writePort = 5150
readPort = 5151
DISPLAY_FUNC = util.asqiiDisplay
DECLARE_METHODS_FUNC = methods.declare_methods
DECLARE_OPERATORS_FUNC = operators.declare_ops
argsPyHopPlanner = [util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC]
myMidca = predicateworld.UserGoalsMidca(domainFile = MIDCA_ROOT + "domains/blocksworld/arsonist.sim", stateFile = MIDCA_ROOT + "domains/blocksworld/states/defstate.sim", display = DISPLAY_FUNC, argsPyHopPlanner=argsPyHopPlanner)
myMidca.append_module('Perceive', MAReporter.MAReporter(writePort))
myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance = 0.9, arsonStart = 2), 1)
myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', TFStack.TFStack(), 1)
myMidca.insert_module('Interpret', TFFire.TFFire(), 2)
myMidca.insert_module('Interpret', MAQuery.MAQuery(readPort), 3)
myMidca.insert_module('Eval', Scorer.Scorer(), 0)
def preferApprehend(goal1, goal2):
if 'predicate' not in goal1 or 'predicate' not in goal2:
return 0
elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free':
return -1
elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free':
return 1
elif goal1['predicate'] == 'onfire' and goal2['predicate'] != 'onfire':
return -1
def createMIDCAObj(self):
# in this demo, always keep extinguish to false
extinguish = False
thisDir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
MIDCA_ROOT = thisDir + "/../"
domainFile = MIDCA_ROOT + "worldsim/domains/arsonist.sim"
stateFile = MIDCA_ROOT + "worldsim/states/defstate.sim"
self.world = domainread.load_domain(domainFile)
stateread.apply_state_file(self.world, stateFile)
# creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(self.world,
display=asqiiDisplay,
verbose=4)
#asqiiDisplay(world)
# 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())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
# need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(extinguish))
myMidca.append_module("Act", act.SimpleAct())
myMidca.insert_module(
'Simulate',
simulator.ArsonSimulator(arsonChance=self.arsonChanceArg,
arsonStart=10), 1)
myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
if self.usingTFTreeFire:
myMidca.insert_module('Interpret', guide.TFFire(), 2)
if self.usingSimulatedMA:
myMidca.insert_module('Interpret', guide.ReactiveApprehend(), 3)
myMidca.insert_module(
'Eval', evaluate.Scorer(),
1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
def preferApprehend(goal1, goal2):
if 'predicate' not in goal1 or 'predicate' not in goal2:
return 0
elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free':
return -1
elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free':
return 1
elif goal1['predicate'] == 'onfire' and goal2[
'predicate'] != 'onfire':
return -1
elif goal1['predicate'] != 'onfire' and goal2[
'predicate'] == 'onfire':
return 1
return 0
# tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = False
myMidca.initGoalGraph(cmpFunc=preferApprehend)
## DO NOT DO THIS: experiment.py will do this automatically: myMidca.init()
print("Created MIDCA " + str(id(myMidca)) + " w/ arsonchance=" +
str(self.arsonChanceArg) + ", usingTFTreeFire=" +
str(self.usingTFTreeFire) + ",usingSimMA=" +
str(self.usingSimulatedMA))
self.myMidca = myMidca
self.initialized = True
