'y') and getattr(obj,'visible',True):
       if self.lastLocationPattern.match(obj)!=None:
         r.append(obj)
   if len(r)>0:
     obj=self.random.choice(r)    
     self.log._='Vision found obj at (%g,%g)'%(obj.x,obj.y)
     self._location.set('%g %g'%(obj.x,obj.y))
Ejemplo n.º 33
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    def examine(self, pat):

        self.lastExamine = Pattern(pat, self.sch.bound)
        pat = self.lastExamine
        for obj in self.parent.parent.get_children():
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                if True or pat.match(obj) is not None:
                    #if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
                    yield 0.085
                    if obj in self.parent.parent.get_children():
                        self.tracking = obj
                        self.log._ = 'Vision sees %s' % Chunk(obj)
                        self._visual.set(obj)
                        self.finst.add(obj)
                    else:
                        self.tracking = None
                        self.log._ = 'Vision sees nothing'
                        self._visual.clear()
                    break
Ejemplo n.º 34
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def makePattern(text):
    return Pattern(dict(self=text))
Ejemplo n.º 35
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class Vision(ccm.Model):
    def __init__(self, visual, location):
        ccm.Model.__init__(self)
        self._visual = visual
        self._location = location
        self.busy = False
        self.lastLocationPattern = Pattern('')
        self.tracking = None
        self.timeAppeared = {}
        self.visualOnsetSpan = 0.5
        self.finst = Finst(self)

    def start(self):
        self.environmentUpdate()

    def isNew(self, object):
        if not getattr(object, 'visible', True): return
        time = self.timeAppeared.get(object, None)
        if time == None:
            self.timeAppeared[object] = self.now()
            return True
        return self.now() < time + self.visualOnsetSpan

    def environmentUpdate(self):
        while True:
            if self._location.isEmpty():

                r = []
                for o in self.parent.parent.get_children():
                    if not getattr(o, 'visible', True):
                        if o in self.timeAppeared.keys():
                            del self.timeAppeared[o]
                        continue
                    if o not in self.timeAppeared:
                        if hasattr(o, 'x') and hasattr(o, 'y'):
                            #if self.lastLocationPattern.match(o)!=None:
                            r.append(o)
                if len(r) > 0:
                    obj = self.random.choice(r)
                    self.log._ = 'Vision stuffed obj at (%g,%g)' % (obj.x,
                                                                    obj.y)
                    self._location.set('%g %g' % (obj.x, obj.y))

            #print 'checking tracking',self.tracking
            #if self.tracking!=None and (self.tracking not in self.parent.parent.get_children() or not getattr(self.tracking,'visible',True)):
            #  print '...lost'
            #  self.sch.add(self.lostTrack,delay=0.085)
            for o in self.parent.parent.get_children():
                self.isNew(o)

            yield self.parent.parent.changes, self.lostTrack

    def lostTrack(self):
        if self.tracking is not None:
            self.tracking = None
            self.log._ = 'Object disappeared'
            self._visual.clear()
            #self._location.clear()

    def attendToUnattended(self, pattern=''):
        self.attendTo(pattern=pattern, unattended=True)

    def attendToNew(self, pattern=''):
        self.attendTo(pattern=pattern, new=True)

    def attendTo(self, pattern, unattended=False, new=False):
        if isinstance(pattern,
                      str) and ':' not in pattern and pattern.count(' ') == 1:
            pattern = 'x:%s y:%s' % tuple(pattern.split(' '))

        self.lastLocationPattern = Pattern(pattern, self.sch.bound)
        r = []
        for obj in self.parent.parent.get_children():
            if new == True and not self.isNew(obj): continue
            if unattended == True and self.finst.isIn(obj): continue
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                if self.lastLocationPattern.match(obj) != None:
                    r.append(obj)
        if len(r) > 0:
            obj = self.random.choice(r)
            self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
            self._location.set('%g %g' % (obj.x, obj.y))

    def isClose(self, a, b):
        return abs(a - b) < 0.01

    def examine(self, pat):
        if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
            pat = 'x:%s y:%s' % tuple(pat.split(' '))

        self.lastExamine = Pattern(pat, self.sch.bound)

        pat = self.lastExamine

        for obj in self.parent.parent.get_children():
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                if pat.match(obj) is not None:
                    #if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
                    self.busy = True
                    yield 0.085
                    self.busy = False
                    if obj in self.parent.parent.get_children():
                        self.tracking = obj
                        self.log._ = 'Vision sees %s' % Chunk(obj)
                        self._visual.set(obj)
                        self.finst.add(obj)
                    else:
                        self.tracking = None
                        self.log._ = 'Vision sees nothing'
                        self._visual.clear()
                    break
Ejemplo n.º 36
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    def update_posture(self):
        pattern1='type:proprioception bone:upper_arm.R'# overall_quality:lowered'
        pattern2='type:proprioception bone:upper_arm.L'# overall_quality:lowered'
        pattern3='type:proprioception bone:shoulder.R'# rotation0_quality:max'
        pattern4='type:proprioception bone:shoulder.L'# rotation0_quality:min' #probably should find those, instead of supplying them
        pattern5='type:proprioception bone:torso'# rotation_direction:right'

        matcher1=Pattern(pattern1)
        matcher2=Pattern(pattern2)
        matcher3=Pattern(pattern3)
        matcher4=Pattern(pattern4)
        matcher5=Pattern(pattern5)

        pattern = 'type:posture'
        matcher = Pattern(pattern)
        for obj in self._internalChunks:
            #if axis='0.0'
            if matcher.match(obj)!=None:
                obj.minimal_width = 'false'



        matches = [matcher1,matcher2,matcher3,matcher4,matcher5]
        objs = []
        for m in matches:
            for obj in self._internalChunks:
                if m.match(obj) != None:
                    objs.append(obj)

        try:#For posture, minimal width, yes
            if objs[0].overall_quality=='lowered' and \
                objs[1].overall_quality=='lowered' and\
                objs[2].rotation0_quality=='max' and\
                objs[3].rotation0_quality=='min' and\
                objs[4].rotation_direction == 'right':

                pattern = 'type:posture'
                matcher = Pattern(pattern)


                for obj in self._internalChunks:
                    #if axis='0.0'
                    if matcher.match(obj)!=None:
                        obj.minimal_width = 'true'
                        return
        except Exception:
            pass

        try:#For posture, minimal width, yes
            if objs[0].overall_quality=='lowered' and \
                objs[1].overall_quality=='lowered' and\
                objs[2].rotation0_quality=='min' and\
                objs[3].rotation0_quality=='max' and\
                objs[4].rotation_direction == 'left':

                pattern = 'type:posture'
                matcher = Pattern(pattern)


                for obj in self._internalChunks:
                    #if axis='0.0'
                    if matcher.match(obj)!=None:
                        obj.minimal_width = 'true'
                        return
        except Exception:
            pass
Ejemplo n.º 37
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class Vision(ccm.Model):
    def __init__(self, visual, location):
        ccm.Model.__init__(self)
        self._visual = visual
        self._location = location
        self.busy = False
        self.lastLocationPattern = Pattern('')
        self.tracking = None
        self.timeAppeared = {}
        self.visualOnsetSpan = 0.5
        self.finst = Finst(self)

    def start(self):
        self.environmentUpdate()

    def isNew(self, object):
        if not getattr(object, 'visible', True): return
        time = self.timeAppeared.get(object, None)
        if time == None:
            self.timeAppeared[object] = self.now()
            return True
        return self.now() < time + self.visualOnsetSpan

    def environmentUpdate(self):
        # First, create a while-loop for checking updates to the environment.
        while True:
            # If the visual location buffer is empty,
            if self._location.isEmpty():
                # Create a list for storing new visible objects in the environment.
                r = []
                # In the following self is the vision module, self.parent is the agent which includes the vision module,
                # and self.parent.parent is the environment in which the agent is.
                for o in self.parent.parent.get_children():
                    # If the object is not visible anymore,
                    if not getattr(o, 'visible', True):
                        # further if the object is in timeAppeared, then we delete the object from timeAppeared.
                        # Note timeAppeared records the time when an object becomes visible in the environment.
                        if o in self.timeAppeared.keys():
                            del self.timeAppeared[o]
                        # Let us go to check the next object in the environment directly.
                        continue
                    # If the object is not in timeAppeared,
                    if o not in self.timeAppeared:
                        # further if the object has the location information,
                        if hasattr(o, 'x') and hasattr(o, 'y'):
                            #(obsolete) if self.lastLocationPattern.match(o)!=None:
                            # Let add this object into the list r.
                            r.append(o)
                # If there is new visible objects, i.e., the list is not empty,
                if len(r) > 0:
                    # We randomly select one object.
                    obj = self.random.choice(r)
                    # We print the following information to the display.
                    self.log._ = 'Vision stuffed obj at (%g,%g)' % (obj.x,
                                                                    obj.y)
                    # We add the location of the new visible object to the visual location buffer.
                    self._location.set('%g %g' % (obj.x, obj.y))

            #(obsolete) print 'checking tracking',self.tracking
            #(obsolete) if self.tracking!=None and (self.tracking not in self.parent.parent.get_children() or not getattr(self.tracking,'visible',True)):
            #(obsolete)  print '...lost'
            #(obsolete)  self.sch.add(self.lostTrack,delay=0.085)

            # In the following self is the vision module, self.parent is the agent which includes the vision module,
            # and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
            # is checked to see if they are new visiable objects.
            for o in self.parent.parent.get_children():
                self.isNew(o)
            # In the following self is the vision module, self.parent is the agent which includes the vision module,
            # and self.parent.parent is the environment in which the agent is.
            yield self.parent.parent.changes, self.lostTrack

    def lostTrack(self):
        """Indicate that the vision tracking is lost."""
        # If the vision module is tracking an object,
        if self.tracking is not None:
            # The object slips away from our tracking.
            self.tracking = None
            # We print the information to the display.
            self.log._ = 'Object disappeared'
            # And we clear the visual buffer.
            self._visual.clear()
            #(obsolete) self._location.clear()

    def attendToUnattended(self, pattern=''):
        self.attendTo(pattern=pattern, unattended=True)

    def attendToNew(self, pattern=''):
        self.attendTo(pattern=pattern, new=True)

    def attendTo(self, pattern, unattended=False, new=False):
        # The argument "pattern" contains the information of a visual location.
        # If pat provides only the values of x-coordinate and y-coordinate,
        # we reorganize pat into 'x: x-coordinate y: y-coordinate'.
        if isinstance(pattern,
                      str) and ':' not in pattern and pattern.count(' ') == 1:
            pattern = 'x:%s y:%s' % tuple(pattern.split(' '))
        # The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
        # the variables to the values stored in sch.bound.
        self.lastLocationPattern = Pattern(pattern, self.sch.bound)
        r = []
        # In the following self is the vision module, self.parent is the agent which includes the vision module,
        # and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
        # is checked to see if they are visiable objects.
        for obj in self.parent.parent.get_children():
            # If the visual location is new, but the object is not new, we directly go to check the next object.
            if new == True and not self.isNew(obj): continue
            # If the location is unattended, but the object is in finst (finger instantiation) list, we directly go to check
            # the next object.
            if unattended == True and self.finst.isIn(obj): continue
            # Let us check if an object is a visible object. We do so by checking if the object contains the attributes
            # "x", "y", and if the attribute "visible=True".
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                # Further, if the visual location matches the location of the visible object,
                if self.lastLocationPattern.match(obj) != None:
                    # We add this object to the list r.
                    r.append(obj)
        # If we found more than one visible objects in the list r,
        if len(r) > 0:
            # We randomly chose one object from the list.
            obj = self.random.choice(r)
            # We print the following information to the display.
            self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
            # We store the object's location into the visual location buffer.
            self._location.set('%g %g' % (obj.x, obj.y))

    def isClose(self, a, b):
        return abs(a - b) < 0.01

    def examine(self, pat):
        """
    Check the visible object at a visual location.
    :param pat: specify the visual location.
    :return:
    """
        # The argument "pat" (pattern) contains the information of a visual location.
        # If pat provides only the values of x-coordinate and y-coordinate,
        # we reorganize pat into 'x: x-coordinate y: y-coordinate'.
        if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
            pat = 'x:%s y:%s' % tuple(pat.split(' '))
        # The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
        # the variables to the values stored in sch.bound.
        self.lastExamine = Pattern(pat, self.sch.bound)
        # Now we update the variable pat which has assigned valules.
        pat = self.lastExamine
        # In the following self is the vision module, self.parent is the agent which includes the vision module,
        # and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
        # is checked to see if they are visiable objects.
        for obj in self.parent.parent.get_children():
            # First, let us check if an object is a visible object. We do so by checking if the object contains the attributes
            # "x", "y", and if the attribute "visible=True".
            if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
                    obj, 'visible', True):
                # Further, if the visual location pat matches the location of the visible object,
                if pat.match(obj) is not None:
                    #(obsolete) if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
                    # The vision module starts working; it is busy.
                    self.busy = True
                    # The default time required for a vision module request is set as 0.085s.
                    yield 0.085
                    # The vision module finishes working; it is not busy.
                    self.busy = False
                    # In the following, self is the vision module, self.parent is the agent which includes the vision module,
                    # and self.parent.parent is the environment in which the agent is.
                    # If obj is still an object in the environment,
                    if obj in self.parent.parent.get_children():
                        # The vision module is tracking this object.
                        self.tracking = obj
                        # We print the following information to the display.
                        self.log._ = 'Vision sees %s' % Chunk(obj)
                        # We put the object into the visual buffer.
                        self._visual.set(obj)
                        # We add the object into the list of finst (finger instantiation).
                        self.finst.add(obj)
                    # If obj is no longer an object in the environment,
                    else:
                        # There is nothing to track.
                        self.tracking = None
                        # We print the following information to the display.
                        self.log._ = 'Vision sees nothing'
                        # We clear the visual buffer.
                        self._visual.clear()
                    # Each time, only one object can be seen. When we find one, we break the for-loop.
                    break
Ejemplo n.º 38
0
class Vision(ccm.Model):
  def __init__(self,visual,location):
    ccm.Model.__init__(self)
    self._visual=visual
    self._location=location
    self.busy=False
    self.lastLocationPattern=Pattern('')
    self.tracking=None
    self.timeAppeared={}
    self.visualOnsetSpan=0.5
    self.finst=Finst(self)   
    
  def start(self):
    self.environmentUpdate()
    
  def isNew(self,object):
    if not getattr(object,'visible',True): return
    time=self.timeAppeared.get(object,None)
    if time==None:
      self.timeAppeared[object]=self.now()
      return True
    return self.now()<time+self.visualOnsetSpan
    
  def environmentUpdate(self):
   while True:    
    if self._location.isEmpty():
    
      r=[]
      for o in self.parent.parent.get_children():
        if not getattr(o,'visible',True):
            if o in self.timeAppeared.keys(): del self.timeAppeared[o] 
            continue
        if o not in self.timeAppeared:
          if hasattr(o,'x') and hasattr(o,'y'):  
            #if self.lastLocationPattern.match(o)!=None:
              r.append(o)
      if len(r)>0:
        obj=self.random.choice(r)    
        self.log._='Vision stuffed obj at (%g,%g)'%(obj.x,obj.y)
        self._location.set('%g %g'%(obj.x,obj.y))
    
    #print 'checking tracking',self.tracking  
    #if self.tracking!=None and (self.tracking not in self.parent.parent.get_children() or not getattr(self.tracking,'visible',True)):
    #  print '...lost'
    #  self.sch.add(self.lostTrack,delay=0.085)
    for o in self.parent.parent.get_children():    
      self.isNew(o)      
      
    yield self.parent.parent.changes,self.lostTrack
   
  def lostTrack(self):
    if self.tracking is not None:
      self.tracking=None
      self.log._='Object disappeared'
      self._visual.clear()
      #self._location.clear()

    
  def attendToUnattended(self,pattern=''):
    self.attendTo(pattern=pattern,unattended=True)
  def attendToNew(self,pattern=''):
    self.attendTo(pattern=pattern,new=True)

  def attendTo(self,pattern,unattended=False,new=False):
    if isinstance(pattern, str) and ':' not in pattern and pattern.count(' ')==1:
        pattern='x:%s y:%s'%tuple(pattern.split(' '))
  
    self.lastLocationPattern=Pattern(pattern,self.sch.bound)
    r=[]
    for obj in self.parent.parent.get_children():
      if new==True and not self.isNew(obj): continue
      if unattended==True and self.finst.isIn(obj): continue
      if hasattr(obj,'x') and hasattr(obj,'y') and getattr(obj,'visible',True):
        if self.lastLocationPattern.match(obj)!=None:
          r.append(obj)
    if len(r)>0:
      obj=self.random.choice(r)    
      self.log._='Vision found obj at (%g,%g)'%(obj.x,obj.y)
      self._location.set('%g %g'%(obj.x,obj.y))

  def isClose(self,a,b):
      return abs(a-b)<0.01

  def examine(self,pat):
    if isinstance(pat, str) and ':' not in pat and pat.count(' ')==1:
        pat='x:%s y:%s'%tuple(pat.split(' '))
    
    self.lastExamine=Pattern(pat,self.sch.bound)
    
    pat=self.lastExamine

    for obj in self.parent.parent.get_children():
     if hasattr(obj,'x') and hasattr(obj,'y') and getattr(obj,'visible',True):   
      if pat.match(obj) is not None:
      #if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):        
        self.busy=True
        yield 0.085
        self.busy=False
        if obj in self.parent.parent.get_children():
          self.tracking=obj
          self.log._='Vision sees %s'%Chunk(obj)
          self._visual.set(obj)
          self.finst.add(obj)
        else:
          self.tracking=None  
          self.log._='Vision sees nothing'
          self._visual.clear()
        break  
Ejemplo n.º 39
0
    def update_posture(self):
        pattern1 = 'type:proprioception bone:upper_arm.R'  # overall_quality:lowered'
        pattern2 = 'type:proprioception bone:upper_arm.L'  # overall_quality:lowered'
        pattern3 = 'type:proprioception bone:shoulder.R'  # rotation0_quality:max'
        pattern4 = 'type:proprioception bone:shoulder.L'  # rotation0_quality:min' #probably should find those, instead of supplying them
        pattern5 = 'type:proprioception bone:torso'  # rotation_direction:right'

        matcher1 = Pattern(pattern1)
        matcher2 = Pattern(pattern2)
        matcher3 = Pattern(pattern3)
        matcher4 = Pattern(pattern4)
        matcher5 = Pattern(pattern5)

        pattern = 'type:posture'
        matcher = Pattern(pattern)
        for obj in self._internalChunks:
            #if axis='0.0'
            if matcher.match(obj) != None:
                obj.minimal_width = 'false'

        matches = [matcher1, matcher2, matcher3, matcher4, matcher5]
        objs = []
        for m in matches:
            for obj in self._internalChunks:
                if m.match(obj) != None:
                    objs.append(obj)

        try:  #For posture, minimal width, yes
            if objs[0].overall_quality=='lowered' and \
                objs[1].overall_quality=='lowered' and\
                objs[2].rotation0_quality=='max' and\
                objs[3].rotation0_quality=='min' and\
                objs[4].rotation_direction == 'right':

                pattern = 'type:posture'
                matcher = Pattern(pattern)

                for obj in self._internalChunks:
                    #if axis='0.0'
                    if matcher.match(obj) != None:
                        obj.minimal_width = 'true'
                        return
        except Exception:
            pass

        try:  #For posture, minimal width, yes
            if objs[0].overall_quality=='lowered' and \
                objs[1].overall_quality=='lowered' and\
                objs[2].rotation0_quality=='min' and\
                objs[3].rotation0_quality=='max' and\
                objs[4].rotation_direction == 'left':

                pattern = 'type:posture'
                matcher = Pattern(pattern)

                for obj in self._internalChunks:
                    #if axis='0.0'
                    if matcher.match(obj) != None:
                        obj.minimal_width = 'true'
                        return
        except Exception:
            pass