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 __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)
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 (%d,%d)" % (obj.x, obj.y)
self._location.set("%d %d" % (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="", unattended=True)
def attendToNew(self, pattern=""):
self.attendTo(pattern="", new=True)
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))
def isClose(self, a, b):
return abs(a - b) < 0.01
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
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
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
