def main(port):
"""Start listening for input."""
# Set up the pipes
init_pipes()
# Set up listener
listener = ServiceSocket(port)
# Finally, wait for input before quitting
try:
while True:
text = raw_input("").strip()
if text == "q":
break
except (KeyboardInterrupt, EOFError):
pass
except:
raise
finally:
# Only shutdown the pipeline if we actually were taking language input
print "Shutting down NL pipeline..."
close_pipes()
listener.shutdown()
def main():
"""Get input and process it in a loop."""
# Set up the pipes
init_pipes()
# Get input from user interactively
signal.signal(signal.SIGWINCH, sigwinch_handler)
try:
curses.wrapper(interactive_mode)
except WindowTooSmallError as exc:
print >> sys.stderr, exc
sys.exit(1)
close_pipes()
def __init__(self):
init_pipes()
def __init__(self, port, local=False):
# Set up callback
CallbackSocket.__init__(self, port, MSG_SEP, local)
self.register_callback(self.parse_text)
# Start up the pipeline
init_pipes()
def run(self, aut_path=None):
"""Intialize all NL components."""
# pylint: disable=W0603
global WORLD_KNOWLEDGE
# Start the NL pipeline
if not aut_path:
print "Starting NL pipeline..."
init_pipes()
else:
print "Skipping loading nlpipeline because an automaton was loaded"
# Start the ROS node
print "Initializing ROS node..."
rospy.init_node('nlproxy')
# Set up the state mgr and its callbacks
print "Starting state manager..."
self.state_mgr = StateManager(self)
self.state_mgr.set_basedir(LTLGEN_BASE_DIR)
# Load the automaton if needed
if aut_path:
self.state_mgr.load_test_automaton(aut_path, False)
# Create world knowledge
print "Starting knowledge..."
WORLD_KNOWLEDGE = Knowledge(self)
self.state_mgr.world_knowledge = WORLD_KNOWLEDGE
# Wait a little for ROS to avoid timing startup issues.
print "Waiting for ROS node to settle..."
time.sleep(1)
# Set up ROS listening
print "Subscribing to notifications..."
# Set up state manager's sending and listening
pub = add_ltl_publisher()
self.state_mgr.set_publisher(pub)
add_subscriber(LTL_ENVIRONMENT_TOPIC,
self.state_mgr.process_sensor_data)
add_subscriber(LTL_ENVIRONMENT_TOPIC,
WORLD_KNOWLEDGE.process_sensor_data)
# Create the input comm_proxy and iPad connections
print "Starting comm_proxy..."
self.comm_proxy = CallbackSocket(self.text_port)
self.comm_proxy.register_callback(self.process_text)
self.ipad_conn = iPadConnection(self.map_port)
self.ipad_conn.register_rename_callback(rename_entity)
self.ipad_conn.register_text_callback(self.process_text)
# TODO Add highlight callback
self.map_proxy = MapProxy(self.ipad_conn)
add_subscriber(LTL_ENVIRONMENT_TOPIC, self.ipad_conn.add_icons)
WORLD_KNOWLEDGE.map_proxy = self.map_proxy
# Set up odometry forwarding to the ipad
tf = TransformListener()
while not tf.frameExists("/map"):
rospy.logwarn("Not ready for transforms yet")
rospy.sleep(1.0)
position_proxy = RobotPositionProxy(self.ipad_conn, tf)
rospy.Subscriber(ODOM_TOPIC, Odometry, position_proxy.forward_position)
# Set up getting directions
direction_proxy = DirectionProxy()
rospy.Subscriber(LOCATION_TOPIC, String, direction_proxy.set_location)
WORLD_KNOWLEDGE.direction_proxy = direction_proxy
print "NLMaster startup complete!"
print "*" * 80
# Finally, wait for input before quitting
try:
while True:
text = raw_input("").strip()
if text == "q":
break
except (KeyboardInterrupt, EOFError):
pass
except:
raise
finally:
# Only shutdown the pipeline if we actually were taking language input
if not aut_path:
print "Shutting down NL pipeline..."
close_pipes()
self.comm_proxy.shutdown()
self.ipad_conn.shutdown()
sys.exit()
def run(self, aut_path=None):
"""Intialize all NL components."""
# pylint: disable=W0603
global WORLD_KNOWLEDGE
# Start the NL pipeline
if not aut_path:
print "Starting NL pipeline..."
init_pipes()
else:
print "Skipping loading nlpipeline because an automaton was loaded"
# Start the ROS node
print "Initializing ROS node..."
rospy.init_node('nlproxy')
# Set up the state mgr and its callbacks
print "Starting state manager..."
self.state_mgr = StateManager(self)
self.state_mgr.set_basedir(LTLGEN_BASE_DIR)
# Load the automaton if needed
if aut_path:
self.state_mgr.load_test_automaton(aut_path, False)
# Create world knowledge
print "Starting knowledge..."
WORLD_KNOWLEDGE = Knowledge(self)
self.state_mgr.world_knowledge = WORLD_KNOWLEDGE
# Wait a little for ROS to avoid timing startup issues.
print "Waiting for ROS node to settle..."
time.sleep(1)
# Set up ROS listening
print "Subscribing to notifications..."
# Set up state manager's sending and listening
pub = add_ltl_publisher()
self.state_mgr.set_publisher(pub)
add_subscriber(LTL_ENVIRONMENT_TOPIC, self.state_mgr.process_sensor_data)
add_subscriber(LTL_ENVIRONMENT_TOPIC, WORLD_KNOWLEDGE.process_sensor_data)
# Create the input comm_proxy and iPad connections
print "Starting comm_proxy..."
self.comm_proxy = CallbackSocket(self.text_port)
self.comm_proxy.register_callback(self.process_text)
self.ipad_conn = iPadConnection(self.map_port)
self.ipad_conn.register_rename_callback(rename_entity)
self.ipad_conn.register_text_callback(self.process_text)
# TODO Add highlight callback
self.map_proxy = MapProxy(self.ipad_conn)
add_subscriber(LTL_ENVIRONMENT_TOPIC, self.ipad_conn.add_icons)
WORLD_KNOWLEDGE.map_proxy = self.map_proxy
# Set up odometry forwarding to the ipad
tf = TransformListener()
while not tf.frameExists("/map"):
rospy.logwarn("Not ready for transforms yet")
rospy.sleep(1.0)
position_proxy = RobotPositionProxy(self.ipad_conn,tf)
rospy.Subscriber(ODOM_TOPIC, Odometry, position_proxy.forward_position)
# Set up getting directions
direction_proxy = DirectionProxy()
rospy.Subscriber(LOCATION_TOPIC, String, direction_proxy.set_location)
WORLD_KNOWLEDGE.direction_proxy = direction_proxy
print "NLMaster startup complete!"
print "*" * 80
# Finally, wait for input before quitting
try:
while True:
text = raw_input("").strip()
if text == "q":
break
except (KeyboardInterrupt, EOFError):
pass
except:
raise
finally:
# Only shutdown the pipeline if we actually were taking language input
if not aut_path:
print "Shutting down NL pipeline..."
close_pipes()
self.comm_proxy.shutdown()
self.ipad_conn.shutdown()
sys.exit()
