def respond(self, command, reply):
# this method responds to samSupervisor commands
b = yarp.Bottle()
reply.clear()
action = command.get(0).asString()
print(action + ' received')
print 'responding to ' + action + ' request'
if action == "reload":
# send a message to the interaction model to check version of currently loaded model
# and compare it with that stored on disk. If model on disk is more recent reload model
# interaction model to return "model reloaded correctly" or "loaded model already up to date"
print "reloading model"
try:
self.mm = SAM_utils.initialiseModels(
[self.dataPath, self.modelPath, self.driverName], 'update',
'interaction')
reply.addString('ack')
except:
reply.addString('nack')
# -------------------------------------------------
elif action == "EXIT":
reply.addString('ack')
self.close()
# -------------------------------------------------
elif action in self.callSignList:
if 'label' in action and self.dataInConnected:
self.classifyInstance(reply)
elif 'instance' in action and self.dataOutConnected:
self.generateInstance(reply)
# -------------------------------------------------
else:
reply.addString("nack")
return True
def configure(self, rf):
print sys.argv
stringCommand = 'from SAM.SAM_Drivers import ' + sys.argv[
4] + ' as Driver'
print stringCommand
exec stringCommand
self.mm = [Driver()]
self.dataPath = sys.argv[1]
self.modelPath = sys.argv[2]
self.driverName = sys.argv[4]
self.configPath = sys.argv[3]
off = 17
print '-------------------'
print 'Interaction Settings:'
print
print 'Data Path: '.ljust(off), self.dataPath
print 'Model Path: '.ljust(off), self.modelPath
print 'Config Path: '.ljust(off), self.configPath
print 'Driver:'.ljust(off), self.driverName
print '-------------------'
print 'Configuring Interaction...'
print
self.mm = SAM_utils.initialiseModels(
[self.dataPath, self.modelPath, self.driverName], 'update',
'interaction')
# parse settings from config file
parser2 = SafeConfigParser()
parser2.read(self.configPath)
self.portNameList = parser2.items(self.dataPath.split('/')[-1])
print self.portNameList
self.portsList = []
for j in range(len(self.portNameList)):
if self.portNameList[j][0] == 'rpcbase':
self.portsList.append(yarp.Port())
self.portsList[j].open(self.portNameList[j][1] + ":i")
self.svPort = j
self.attach(self.portsList[j])
elif self.portNameList[j][0] == 'callsign':
# should check for repeated call signs by getting list from samSupervisor
self.callSignList = self.portNameList[j][1].split(',')
elif self.portNameList[j][0] == 'collectionmethod':
self.collectionMethod = self.portNameList[j][1].split(' ')[0]
try:
if self.mm[0].model_mode != 'temporal':
self.bufferSize = int(
self.portNameList[j][1].split(' ')[1])
elif self.mm[0].model_mode == 'temporal':
self.bufferSize = self.mm[0].windowSize
except ValueError:
print 'collectionMethod bufferSize is not an integer'
print 'Should be e.g: collectionMethod = buffered 3'
return False
if self.collectionMethod not in [
'buffered', 'continuous', 'future_buffered'
]:
print 'collectionMethod should be set to buffered / continuous / future_buffered'
return False
else:
parts = self.portNameList[j][1].split(' ')
print parts
if parts[1].lower() == 'imagergb':
self.portsList.append(yarp.BufferedPortImageRgb())
self.portsList[j].open(parts[0])
elif parts[1].lower() == 'imagemono':
self.portsList.append(yarp.BufferedPortImageMono())
self.portsList[j].open(parts[0])
elif parts[1].lower() == 'bottle':
self.portsList.append(yarp.BufferedPortBottle())
self.portsList[j].open(parts[0])
else:
print 'Data type ', parts[1], 'for ', self.portNameList[j][
0], ' unsupported'
return False
# mrd models with label/instance training will always have:
# 1 an input data line which is used when a label is requested
# 2 an output data line which is used when a generated instance is required
if parts[0][-1] == 'i':
self.labelPort = j
elif parts[0][-1] == 'o':
self.instancePort = j
if self.svPort is None or self.labelPort is None or self.instancePort is None:
print 'Config file properties incorrect. Should look like this:'
print '[Actions]'
print 'dataIn = /sam/actions/actionData:i Bottle'
print 'dataOut = /sam/actions/actionData:o Bottle'
print 'rpcBase = /sam/actions/rpc'
print 'callSign = ask_action_label, ask_action_instance'
print 'collectionMethod = buffered 3'
# self.mm[0].configInteraction(self)
self.inputType = self.portNameList[self.labelPort][1].split(
' ')[1].lower()
self.outputType = self.portNameList[self.labelPort][1].split(
' ')[1].lower()
self.dataList = []
self.classificationList = []
yarp.Network.init()
self.test()
return True