import os, sys
from tools.persistence import Persistence
path = os.path.abspath(os.path.dirname(__file__))
if len(sys.argv) > 1:
controller_name = sys.argv[1]
else:
controller_name = "0"
print(f"controller selected: {path}/controller_specs/{controller_name}.txt")
controller = Persistence.load_controller(
folder_path=f"{path}/controller_specs", name=controller_name)
print(controller)
run = controller.simulate()
print(run)
from tools.strings import StringMng
from tools.strix import Strix
path = os.path.abspath(os.path.dirname(__file__))
if len(sys.argv) > 1:
controller_name = sys.argv[1]
else:
controller_name = "5"
print(f"controller selected: {path}/controller_specs/{controller_name}.txt")
a, g, i, o = StringMng.parse_controller_specification_from_file(
f"{path}/controller_specs/{controller_name}.txt")
realizable, kiss_format, exec_time = Strix.generate_controller(a, g, i, o)
controller = Controller(mealy_machine=kiss_format)
Persistence.dump_controller(controller, f"{path}/controller_specs",
controller_name)
print("\n~~~MEALY MACHINE~~~\n" + str(controller))
Store.save_to_file(str(controller),
f"{controller_name}_table.txt",
absolute_folder_path=f"{path}/controller_specs")
run = controller.simulate()
print("\n\n\n~~~SIMULATION OF A RUN~~~\n" + run)
Store.save_to_file(str(run),
f"{controller_name}_run.txt",
absolute_folder_path=f"{path}/controller_specs")
from tools.persistence import Persistence
from running_example import output_folder_name
from tools.storage import Store
"""Load CGG"""
cgg = Persistence.load_cgg(output_folder_name)
"""Launch a simulation of n_steps where each contexts does change for at least t_min_context """
run = cgg.orchestrate(n_steps=50, t_min_context=6)
print(run)
"""Save simulation as text file"""
Store.save_to_file(str(run),
file_name="simulation.txt",
output_folder_name=output_folder_name)
import os
from controller import Controller
from tools.persistence import Persistence
from tools.storage import Store
from tools.strings import StringMng
from tools.strix import Strix
path = os.path.abspath(os.path.dirname(__file__))
controller_name = "good_0"
a, g, i, o = StringMng.parse_controller_specification_from_file(f"{path}/{controller_name}.txt")
realizable, kiss_format, exec_time = Strix.generate_controller(a, g, i, o)
controller = Controller(mealy_machine=kiss_format)
Persistence.dump_controller(controller, path, controller_name)
print(controller)
Store.save_to_file(str(controller), f"{controller_name}_table.txt", absolute_folder_path=f"{path}")
run = controller.simulate()
print(run)
Store.save_to_file(str(run), f"{controller_name}_run.txt", absolute_folder_path=f"{path}")
assumptions=no_objects_when_hold,
guarantees=patrol_living_room & stay_location_if_object
& dont_hold_if_no_object & if_drop_not_hold & drop_near_garbage
& keep_free_hands),
world=w),
Node(
name="gpse",
description="General Purpose Service Robot."
"Similar to a modern smart-speaker,"
"The robot can be asked to do anything and it immediately response with a voice notification",
specification=Contract(
guarantees=BoundReaction(w["alexa"], w["reply"])),
world=w),
Node(
name="groceries",
description=
"The robot stores groceries into a pantry shelf while paying attention"
" to sorting objects in their appropriate place, i.e. storing an apple next to other fruits.",
context=w["housekeeping"] & w["groceries"],
specification=Contract(
guarantees=patrol_kitchen
& PromptReaction(w["groceries_recognized"], w["store"]
& w["k2"])),
world=w),
}
"""Save set of goals so that they can be loaded later"""
Persistence.dump_goals(set_of_goals, output_folder_name)
except CGGException as e:
raise e
n_day = Node(name="day_patrol_a",
context=w["day"],
specification=ordered_patrol_day,
world=w)
n_night = Node(name="night_patrol_b",
context=w["night"],
specification=ordered_patrol_night,
world=w)
t_cgg_start = time.time()
cgg = Node.build_cgg({n_day, n_night})
t_cgg_end = time.time()
t_cgg = t_cgg_end - t_cgg_start
cgg.set_session_name(folder_name)
cgg.save()
print(cgg)
cgg.realize_all(t_trans=3)
cgg.save()
Persistence.dump_cgg(cgg)
run = cgg.orchestrate(n_steps=50, t_min_context=6)
print(run)
except CGGException as e:
raise e
import os from tests.synthesis_examples import folder_name from tools.persistence import Persistence path = os.path.abspath(os.path.dirname(__file__)) controller = Persistence.load_controller(path) print(controller) run = controller.simulate() print(run)
from cgg import Node
from cgg.exceptions import CGGException
from robocup import output_folder_name
from tools.persistence import Persistence
try:
"""Load the goals"""
set_of_goals = Persistence.load_goals(output_folder_name)
"""Automatically build the CGG"""
cgg = Node.build_cgg(set_of_goals)
print(cgg)
"""Setting the saving folder"""
cgg.set_session_name(output_folder_name)
"""Save CGG as text file"""
cgg.save()
"""Save CGG so that it can be loaded later"""
Persistence.dump_cgg(cgg)
except CGGException as e:
raise e
from tools.persistence import Persistence from tools.storage import Store folder_name = "crome_evaluation" cgg = Persistence.load_cgg(folder_name) """Launch a simulation of n_steps where each contexts does change for at least t_min_context """ run = cgg.orchestrate(n_steps=50, t_min_context=6) print(run)
from tools.persistence import Persistence from robocup import output_folder_name """Load CGG""" cgg = Persistence.load_cgg(output_folder_name) """Realize Specification and Transition Controllers indicating the Maximum Transition Time""" cgg.realize_all(t_trans=3) print(cgg) """Save CGG again with the controllers information""" cgg.save() """Save CGG for persistence""" Persistence.dump_cgg(cgg)