def ros_style_midca():
#myMidca = base.MIDCA(None, verbose = 2)
myMidca = base.PhaseManager(None, verbose=4, metaEnabled=True)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", ROSObserver.ROSObserver())
myMidca.append_module("Interpret", InstructionReceiver.InstructionReceiver())
myMidca.append_module("Eval", EvalPointingFromFeedback.EvalPointingFromFeedback())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
#myMidca.append_module("Plan", AsynchPyhopPlanner.AsynchPyhopPlanner(DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC))
myMidca.append_module("Plan", PyHopPlannerBroken.PyHopPlannerBroken(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC,
extinguishers=False))
myMidca.append_module("Act", AsynchronousAct.AsynchronousAct())
# 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.MRSimpleDetectOld())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner(using_baxter=True))
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def ros_style_midca():
myMidca = base.MIDCA(None, verbose = 2)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", ROSObserver.ROSObserver())
myMidca.append_module("Interpret", InstructionReceiver.InstructionReceiver_sr())
myMidca.append_module("Eval", EvalPointingFromFeedback.EvalPointingFromFeedback())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module("Plan", AsynchPyhopPlanner.AsynchPyhopPlanner(methods_sr.declare_methods,
operators_sr.declare_ops,monitors.declare_monitors
))
myMidca.append_module("Act", AsynchronousAct.AsynchronousAct())
return myMidca
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_phase(phase)
# Add the modules which instantiate basic operation
#myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.NBeaconsActionSimulator(wind=WIND_ENABLED,wind_dir=WIND_DIR,wind_strength=WIND_STRENGTH,dim=DIMENSION, wind_schedule=wind_schedule))
myMidca.append_module("Simulate", simulator.NBeaconsSimulator(beacon_fail_rate=BEACON_FAIL_RATE))
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer(DISPLAY_FUNC))
myMidca.append_module("Perceive", PerfectObserver.PerfectObserver())
#myMidca.append_module("Interpret", StateDiscrepancyDetector.StateDiscrepancyDetector())
#myMidca.append_module("Interpret", SimpleNBeaconsExplain.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", UserGoalInput.UserGoalInput())
myMidca.append_module("Interpret", NBeaconsGoalGenerator.NBeaconsGoalGenerator(numbeacons=2,goalList=goal_list))
myMidca.append_module("Eval", NBeaconsDataRecorder.NBeaconsDataRecorder())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
myMidca.append_module("Plan", HeuristicSearchPlanner.HeuristicSearchPlanner())
#myMidca.append_module("Plan", planning.PyHopPlanner(nbeacons_util.pyhop_state_from_world,
# nbeacons_util.pyhop_tasks_from_goals,
# DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC)) # set up planner for sample domain
myMidca.append_module("Act", NBeaconsSimpleAct.NBeaconsSimpleAct())
# Set world viewer to output text
myMidca.set_display_function(nbeacons_util.drawNBeaconsScene)
# Tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
# Note: Turning this on drastically increases MIDCA's running time.
myMidca.storeHistory = False
myMidca.mem.logEachAccess = False