def parse_task(self, task):
rospy.loginfo("BTT Taskspec: %s", task)
tasktype = task.split("<",1)[0]
assert tasktype == "BTT"
task=task[4:-1] #remove 'BTT<' and '>'
situations = task.split(";")
init_sit = None
goal_sit = None
for sit in situations:
sit = sit.strip()
sit = sit[:-1] #remove ')'
sit_name, places_str = sit.split("(",1)
sit_type = 0
assert sit_name == SIT_INIT or sit_name == SIT_GOAL
if sit_name == SIT_INIT:
sit_type = transportation_situation.SITUATION_INITIAL
elif sit_name == SIT_GOAL:
sit_type = transportation_situation.SITUATION_GOAL
situation = transportation_situation(sit_type)
for place_str in places_str.split("<")[1:]:
place_str = place_str.strip()[:-1] #remove '>'
assert len(place_str) > 0
place_name, place_info = place_str.split(",",1)
place_name = place_name.strip()
assert len(place_name) > 0
place_alignment, objects_str = place_info.split("(",1)
place_alignment = place_alignment.strip()
if place_alignment == "":
place_alignment = None
objects_str = objects_str.strip()[:-1].strip() #remove ')'
objects_str = objects_str.replace("R20", "V20")
objects = [obj.strip() for obj in objects_str.split(",")]
for i in range(len(objects)):
if objects[i] == "R20":
objects[i] = "V20"
place = transportation_place(place_name, place_alignment, objects)
rospy.logdebug("Place: %s", str(place))
situation.add_place(place)
if situation.situationtype == transportation_situation.SITUATION_INITIAL:
init_sit = situation
elif situation.situationtype == transportation_situation.SITUATION_GOAL:
goal_sit = situation
assert init_sit is not None
assert goal_sit is not None
task_spec = transportation_task_specification(init_sit, goal_sit)
rospy.loginfo("BTT parsed Taskspec: %s", str(task_spec))
return task_spec
def parse_task(self, task):
rospy.loginfo("PPT Taskspec: %s", task)
tasktype = task.split("<",1)[0]
assert tasktype == "PPT"
task=task[4:-1] #remove 'PPT<' and '>'
src = task.split(",",1)[0].strip()
dst = "S1"#task.split(",")[-1].strip()
objects_str = task.split("(",1)[1].split(")",1)[0]
objects = objects_str.split(",")
objects = [obj.strip() for obj in objects]
for i in range(len(objects)):
if objects[i] == "R20":
objects[i] = "V20"
situation_initial = transportation_situation(transportation_situation.SITUATION_INITIAL)
situation_goal = transportation_situation(transportation_situation.SITUATION_GOAL)
src_place = transportation_place(src, None, objects[:])
dst_place = transportation_place(dst, "line", objects[:])
situation_initial.add_place(src_place)
situation_goal.add_place(dst_place)
task_spec = transportation_task_specification(situation_initial, situation_goal)
return task_spec
