def handle_goto_execute_command(req):
global atom_list_memory
log_to_terminal("Processing command frame: %s target: %s" %
(req.frame, req.target))
if req.frame == "CLOSEST":
target_atom_list = ground_request(req.frame, atom_list_memory)
else:
target_atom_list = ground_request(req.frame, req.target)
log_to_terminal("retrieved target atom list: %s" % target_atom_list)
# implementing the contextual memory in the robot.
# Example: if I say "go to the socket near the closet" but the robot knows two sockets with that property,
# the next specification should remember the previous commands
# so if I now tell the robot to go to the socket near the window it should understand
# that I am referring to one of the sockets that were near the closet
if atom_list_memory != []:
for i in xrange(len(target_atom_list)):
if not target_atom_list[i] in atom_list_memory:
target_atom_list.pop(i)
log_to_terminal("filtered target atom list: %s" % target_atom_list)
if (len(target_atom_list) == 0):
event = "GoToGroundUnknown_I do not know any object of that kind"
response = "None"
atom_list_memory = []
elif (len(target_atom_list) == 1):
target_type, target_category = get_target_type(target_atom_list[0])
if (target_category == "object"):
target_pos = get_pos_in_front_of_target(target_atom_list[0])
else:
target_pos = get_nearest_cell_in_room(target_atom_list[0])
if is_robot_already_there(target_pos, target_category,
target_atom_list[0]):
event = "GoToGroundAlreadyThere_I am already there"
response = "None"
atom_list_memory = []
else:
event = "GoToGroundSingle_%s_%s_%s_%s" % (
target_type, target_pos[0], target_pos[1], target_pos[2])
response = "Single" + "_" + target_type
atom_list_memory = []
else:
target_type, target_category = get_target_type(target_atom_list[0])
event = "GoToGroundMultiple_I know %s %ss in the environment. Which one do you mean?" % (
len(target_atom_list), target_type)
response = "Multiple" + "_" + target_type
atom_list_memory = target_atom_list
event_pub.publish(event)
log_to_terminal("Sent event: " + event)
return GroundCommandResponse(response)
def handle_goto_execute_command(req):
global atom_list_memory
log_to_terminal("Processing command frame: %s target: %s"%(req.frame, req.target))
if req.frame == "CLOSEST":
target_atom_list = ground_request(req.frame, atom_list_memory)
else:
target_atom_list = ground_request(req.frame, req.target)
log_to_terminal("retrieved target atom list: %s"%target_atom_list)
# implementing the contextual memory in the robot.
# Example: if I say "go to the socket near the closet" but the robot knows two sockets with that property,
# the next specification should remember the previous commands
# so if I now tell the robot to go to the socket near the window it should understand
# that I am referring to one of the sockets that were near the closet
if atom_list_memory != []:
for i in xrange(len(target_atom_list)):
if not target_atom_list[i] in atom_list_memory:
target_atom_list.pop(i)
log_to_terminal("filtered target atom list: %s"%target_atom_list)
if (len(target_atom_list) == 0):
event = "GoToGroundUnknown_I do not know any object of that kind"
response = "None"
atom_list_memory = []
elif (len(target_atom_list) == 1):
target_type, target_category = get_target_type(target_atom_list[0])
if (target_category == "object"):
target_pos = get_pos_in_front_of_target(target_atom_list[0])
else:
target_pos = get_nearest_cell_in_room(target_atom_list[0])
if is_robot_already_there(target_pos, target_category, target_atom_list[0]):
event = "GoToGroundAlreadyThere_I am already there"
response = "None"
atom_list_memory = []
else:
event = "GoToGroundSingle_%s_%s_%s_%s"%(target_type, target_pos[0], target_pos[1], target_pos[2])
response = "Single"+"_"+target_type
atom_list_memory = []
else:
target_type, target_category = get_target_type(target_atom_list[0])
event = "GoToGroundMultiple_I know %s %ss in the environment. Which one do you mean?"%(len(target_atom_list),target_type)
response = "Multiple"+"_"+target_type
atom_list_memory = target_atom_list
event_pub.publish(event)
log_to_terminal("Sent event: " + event)
return GroundCommandResponse(response)
def handle_forget_execute_command(req):
log_to_terminal("Processing command frame: %s target: %s" %
(req.frame, req.target))
target_atom_list = ground_request(req.frame, req.target)
if (len(target_atom_list) == 0):
event = "ForgetGroundUnknown_I do not know any object of that kind"
response = "None"
elif (len(target_atom_list) == 1):
target_type = get_target_type(target_atom_list[0])
event = "ForgetGroundSingle_%s_%s" % (target_atom_list[0].replace(
"_", "#"), target_type)
response = "Single" + "_" + target_type
else:
target_type = get_target_type(target_atom_list[0])
event = "ForgetGroundMultiple_I know %s %ss in the environment. Which one do you mean?" % (
len(target_atom_list), target_type)
response = "Multiple" + "_" + target_type
event_pub.publish(event)
log_to_terminal("Sent event: " + event)
return GroundCommandResponse(response)
def handle_forget_execute_command(req):
global atom_list_memory
log_to_terminal("Processing command frame: %s target: %s" %
(req.frame, req.target))
target_atom_list = ground_request(req.frame, req.target)
log_to_terminal("retrieved target atom list: %s" % target_atom_list)
# implementing the contextual memory in the robot.
# Example: if I say "go to the socket near the closet" but the robot knows two sockets with that property,
# the next specification should remember the previous commands
# so if I now tell the robot to go to the socket near the window it should understand
# that I am referring to one of the sockets that were near the closet
if atom_list_memory != []:
for i in xrange(len(target_atom_list)):
if not target_atom_list[i] in atom_list_memory:
target_atom_list.pop(i)
log_to_terminal("filtered target atom list: %s" % target_atom_list)
if (len(target_atom_list) == 0):
event = "GroundAtom_None_None_None_I do not know any object of that kind"
response = "None"
atom_list_memory = []
elif (len(target_atom_list) == 1):
target_type = get_target_type(target_atom_list[0])
event = "GroundAtom_Single_%s_%s_None" % (target_atom_list[0].replace(
"_", "#"), target_type)
response = "Single" + "_" + target_type
atom_list_memory = []
else:
target_type = get_target_type(target_atom_list[0])
event = "GroundAtom_Multiple_%s_%s_I know %s %ss in the environment. Which one do you mean?" % (
target_atom_list[0].replace(
"_", "#"), target_type, len(target_atom_list), target_type)
response = "Multiple" + "_" + target_type
atom_list_memory = target_atom_list
event_pub.publish(event)
log_to_terminal("Sent event: " + event)
log_to_terminal("atom list: %s" % atom_list_memory)
return GroundCommandResponse(response)
def handle_forget_execute_command(req):
global atom_list_memory
log_to_terminal("Processing command frame: %s target: %s"%(req.frame, req.target))
target_atom_list = ground_request(req.frame, req.target)
log_to_terminal("retrieved target atom list: %s"%target_atom_list)
# implementing the contextual memory in the robot.
# Example: if I say "go to the socket near the closet" but the robot knows two sockets with that property,
# the next specification should remember the previous commands
# so if I now tell the robot to go to the socket near the window it should understand
# that I am referring to one of the sockets that were near the closet
if atom_list_memory != []:
for i in xrange(len(target_atom_list)):
if not target_atom_list[i] in atom_list_memory:
target_atom_list.pop(i)
log_to_terminal("filtered target atom list: %s"%target_atom_list)
if (len(target_atom_list) == 0):
event = "GroundAtom_None_None_None_I do not know any object of that kind"
response = "None"
atom_list_memory = []
elif (len(target_atom_list) == 1):
target_type = get_target_type(target_atom_list[0])
event = "GroundAtom_Single_%s_%s_None"%(target_atom_list[0].replace("_","#"), target_type)
response = "Single"+"_"+target_type
atom_list_memory = []
else:
target_type = get_target_type(target_atom_list[0])
event = "GroundAtom_Multiple_%s_%s_I know %s %ss in the environment. Which one do you mean?"%(target_atom_list[0].replace("_","#"), target_type, len(target_atom_list), target_type)
response = "Multiple"+"_"+target_type
atom_list_memory = target_atom_list
event_pub.publish(event)
log_to_terminal("Sent event: " + event)
log_to_terminal("atom list: %s"%atom_list_memory)
return GroundCommandResponse(response)
def handle_forget_execute_command(req):
log_to_terminal("Processing command frame: %s target: %s"%(req.frame, req.target))
target_atom_list = ground_request(req.frame, req.target)
if (len(target_atom_list) == 0):
event = "ForgetGroundUnknown_I do not know any object of that kind"
response = "None"
elif (len(target_atom_list) == 1):
target_type = get_target_type(target_atom_list[0])
event = "ForgetGroundSingle_%s_%s"%(target_atom_list[0].replace("_","#"), target_type)
response = "Single"+"_"+target_type
else:
target_type = get_target_type(target_atom_list[0])
event = "ForgetGroundMultiple_I know %s %ss in the environment. Which one do you mean?"%(len(target_atom_list),target_type)
response = "Multiple"+"_"+target_type
event_pub.publish(event)
log_to_terminal("Sent event: " + event)
return GroundCommandResponse(response)
