def recFwdPath(cls,desc,viewCache,ignore=[]):
"""
>>> R = PomdpAntieSimRecognizer
>>> R.recFwdPath(Thing(dist='0:', Appear=['OPEN'], value=Path, type='Path'), ViewCache(obs=[(Wall, Empty, Cement, End, Wall, End)]))
False
>>> R.recFwdPath(Thing(dist='0:', Appear=['OPEN'], value=Path, type='Path'), ViewCache(obs=[(Wall, Empty, Wall, Fish, Cement, Fish),(Wall, Empty, Cement, End, Wall, End)]))
True
>>> R.recFwdPath(Thing(dist='0:', Appear=[Brick], value=Path, type='Path', side=[Front], Structural=[Sides]), ViewCache(obs=[(Wall, Empty, Honeycomb, Fish, Rose, Fish), (Wall, Empty, Wall, Fish, Rose, Fish), (Brick, Hatrack, Brick, Eiffel, Rose, Eiffel), (BlueTile, Empty, BlueTile, End, Wall, End)]))
True
Test Longer end of the hallway.
>>> desc = Thing(dist='0', Part=[Thing(Appear=[Brick], value=Path, type='Path')], value=End, type='Struct', side=[Front], Structural=['Long'])
>>> viewCache = ViewCache(obs=[(Brick, Empty, Brick, End, Wall, End)])
>>> R.recFwdPath(desc, viewCache)
False
>>> viewCache.update(Right, [(Wall, Empty, Cement, Butterfly, Brick, Butterfly), (Wall, Empty, Wall, End, Wall, End)])
>>> R.recFwdPath(desc, viewCache)
False
>>> viewCache.update(Right, [(Brick, Empty, Brick, Butterfly, Cement, Butterfly), (Wall, Empty, Wall, End, Wall, End)])
>>> R.recFwdPath(desc, viewCache)
False
>>> viewCache.update(Right, [(Wall, Empty, Cement, Butterfly, Brick, Butterfly), (Wood, Empty, Wood, Butterfly, Brick, Butterfly), (Wall, Empty, Wall, End, Wall, End)])
>>> R.recFwdPath(desc, viewCache)
True
"""
#logger.debug('recFwdPath(%r, %r, %r, %r)',view,desc,viewCache,ignore)
view = viewCache[Front]
match = cls.recPathAppear(view,desc,view[Front],ignore)
if (match and #desc.dist != '0' and
hasattr(desc,'Structural') and 'Structural' not in ignore and desc.Structural
and True in [s in Structurals.values() for s in desc.Structural]):
if not Options.PerspectiveTaking: return match
length = len(view)
match = False
for side in (Back,): #(Left,Back,Right):
v = viewCache[side]
if not v or Unknown in v[0].view[0] or len(v)==1: continue
sides = desc.side
desc.side = [Sides]
if cls.recFwdPath(desc,viewCache.rotate(side),ignore+['Structural']):
if desc.Structural == [Short]:
match = (view == v or length < len(v))
elif desc.Structural == [Long]:
match = (length > len(v))
elif desc.Structural == [Winding]:
match = True
else: logger.warning('Unknown Structural %r', desc.Structural)
desc.side = sides
if match: break
if (not match and Options.IntersectionLandmarks
and hasattr(desc,'Structural') and 'Structural' not in ignore and Sides in desc.Structural):
descCp = copy.deepcopy(desc)
del descCp.Structural
descCp.side=[Sides]
match = cls.recSidePath(descCp,viewCache)
return match # Prob
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 extractSurfaceSemantics(token,parent):
global Senses
POS=getPartOfSpeech(token,parent)
tokenSenses = {}
text = token['TEXT'].lower()
default = token['TEXT'].upper()
if POS in ['N', 'V', 'ADV', 'ADJ']:
try: #Redo as test = foo while not tokenSensesword: try: foo ; except KeyError: foo = next foo
tokenSenses = Senses[text]
except KeyError:
logger.warning('extractSurfaceSemantics : Text not in tagged senses: %s', text)
try:
#logger.warning('extractSurfaceSemantics : Previously unseen word but in WordNet?: %s', text)
# stringified range of possible senses without spaces
tokenSenses = {POS : range(1,len(pywordnet.getWord(text,POS).getSenses())+1)}
except KeyError:
try:
logger.warning('extractSurfaceSemantics : Inflected version of WordNet word? %s', text)
if text.endswith('s'):
text = text[:-1]
tokenSenses = Senses[text]
else:
stemmer = PorterStemmer() # Update WordNetStemmer to NLTK 1.4 API
stemmer.stem(token)
text = token['STEM']
tokenSenses = Senses[text]
except KeyError:
text = token['TEXT'].lower()
try:
logger.warning('extractSurfaceSemantics : Misspelling / typo of WordNet word? %s', text)
spellchecker = enchant.DictWithPWL('en_US', Lexicon)
s = ''
for s in spellchecker.suggest(text):
if s in Senses:
tokenSenses = Senses[s]
break
if not tokenSenses and spellchecker.suggest(text):
s = spellchecker.suggest(text)[0]
tokenSenses = {POS : range(1,len(pywordnet.getWord(s,POS).getSenses())+1)}
if s and Options.Spellcheck:
logger.warning('extractSurfaceSemantics : Found spelling correction %s for %s', s,text)
text = s
#logger.debug('*** extractSurfaceSemantics : Implement spelling correction. *** ')
#raise KeyError
except KeyError:
logger.error('extractSurfaceSemantics : Unknown token: %s', text)
return default
# Handle experienced typos.
if 'see' in tokenSenses:
### FIXME adding to dict for typos that are other words
text = tokenSenses['see']
try:
tokenSenses = Senses[text]
except: return default
# Handle morphology variants that wordnet understands.
elif isinstance(tokenSenses, tuple):
text,tokenSenses[POS] = tokenSenses[POS]
try:
return '_'.join([text,POS,','.join([str(i) for i in tokenSenses[POS]])])
except KeyError:
#logger.warning('extractSurfaceSemantics : Expected POS %s for token %s, Got %s, Using %s',
# POS, token, tokenSenses.keys(), tokenSenses.keys()[0])
if tokenSenses.keys():
POS = token['POS'] = tokenSenses.keys()[0]
return '_'.join([text,POS,','.join([str(i) for i in tokenSenses.values()[0]])])
except Exception,e:
logger.error('extractSurfaceSemantics: %s: Could not find sense %s for token %s',
e, POS, token) #tokenSenses, text
def extractSurfaceSemantics(token, parent):
global Senses
POS = getPartOfSpeech(token, parent)
tokenSenses = {}
text = token["TEXT"].lower()
default = token["TEXT"].upper()
if POS in ["N", "V", "ADV", "ADJ"]:
try: # Redo as test = foo while not tokenSensesword: try: foo ; except KeyError: foo = next foo
tokenSenses = Senses[text]
except KeyError:
logger.warning("extractSurfaceSemantics : Text not in tagged senses: %s", text)
try:
# logger.warning('extractSurfaceSemantics : Previously unseen word but in WordNet?: %s', text)
# stringified range of possible senses without spaces
tokenSenses = {POS: range(1, len(pywordnet.getWord(text, POS).getSenses()) + 1)}
except KeyError:
try:
logger.warning("extractSurfaceSemantics : Inflected version of WordNet word? %s", text)
if text.endswith("s"):
text = text[:-1]
tokenSenses = Senses[text]
else:
stemmer = PorterStemmer() # Update WordNetStemmer to NLTK 1.4 API
stemmer.stem(token)
text = token["STEM"]
tokenSenses = Senses[text]
except KeyError:
text = token["TEXT"].lower()
try:
logger.warning("extractSurfaceSemantics : Misspelling / typo of WordNet word? %s", text)
spellchecker = enchant.DictWithPWL("en_US", Lexicon)
s = ""
for s in spellchecker.suggest(text):
if s in Senses:
tokenSenses = Senses[s]
break
if not tokenSenses and spellchecker.suggest(text):
s = spellchecker.suggest(text)[0]
tokenSenses = {POS: range(1, len(pywordnet.getWord(s, POS).getSenses()) + 1)}
if s and Options.Spellcheck:
logger.warning("extractSurfaceSemantics : Found spelling correction %s for %s", s, text)
text = s
# logger.debug('*** extractSurfaceSemantics : Implement spelling correction. *** ')
# raise KeyError
except KeyError:
logger.error("extractSurfaceSemantics : Unknown token: %s", text)
return default
# Handle experienced typos.
if "see" in tokenSenses:
### FIXME adding to dict for typos that are other words
text = tokenSenses["see"]
try:
tokenSenses = Senses[text]
except:
return default
# Handle morphology variants that wordnet understands.
elif isinstance(tokenSenses, tuple):
text, tokenSenses[POS] = tokenSenses[POS]
try:
return "_".join([text, POS, ",".join([str(i) for i in tokenSenses[POS]])])
except KeyError:
# logger.warning('extractSurfaceSemantics : Expected POS %s for token %s, Got %s, Using %s',
# POS, token, tokenSenses.keys(), tokenSenses.keys()[0])
if tokenSenses.keys():
POS = token["POS"] = tokenSenses.keys()[0]
return "_".join([text, POS, ",".join([str(i) for i in tokenSenses.values()[0]])])
except Exception, e:
logger.error(
"extractSurfaceSemantics: %s: Could not find sense %s for token %s", e, POS, token
) # tokenSenses, text
