def UserGoalsMidca(domainFile, stateFile, goalsFile=None, extinguish=False):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world,
verbose=1,
display=asqiiDisplay,
metaEnabled=True)
# add cognitive layer phases
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
"Act"
]:
myMidca.append_phase(phase)
# add cognitive layer modules
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", PerfectObserver.PerfectObserver())
myMidca.append_module("Interpret",
ADistanceAnomalyNoter.ADistanceAnomalyNoter())
myMidca.append_module("Interpret", UserGoalInput.UserGoalInput())
myMidca.append_module("Eval", SimpleEval.SimpleEval())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module("Plan",
PyHopPlannerBroken.PyHopPlannerBroken(extinguish))
myMidca.append_module("Act", SimpleAct.SimpleAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def guiMidca(domainFile, stateFile, goalsFile=None):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world, display=asqiiDisplay)
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
"Act"
]:
myMidca.append_phase(phase)
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", PerfectObserver.PerfectObserver())
myMidca.append_module("Interpret",
ADistanceAnomalyNoter.ADistanceAnomalyNoter())
myMidca.append_module("Eval", SimpleEval.SimpleEval())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module("Plan", PyHopPlanner.PyHopPlanner())
myMidca.append_module("Act", SimpleAct.SimpleAct())
return myMidca
def UserGoalsMidca(domainFile, stateFile, display=print, goalsFile = None, argsPyHopPlanner=[]):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
#creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display = display, verbose=4)
#add phases by name
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer(display))
myMidca.append_module("Perceive", PerfectObserver.PerfectObserver())
myMidca.append_module("Interpret", ADistanceAnomalyNoter.ADistanceAnomalyNoter())
#myMidca.append_module("Interpret", UserGoalInput.UserGoalInput())
myMidca.append_module("Eval", SimpleEval.SimpleEval())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module("Plan", PyHopPlanner.PyHopPlanner(*argsPyHopPlanner))
myMidca.append_module("Act", SimpleAct.SimpleAct())
return myMidca
myMidca.append_module("Interpret",
ADistanceAnomalyNoter.ADistanceAnomalyNoter())
myMidca.append_module(
"Interpret",
SimpleMortarGoalGen.SimpleMortarGoalGen_Restaurant(STATE_FILE, state_str,
Money))
myMidca.append_module("Eval", SimpleEval.SimpleEval_Restaurant())
myMidca.append_module("Intend",
SimpleIntend_Restaurant.SimpleIntend_Restaurant())
myMidca.append_module(
"Plan",
PyHopPlanner.PyHopPlanner_temporary(util.pyhop_state_from_world_restaurant,
util.pyhop_tasks_from_goals_restaurant,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC))
myMidca.append_module("Act", SimpleAct.SimpleAct_temporary())
#tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = True
myMidca.initGoalGraph()
myMidca.init()
myMidca.run()
'''
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate",
simulator.ASCIIWorldViewer(display=DISPLAY_FUNC))
myMidca.append_module("Perceive", PerfectObserver.PerfectObserver())
myMidca.append_module("Interpret",
ADistanceAnomalyNoter.ADistanceAnomalyNoter())
#myMidca.append_module("Interpret", UserGoalInput.UserGoalInput())
myMidca.append_module("Eval", SimpleEval.SimpleEval())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module(
"Plan",
JSHOPPlanner.JSHOPPlanner(util.jshop_state_from_world,
util.jshop_tasks_from_goals, JSHOP_DOMAIN_FILE,
JSHOP_STATE_FILE))
myMidca.append_module("Act", SimpleAct.SimpleAct())
myMidca.insert_module('Simulate',
simulator.ArsonSimulator(arsonChance=0.9, arsonStart=10),
1)
myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', TFStack.TFStack(), 1)
myMidca.insert_module('Interpret', TFFire.TFFire(), 2)
myMidca.insert_module('Interpret', ReactiveApprehend.ReactiveApprehend(), 3)
myMidca.insert_module(
'Eval', Scorer.Scorer(),
1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
#tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = True
myMidca.initGoalGraph(cmpFunc=GOAL_GRAPH_CMP_FUNC)