def __init__(self, port=DEFAULT_PORT, local=False, verbose=False):
self.verbose = verbose
# Set up callback
try:
CallbackSocket.__init__(self, port, MSG_SEP, local)
except socket.error:
raise IOError("Port {} requested by PipelineHost is already in use".format(port))
self.register_callback(self.parse_text)
# Start up the pipeline
self.pipeline = PennPipeline()
class PipelineHost(CallbackSocket):
"""Provides a connection to pipeline over a listening socket."""
name = "pipelinehost"
def __init__(self, port=DEFAULT_PORT, local=False, verbose=False):
self.verbose = verbose
# Set up callback
try:
CallbackSocket.__init__(self, port, MSG_SEP, local)
except socket.error:
raise IOError("Port {} requested by PipelineHost is already in use".format(port))
self.register_callback(self.parse_text)
# Start up the pipeline
self.pipeline = PennPipeline()
def parse_text(self, message, client):
"""Receive a parse request for the pipeline."""
try:
data = json.loads(message)
except ValueError:
# Make a default set of arguments
data = {'text': message}
if self.verbose:
print "Message:", repr(data)
print "Parsing..."
# Add verbose flag to args
data['verbose'] = self.verbose
# pylint: disable=W0142,E1101
response = self.pipeline.parse_text(**data)
if self.verbose:
print "Sending:", repr(response)
client.send(response)
def __init__(self, port, msg_sep="\n"):
self.msg_sep = msg_sep
self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self._sock.bind(('', port))
self._sock.listen(1)
# Initialize pipeline
self._pipeline = PennPipeline()
# Make a thread that keeps the connection alive
accept_thread = threading.Thread(target=self._accept)
accept_thread.name = "Listener"
accept_thread.daemon = True
print "Starting listening thread on port %d..." % port
accept_thread.start()
class PipelineHost(CallbackSocket):
"""Provides a connection to pipeline over a listening socket."""
name = "pipelinehost"
def __init__(self, port=DEFAULT_PORT, local=False, verbose=False):
self.verbose = verbose
# Set up callback
try:
CallbackSocket.__init__(self, port, MSG_SEP, local)
except socket.error:
raise IOError("Port {} requested by PipelineHost is already in use".format(port))
self.register_callback(self.parse_text)
# Start up the pipeline
self.pipeline = PennPipeline()
def parse_text(self, message, client):
"""Receive a parse request for the pipeline."""
try:
data = json.loads(message)
except ValueError:
# Make a default set of arguments
data = {'text': message}
if self.verbose:
print "Message:", repr(data)
print "Parsing..."
# Add verbose flag to args
data['verbose'] = self.verbose
# pylint: disable=W0142,E1101
response = self.pipeline.parse_text(**data)
if self.verbose:
print "Sending:", repr(response)
client.send(response)
def __init__(self, port=DEFAULT_PORT, local=False, verbose=False):
self.verbose = verbose
# Set up callback
try:
CallbackSocket.__init__(self, port, MSG_SEP, local)
except socket.error:
raise IOError("Port {} requested by PipelineHost is already in use".format(port))
self.register_callback(self.parse_text)
# Start up the pipeline
self.pipeline = PennPipeline()
class PipelineService():
"""Provides a connection to the pipeline via a ROS service."""
def __init__(self):
self._pipeline = PennPipeline()
def parse_text(self, request):
"""Return a parse response."""
text = request.in_
rospy.loginfo("NLP pipeline request: %r" % text)
response = self._pipeline.parse_text(text)
rospy.loginfo("NLP pipeline response: %r" % response)
return response
class ServiceSocket:
"""Listen on a socket for messages and dispatch them appropriately."""
name = "ServiceSocket"
def __init__(self, port, msg_sep="\n"):
self.msg_sep = msg_sep
self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self._sock.bind(('', port))
self._sock.listen(1)
# Initialize pipeline
self._pipeline = PennPipeline()
# Make a thread that keeps the connection alive
accept_thread = threading.Thread(target=self._accept)
accept_thread.name = "Listener"
accept_thread.daemon = True
print "Starting listening thread on port %d..." % port
accept_thread.start()
def _accept(self):
"""Accept connections on the listening port."""
print "Listening for connections..."
while True:
try:
conn, addr = self._sock.accept()
print "%s: Connected to %s" % (self.name, str(addr))
# Start up a new thread to handle the client
name = "Client " + str(addr)
accept_thread = threading.Thread(target=self._handle_client, args=(conn, name))
accept_thread.name = name
accept_thread.daemon = True
print "%s: Starting thread for client %s" % (self.name, accept_thread.name)
accept_thread.start()
except timeout:
continue
# pylint: disable=W0702
except: # Because any error can occur here during shutdown
pass
def _handle_client(self, conn, name):
"""Process requests from a client."""
send_error = False
while True:
try:
print "Waiting for data..."
buff = conn.recv(4096)
except timeout:
continue
# pylint: disable=W0702
except:
# Break the connection for all more serious errors
break
if not buff:
break
while buff:
if self.msg_sep:
msg, buff = _parse_msg(buff, self.msg_sep)
else:
msg, buff = buff, None
if msg:
response = self._process_text(msg)
if response:
print "Sending:", response
try:
conn.sendall(json.dumps(response))
except:
# Give up on the client entirely
print "%s: Error sending message." % self.name
send_error = True
break
else:
print "%s: Received an incomplete message: %s" % (self.name, repr(buff))
break
# Break out if there was a sending error
if send_error:
break
print "%s: %s disconnected." % (self.name, name)
def _process_text(self, msg):
"""Run a string through the NLP pipeline."""
# Remove backlashes since they are sometimes in the input for no good reason
text = msg.strip().replace('\\', '')
if text.startswith(SECRET_CODE):
knowledge_demo = True
text = text[len(SECRET_CODE):]
else:
knowledge_demo = False
# Return nothing if there was not text
if not text:
return {}
if knowledge_demo:
print "Secret demo mode!"
# pylint: disable=W0603
global _WORLD_KNOWLEDGE
if not _WORLD_KNOWLEDGE or text == "reset":
_WORLD_KNOWLEDGE = knowledge.Knowledge()
world_knowledge = _WORLD_KNOWLEDGE
else:
world_knowledge = knowledge.Knowledge()
response = {}
# Run the parse pipeline
parse = self._pipeline.parse_text(text)
response['parse'] = parse.replace('(', '[').replace(')', ']')
# Get the results from semantics
results = world_knowledge.process_parse_tree(parse, text)
answer, frame_trees, new_commands = results[0], results[1], results[3]
# Use the answer if there was one and it was a string
user_response = answer if answer and isinstance(answer, str) else ""
# Also, echo back any new commands
command_echo = make_response(new_commands)
# Combine the responses as needed.
if not user_response:
user_response = command_echo
elif new_commands:
user_response += " " + command_echo
response['response'] = user_response
if frame_trees is not None:
modified_trees = [str(modified_parse_tree[1]).replace('(', '[').replace(')', ']')
for modified_parse_tree in frame_trees
if (len(modified_parse_tree) > 1 and
isinstance(modified_parse_tree[1], tree.Tree))]
response['trees'] = list(set(modified_trees))
frames = [frame_dict for frame_dict in [frame[0] for frame in frame_trees
if isinstance(frame[0], dict)]]
response['frames'] = frames
else:
response['trees'] = []
response['frames'] = []
# Extract the command queue and add it to the response.
# This is turned off for now because better talkback makes it
# unnecessary.
# command_queue = world_knowledge.command_queue
# if command_queue:
# response['response'] += " Commands: " + str(command_queue)
return response
def shutdown(self):
"""Shut down the listening socket."""
print "%s: Shutting down socket." % self.name
self._sock.shutdown(socket.SHUT_RDWR)
self._sock.close()
print "%s: Socket closed." % self.name
def __init__(self):
self._pipeline = PennPipeline()