def UserGoalsMidca(domainFile,
stateFile,
display=print,
goalsFile=None,
argsPyHopPlanner=[]):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
#creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display=display, verbose=4)
#add phases by name
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
"Act"
]:
myMidca.append_phase(phase)
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(*argsPyHopPlanner))
myMidca.append_module("Act", act.SimpleAct())
return myMidca
def UserGoalsMidca(domainFile, stateFile, goalsFile = None, extinguish = False):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world, verbose=1, display = asqiiDisplay, metaEnabled=True)
# add cognitive layer phases
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
# add cognitive layer modules
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(extinguish))
myMidca.append_module("Act", act.SimpleAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
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.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def guiMidca(domainFile, stateFile, goalsFile = None):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world, display = asqiiDisplay)
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner())
myMidca.append_module("Act", act.SimpleAct())
return myMidca
]:
myMidca.append_phase(phase)
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
#myMidca.append_module("Simulate", simulator.ASCIIWorldViewer(display=DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserverWithThief())
myMidca.append_module("Interpret", guide.DeliverGoal())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval2())
myMidca.append_module("Intend", intend.WarehouseIntend())
myMidca.append_module(
"Plan",
planning.JSHOP2Planner(logistics_util.jshop2_state_from_world,
logistics_util.jshop2_tasks_from_goals,
JSHOP_DOMAIN_FILE, JSHOP_STATE_FILE))
myMidca.append_module("Act", act.SimpleAct())
#tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = True
myMidca.init()
myMidca.run()
'''
The code below would print out MIDCA's goal set for the first 20 phases of the run above. Note that any memory values can be accessed in this way, assuming that the storeHistory value was set to True during the run. This code is left as an example, but commented out because it will throw an error if fewer than 20 cycles were simulated.
for i in range(20):
print myMidca.history[i].mem.get(myMidca.midca.mem.CURRENT_GOALS)
'''
def createMIDCAObj(self):
extinguish = False
mortar = True
thisDir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
MIDCA_ROOT = thisDir + "/../"
domainFile = MIDCA_ROOT + "worldsim/domains/arsonist_mortar.sim"
stateFile = MIDCA_ROOT + "worldsim/states/defstate_mortar.sim"
# load domain file like normal
self.world = domainread.load_domain(domainFile)
# for state file, need to add number of mortar blocks to begin with
state_str = open(stateFile).read() # first read file
# now add new mortar blocks
for i in range(self.currMortarCount):
state_str += "MORTARBLOCK(M" + str(i) + ")\n"
state_str += "available(M" + str(i) + ")\n"
# now load the state
stateread.apply_state_str(self.world, state_str)
# creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(self.world,
display=asqiiDisplay,
verbose=0)
#asqiiDisplay(world)
# add phases by name
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
"Act"
]:
myMidca.append_phase(phase)
# add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
# need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan",
planning.PyHopPlanner(extinguish, mortar))
myMidca.append_module("Act", act.SimpleAct())
#myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance=self.arsonChanceArg, arsonStart=10), 1)
#myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
myMidca.insert_module(
'Eval', evaluate.MortarScorer(),
1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
# tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = False
myMidca.initGoalGraph()
## note: myMidca.init() is NOT called here, instead in singlerun()
self.myMidca = myMidca
self.initialized = True
def createMIDCAObj(self):
# in this demo, always keep extinguish to false
extinguish = False
thisDir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
MIDCA_ROOT = thisDir + "/../"
domainFile = MIDCA_ROOT + "worldsim/domains/arsonist.sim"
stateFile = MIDCA_ROOT + "worldsim/states/defstate.sim"
self.world = domainread.load_domain(domainFile)
stateread.apply_state_file(self.world, stateFile)
# creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(self.world,
display=asqiiDisplay,
verbose=4)
#asqiiDisplay(world)
# add phases by name
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
"Act"
]:
myMidca.append_phase(phase)
# add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
# need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(extinguish))
myMidca.append_module("Act", act.SimpleAct())
myMidca.insert_module(
'Simulate',
simulator.ArsonSimulator(arsonChance=self.arsonChanceArg,
arsonStart=10), 1)
myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
if self.usingTFTreeFire:
myMidca.insert_module('Interpret', guide.TFFire(), 2)
if self.usingSimulatedMA:
myMidca.insert_module('Interpret', guide.ReactiveApprehend(), 3)
myMidca.insert_module(
'Eval', evaluate.Scorer(),
1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
def preferApprehend(goal1, goal2):
if 'predicate' not in goal1 or 'predicate' not in goal2:
return 0
elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free':
return -1
elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free':
return 1
elif goal1['predicate'] == 'onfire' and goal2[
'predicate'] != 'onfire':
return -1
elif goal1['predicate'] != 'onfire' and goal2[
'predicate'] == 'onfire':
return 1
return 0
# tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = False
myMidca.initGoalGraph(cmpFunc=preferApprehend)
## DO NOT DO THIS: experiment.py will do this automatically: myMidca.init()
print("Created MIDCA " + str(id(myMidca)) + " w/ arsonchance=" +
str(self.arsonChanceArg) + ", usingTFTreeFire=" +
str(self.usingTFTreeFire) + ",usingSimMA=" +
str(self.usingSimulatedMA))
self.myMidca = myMidca
self.initialized = True
