# print f, '==================================================================================='
# f.print_structure()
# print 'repr of f', repr(f)
# print 'list f.literals', list(f.literals())
# print 'parse_formula', mln.logic.parse_formula('bar(x)') in f.literals()
# print 'f', f
cnf = f.cnf()
# print 'structure:'
cnf.print_structure()
# print 'cnf:',cnf
mln.formula(cnf)
db = Database(mln)
matmln = mln.materialize(db)
matmln.write()
# test = ['!a(k)',
# 'a(c) ^ b(g)',
# 'b(x) v !a(l) ^ b(x)',
# '!(a(g)) => ((!(f(x) v b(a))))',
# "f(h) v (g(?h) <=> !f(?k) ^ d(e))",
# 'f(t) ^ ?x = y'
# ]
# for t in test:
# print t
# mln.logic.grammar.tree.reset()
# mln.logic.grammar.parse_formula(t).print_structure()
# print t
mln.write()
# print f, '==================================================================================='
# f.print_structure()
# print 'repr of f', repr(f)
# print 'list f.literals', list(f.literals())
# print 'parse_formula', mln.logic.parse_formula('bar(x)') in f.literals()
# print 'f', f
cnf = f.cnf()
# print 'structure:'
cnf.print_structure()
# print 'cnf:',cnf
mln.formula(cnf)
db = Database(mln)
matmln = mln.materialize(db)
matmln.write()
# test = ['!a(k)',
# 'a(c) ^ b(g)',
# 'b(x) v !a(l) ^ b(x)',
# '!(a(g)) => ((!(f(x) v b(a))))',
# "f(h) v (g(?h) <=> !f(?k) ^ d(e))",
# 'f(t) ^ ?x = y'
# ]
# for t in test:
# print t
# mln.logic.grammar.tree.reset()
# mln.logic.grammar.parse_formula(t).print_structure()
# print t
# main app for testing purposes only
class MLNInterfaceServer:
def __init__(self):
self.__config = None
self.__mln = None
self.__mln_date = None
def run(self, node_name="rosmln", service_name="mln_interface"):
rospy.init_node(node_name)
rospy.Service(service_name, MLNInterface, self.__handle_mln_query)
rospy.loginfo("MLN is ready to be queried!")
rospy.spin()
def __handle_mln_query(self, request):
try:
rospy.loginfo("Processing request...")
config = self.__get_config(request)
if self.__config_changed(config):
rospy.loginfo("Configuration changed")
self.__mln = MLN(config.logic, config.grammar, config.mlnFiles)
self.__mln_date = os.path.getmtime(config.mlnFiles)
self.__config = config
db = self.__get_db(request, config, self.__mln)
materialized_mln = self.__mln.materialize(db)
mrf = materialized_mln.ground(db)
if not request.query:
raise Exception("No query provided!")
inference = InferenceMethods.clazz(config.method)(
mrf, request.query.queries)
result = inference.run()
self.__save_results(config, result)
tuple_list = []
for atom, probability in inference.results.items():
tuple_list.append(AtomProbPair(str(atom), float(probability)))
tuple_list.sort(key=lambda item: item.prob, reverse=True)
to_return = MLNInterfaceResponse(MLNDatabase(tuple_list))
rospy.loginfo("Done!")
return to_return
except Exception:
rospy.logfatal(traceback.format_exc())
return MLNDatabase([])
def __config_changed(self, config):
if self.__config is None or config is None:
return True
return not (self.__config.db == config.db and \
self.__config.logic == config.logic and \
self.__config.mlnFiles == config.mlnFiles and \
self.__config.output_filename == config.output_filename and \
self.__config.saveResults == config.saveResults and \
self.__config.grammar == config.grammar and \
os.path.getmtime(config.mlnFiles) == self.__mln_date)
def __get_config(self, request):
if self.__config is None and request.config.mlnFiles == "":
raise Exception("No configuration provided!")
elif request.config.mlnFiles != "":
return request.config
elif self.__config is not None:
return self.__config
def __get_db(self, request, config, mln):
if not request.query.evidence and config.db == "":
raise Exception("No evidence provided!")
if request.query.evidence and config.db != "":
raise Exception(
"Duplicate evidence; provide either a db in the config or an evidence db in the query"
)
if request.query.evidence:
to_return = parse_db(
mln, reduce(lambda x, y: x + "\n" + y, request.query.evidence))
else:
to_return = Database.load(mln, config.db)
if len(to_return) != 1:
raise Exception("Only one db is supported!")
return to_return[0]
def __save_results(self, config, resutls):
if config.saveResults:
with open(config.output_filename, "w") as output:
resutls.write(output)