def ros_style_midca():
#myMidca = base.MIDCA(None, verbose = 2)
myMidca = base.PhaseManager(None, verbose=4, metaEnabled=True)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", ROSObserver.ROSObserver())
myMidca.append_module("Interpret", InstructionReceiver.InstructionReceiver())
myMidca.append_module("Eval", EvalPointingFromFeedback.EvalPointingFromFeedback())
myMidca.append_module("Intend", SimpleIntend.SimpleIntend())
#myMidca.append_module("Plan", AsynchPyhopPlanner.AsynchPyhopPlanner(DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC))
myMidca.append_module("Plan", PyHopPlannerBroken.PyHopPlannerBroken(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC,
extinguishers=False))
myMidca.append_module("Act", AsynchronousAct.AsynchronousAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetectOld())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner(using_baxter=True))
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def UserGoalsMidca(domainFile, stateFile, goalsFile = None, extinguish = False):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world, verbose=1, display = asqiiDisplay, metaEnabled=True)
# add cognitive layer phases
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
# add cognitive layer modules
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(extinguish))
myMidca.append_module("Act", act.SimpleAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
planningbroken.PyHopPlannerBroken(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC,
extinguishers=False))
myMidca.append_module("Act", act.SimpleAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetectOld())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
#myMidca.mem.enableTracing(myMidca.trace)
myMidca.insert_module('Simulate',
simulator.ArsonSimulator(arsonChance=0.3, arsonStart=2),
1)
#myMidca.insert_module('Interpret', guide.TFStack(), 1)
myMidca.insert_module('Interpret', guide.TFFire(), 2)
def preferFire(goal1, goal2):
if 'predicate' not in goal1 or 'predicate' not in goal2: