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()
class NLMaster:
"""Natural language master server."""
def __init__(self, text_port, map_port):
self.text_port = text_port
self.map_port = map_port
self.ipad_conn = None
self.comm_proxy = None
self.map_proxy = None
self.state_mgr = None
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 process_text(self, text):
"""Parse text and pass it to semantics."""
if text:
# Clean unicode first if needed
if isinstance(text, unicode):
text = text.encode('ascii', 'ignore')
print "Parsing:", repr(text)
parse = parse_text(text)
result = WORLD_KNOWLEDGE.process_parse_tree(parse, text)
answer = result[0]
new_commands = result[3]
# Use the answer if there was one and it was a string
response = answer if answer and isinstance(answer, str) else ""
# Also, echo back any new commands
command_echo = make_response(new_commands)
# Combine the responses as needed.
if not response:
response = command_echo
elif new_commands:
response += " " + command_echo
if response:
self.send_response(response)
print "Completed:", repr(text)
def send_response(self, text):
"""Send text to all listeners."""
print "Sending text to listeners:", repr(text)
self.ipad_conn.sendtext(text)
self.comm_proxy.send(text)
class NLMaster:
"""Natural language master server."""
def __init__(self, text_port, map_port):
self.text_port = text_port
self.map_port = map_port
self.ipad_conn = None
self.comm_proxy = None
self.map_proxy = None
self.state_mgr = None
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 process_text(self, text):
"""Parse text and pass it to semantics."""
if text:
# Clean unicode first if needed
if isinstance(text, unicode):
text = text.encode('ascii', 'ignore')
print "Parsing:", repr(text)
parse = parse_text(text)
result = WORLD_KNOWLEDGE.process_parse_tree(parse, text)
answer = result[0]
new_commands = result[3]
# Use the answer if there was one and it was a string
response = answer if answer and isinstance(answer, str) else ""
# Also, echo back any new commands
command_echo = make_response(new_commands)
# Combine the responses as needed.
if not response:
response = command_echo
elif new_commands:
response += " " + command_echo
if response:
self.send_response(response)
print "Completed:", repr(text)
def send_response(self, text):
"""Send text to all listeners."""
print "Sending text to listeners:", repr(text)
self.ipad_conn.sendtext(text)
self.comm_proxy.send(text)
