def test_pipe(self):
data = (3, 1, 1, 1, 1, 0.1, 0.1, 1000)
expected = [1.0, 1.0, 0.7, 0.4]
tester = self.numeric_evaluator(expected)
coroutines = [co.sliding_window(3),
co.transformer(np.mean),
co.filterer(lambda x: 0 <= x <= 1),
tester]
pipe_tester = co.pipe(coroutines)
for d in data:
pipe_tester.send(d)
def test_pipe(self):
data = (3, 1, 1, 1, 1, 0.1, 0.1, 1000)
expected = [1.0, 1.0, 0.7, 0.4]
tester = self.numeric_evaluator(expected)
coroutines = [
co.sliding_window(3),
co.transformer(np.mean),
co.filterer(lambda x: 0 <= x <= 1), tester
]
pipe_tester = co.pipe(coroutines)
for d in data:
pipe_tester.send(d)
Returns
-------
bool
A bool indicating whether to ask a question or not.
"""
randvalue = random.random()
should_ask = randvalue < jsd_value
rospy.logdebug("JSD: {}, Randval: {}, Going to Ask?: {}".format(
jsd_value, randvalue, should_ask))
return should_ask
pipe = co.pipe([
co.mapper(jensen_shannon_divergence),
co.filterer(should_ask_question),
co.do(lambda _: rospy.loginfo("Going to ask")),
co.publisher("should_ask_question", Bool)
])
_DEFAULT_NAME = 'al_asker_node'
if __name__ == '__main__':
try:
rospy.init_node(_DEFAULT_NAME)
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
co.PipedSubscriber('prediction_summary', PredictionSummary, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
"""
import roslib
roslib.load_manifest('ocular_interaction')
from functools import partial
import rospy
from rospy_utils import coroutines as co
from ocular_interaction import ocular_action_translators as tr
from dialog_manager_msgs.msg import ActionMsg
from etts_msgs.msg import Utterance
is_action_valid = partial(tr.should_process_action,
actor_name="etts",
action_name="say_text")
if __name__ == '__main__':
try:
rospy.init_node('ocular_etts_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([
co.filterer(is_action_valid),
co.transformer(tr.action_to_etts),
co.publisher('etts', Utterance)
])
co.PipedSubscriber('im_action', ActionMsg, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
def test_filterer_curried(self):
expected, tester = self.__setup_filterer()
test_filterer = co.filterer(is_even)
test_filterer.send(tester)
for i in self.data:
test_filterer.send(i)
def test_filterer_curried(self):
expected, tester = self.__setup_filterer()
test_filterer = co.filterer(is_even)
test_filterer.send(tester)
for i in self.data:
test_filterer.send(i)
def parse_asr_msg(msg, commands):
"""Parse an ASR msg to found a command in it."""
try:
return next(parse_sentence(msg.content, commands))
except StopIteration:
pass
def _log_msg(msg):
"""Log a msg to a rospy logger."""
rospy.loginfo(utils.colorize("ASR msg parsed to command: {}".format(msg)))
if __name__ == '__main__':
try:
rospy.init_node('asr_command_parser')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
commands = next(pu.load_params('asr_commands'))
rospy.logdebug("Available commands are: {}".format(commands))
parsed_cmds = {utils.to_infinitive(k): v for k, v in commands.items()}
parse_msg = partial(parse_asr_msg, commands=parsed_cmds)
pipe = co.pipe([
co.transformer(parse_msg),
co.do(_log_msg),
co.filterer(bool), splitter
])
co.PipedSubscriber('open_grammar_results', ASRmsg, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass