def __init__(self,
environment_id=None,
correct_order=None,
fragsize=-1,
segment=True,
overlap=0):
"""
Initializes a fragment action object.
Args:
environment_id (str, optional): Environment ID of the strategy this object is a part of
correct_order (bool, optional): Whether or not the fragments/segments should be returned in the correct order
fragsize (int, optional): The index this packet should be cut. Defaults to -1, which cuts it in half.
segment (bool, optional): Whether we should perform fragmentation or segmentation
overlap (int, optional): How many bytes the fragments/segments should overlap
"""
Action.__init__(self, "fragment", "out")
self.enabled = True
self.branching = True
self.terminal = False
self.fragsize = fragsize
self.segment = segment
self.overlap = overlap
if correct_order == None:
self.correct_order = self.get_rand_order()
else:
self.correct_order = correct_order
def __init__(self,
environment_id=None,
field=None,
tamper_type=None,
tamper_value=None,
tamper_proto="TCP"):
"""
Creates a tamper object.
Args:
environment_id (str, optional): environment_id of a previously run strategy, used to find packet captures
field (str, optional): field that the object will tamper. If not set, all the parameters are chosen randomly
tamper_type (str, optional): primitive this tamper will use ("corrupt")
tamper_value (str, optional): value to tamper to
tamper_proto (str, optional): protocol we are tampering
"""
Action.__init__(self, "tamper", "both")
self.field = field
self.tamper_value = tamper_value
self.tamper_proto = actions.utils.string_to_protocol(tamper_proto)
self.tamper_proto_str = tamper_proto
self.tamper_type = tamper_type
if not self.tamper_type:
self._mutate_tamper_type()
if not self.field:
self._mutate(environment_id)
def append_episode(reward: float, bin_enum: Bin) -> None:
e = Episode()
a = Action(action_type='grasp')
a.reward = reward
a.bin = bin_enum
e.actions.append(a)
eh.append(e)
def calculate_pose(self, action: Action,
images: List[OrthographicImage]) -> None:
if action.type == 'grasp':
self.grasp_convert(action, images)
is_safe = self.grasp_check_safety(action, images)
elif action.type == 'shift':
self.shift_convert(action, images)
is_safe = self.shift_check_safety(action, images)
elif action.type == 'place':
self.place_convert(action, images)
is_safe = self.place_check_safety(action, images)
else:
raise Exception('Unknown action type f{action.type}.')
if not self.action_should_be_safe:
is_safe = True
if not is_safe:
action.safe = -1
elif not np.isfinite(action.pose.translation()).all():
action.safe = 0
else:
action.safe = 1
def make_action_speech_response(game_json: GameResponse,
action: Action) -> str:
"""
:param game_response: the JSON response from the game.
:param action: the action that was parsed.
:return: the speech response to say to the user indicating whether or not the action was performed.
"""
# Choose from negative or positive responses depending on whether the action could be performed.
if action_was_successful(game_json):
log_conversation('speech reply', 'positive')
responses = action.positive_responses(game_json)
else:
log_conversation('speech reply', 'negative')
responses = action.negative_responses(game_json)
if responses == []:
log_conversation('speech reply',
'empty response list, using transcription.json')
speech_reply = random_from_json(
'./failure_responses/transcription.json')
else:
random_index = randrange(0, len(responses))
speech_reply = responses[random_index]
log_conversation('success reply', speech_reply)
return speech_reply
def __init__(self, environment_id=None):
"""
Initializes this drop action.
Args:
environment_id (str, optional): Environment ID of the strategy we are a part of
"""
Action.__init__(self, "drop", "both")
self.terminal = True
self.branching = False
def test_action(self):
p = RobotPose()
self.assertEqual(p.d, 0.0)
a = Action()
a.index = 1
self.assertEqual(a.index, 1)
a_data = a.__dict__
self.assertEqual(a_data['index'], 1)
def setUpClass(self):
super(FlankingDecisionRulesTestCase, self).setUpClass()
self.bot1 = BotMock("bot1", 10)
self.bot2 = BotMock("bot2", 10)
self.action1 = {
self.bot1: Action(Action.ActionType.PREPARE_FLANKING_LEFT)}
self.action2 = {
self.bot2: Action(Action.ActionType.PREPARE_FLANKING_RIGHT)}
self.event1 = {self.bot1: Event(Event.EventType.STATUS_HAS_CHANGED)}
self.event2 = {self.bot2: Event(Event.EventType.STATUS_HAS_CHANGED)}
def __init__(self, start_ttl=1, end_ttl=64, environment_id=None):
Action.__init__(self, "trace", "out")
self.terminal = True
self.branching = False
self.start_ttl = start_ttl
self.end_ttl = end_ttl
# Since running this action might take enough time that additional packets
# get generated, only allow this action to run once
self.ran = False
# Define a socket
self.socket = conf.L3socket(iface=actions.utils.get_interface())
def __init__(self,
environment_id=None,
field=None,
tamper_type=None,
tamper_value=None,
tamper_proto="TCP"):
Action.__init__(self, "tamper", "both")
self.field = field
self.tamper_value = tamper_value
self.tamper_proto = actions.utils.string_to_protocol(tamper_proto)
self.tamper_proto_str = tamper_proto
self.tamper_type = tamper_type
def __init__(self, time=1, environment_id=None):
"""
Initializes the sleep action.
Args:
time (float): How much time the packet should delay before sending
environment_id (str, optional): Environment ID of the strategy this action is a part of
"""
Action.__init__(self, "sleep", "out")
self.terminal = False
self.branching = False
self.time = time
def place(self,
current_episode: Episode,
action_id: int,
action: Action,
action_frame: Affine,
image_frame: Affine,
place_bin=None):
place_bin = place_bin if place_bin else self.current_bin
self.move_to_safety(self.md)
md_approach_down = MotionData().with_dynamics(
0.22).with_z_force_condition(7.0)
md_approach_up = MotionData().with_dynamics(
1.0).with_z_force_condition(20.0)
action_approch_affine = Affine(z=Config.approach_distance_from_pose)
action_approach_frame = action_frame * action_approch_affine
if Config.release_in_other_bin:
self.move_to_release(self.md, target=action_approach_frame)
else:
self.robot.move_cartesian(Frames.gripper, action_approach_frame,
self.md)
self.robot.move_relative_cartesian(Frames.gripper,
action_approch_affine.inverse(),
md_approach_down)
if md_approach_down.did_break:
self.robot.recover_from_errors()
action.collision = True
self.robot.move_relative_cartesian(Frames.gripper, Affine(z=0.001),
md_approach_up)
action.final_pose = RobotPose(
affine=(image_frame.inverse() *
self.robot.current_pose(Frames.gripper)))
action.pose.d = self.gripper.width()
self.gripper.release(action.pose.d + 0.01) # [m]
if Config.mode is not Mode.Perform:
self.move_to_safety(md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images:
self.robot.move_cartesian(Frames.camera, image_frame, self.md)
self.last_after_images = self.take_images(current_bin=place_bin)
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)
def __init__(self,
environment_id=None,
field=None,
tamper_type=None,
tamper_value=None,
tamper_proto="TCP"):
Action.__init__(self, "tamper", "both")
self.field = field
self.tamper_value = tamper_value
self.tamper_proto = actions.utils.string_to_protocol(tamper_proto)
self.tamper_proto_str = tamper_proto
self.tamper_type = tamper_type
if not self.tamper_type:
self.tamper_type = random.choice(["corrupt", "replace"])
def init_store(self):
reducers = self.reducers
action = Action(None)
new_state = {}
for key in reducers:
new_state[key] = reducers[key](action)
return new_state
def infer(self, images: List[OrthographicImage],
method: SelectionMethod) -> Action:
if self.monte_carlo: # Adapt monte carlo progress parameter s
epoch_in_database = Loader.get_episode_count(Config.grasp_database)
s_not_bounded = (epoch_in_database - 3500) * 1 / (4500 - 3500)
self.inference.current_s = max(min(s_not_bounded, 1.0), 0.0)
current_model_st_mtime = Loader.get_model_path(
self.model).stat().st_mtime
if self.watch_for_model_modification and current_model_st_mtime > self.model_last_modified + 0.5: # [s]
logger.warning(f'Reload model {self.model}.')
try:
self.inference.model = Loader.get_model(
self.model, output_layer=self.output_layer)
self.model_last_modified = Loader.get_model_path(
self.model).stat().st_mtime
except OSError:
logger.info('Could not load model, probabily file locked.')
if len(images) == 3:
images[2].mat = images[2].mat[:, :, ::-1] # BGR to RGB
action = self.inference.infer(images, method)
self.indexer.to_action(action)
estimated_reward_lower_than_threshold = action.estimated_reward < Config.bin_empty_at_max_probability
bin_empty = estimated_reward_lower_than_threshold and Epoch.selection_method_should_be_high(
method)
if bin_empty:
return Action('bin_empty', safe=1)
self.converter.calculate_pose(action, images)
return action
def conclude(self, actions, events):
# TODO
# I'm too long, Fix me!
# chech if flanking right and left were commadned and executed
flanking_done = 0
flanking_expected = 0
actions_done = []
events_serviced = []
new_orders = []
flanked_units = []
for action in actions:
key = action.keys()[0]
if (action[key].action_type
== Action.ActionType.PREPARE_FLANKING_LEFT
or action[key].action_type
== Action.ActionType.PREPARE_FLANKING_RIGHT):
flanking_expected += 1
flanked_units.append(key)
actions_done.append(action)
related_event = get_event_from_key(key, events)
if related_event != None and related_event[
key].event_type == Event.EventType.STATUS_HAS_CHANGED:
flanking_done += 1
events_serviced.append(related_event)
if flanking_expected == flanking_done:
# clear events and action
for action in actions_done:
actions.remove(action)
for event in events_serviced:
events.remove(event)
for flanking_unit in flanked_units:
new_orders.append(
{flanking_unit: Action(Action.ActionType.ATTACK_BASE)})
return new_orders
def __str__(self):
"""
Returns a string representation.
"""
s = Action.__str__(self)
s += "{%d:%d}" % (self.start_ttl, self.end_ttl)
return s
def get_action(cls,
collection: str,
episode_id: str,
action_id: int,
suffix: Union[str, List[str]] = None) -> Any:
episode = Loader.get_episode(collection, episode_id)
if not episode:
raise Exception(f'Episode {episode_id} not found')
if not episode['actions'] or not (0 <= action_id < len(
episode['actions'])):
raise Exception(f'Episode {episode_id} has not enough actions.')
action = Action(data=episode['actions'][action_id])
if not suffix:
return action
if isinstance(suffix, str):
suffix = [suffix]
return (action, *[
cls.get_image(
collection, episode_id, action_id, s, images=action.images)
for s in suffix
])
def infer(self, images: List[OrthographicImage], method: SelectionMethod,
**params) -> List[Action]:
if self.monte_carlo: # Adapt monte carlo progress parameter s
epoch_in_collection = Loader.get_episode_count(Config.collection)
s_not_bounded = (epoch_in_collection - 3500) * 1 / (4500 - 3500)
self.inference.current_s = max(min(s_not_bounded, 1.0), 0.0)
self.check_for_model_reload()
if len(images) == 3:
images[2].mat = images[2].mat[:, :, ::-1] # BGR to RGB
action = self.inference.infer(images, method)
self.indexer.to_action(action)
print(action, method)
estimated_reward_lower_than_threshold = action.estimated_reward < Config.bin_empty_at_max_probability
bin_empty = estimated_reward_lower_than_threshold and Epoch.selection_method_should_be_high(
method)
if bin_empty:
return [Action('bin_empty', safe=1)]
self.converter.calculate_pose(action, images)
return [action]
def __str__(self):
"""
Returns a string representation.
"""
s = Action.__str__(self)
s += "{%g}" % self.time
return s
def test_constructor(self):
""" Should be correctly initialize with paramters."""
value = "value"
action = Action(Action.ActionType.PREPARE_FLANKING_LEFT, param="value")
self.assertIsNotNone(action)
self.assertEqual(action.action_type,
Action.ActionType.PREPARE_FLANKING_LEFT)
self.assertEqual(action.kwargs['param'], value)
def test_get_flaking_coordinates(self):
reference_position = Vector2(0, 0)
flanked_position = Vector2(0, 10)
firing_distance = 5
action_left = Action(Action.ActionType.PREPARE_FLANKING_LEFT,
flanking_distance=1.0)
action_rigth = Action(Action.ActionType.PREPARE_FLANKING_RIGHT,
flanking_distance=1.0)
flanking_left = self.coordinates_calculator.get_flanking_coordinates(
reference_position, flanked_position, firing_distance, action_left)
flanking_rigth = self.coordinates_calculator.get_flanking_coordinates(
reference_position, flanked_position, firing_distance,
action_rigth)
self.assertEqual(flanking_rigth[0].x, -flanking_left[0].x)
self.assertEqual(flanking_rigth[1].x, -flanking_left[1].x)
self.assertEqual(flanking_rigth[0].y, flanking_left[0].y)
self.assertEqual(flanking_rigth[1].y, flanking_left[1].y)
def to_action(self, action: Action) -> None:
gripper_index = action.index // len(self.angles)
angle_index = action.index % len(self.angles)
aff = Affine(b=self.angles[angle_index][0], c=self.angles[angle_index][1]) * action.pose
action.pose.b = aff.b
action.pose.c = aff.c
action.pose.d = self.gripper_classes[gripper_index]
action.type = 'grasp'
def action(user, output, action_name):
action = dict(([item for item in ACTION_CHOICES if action_name in item]))
if action:
function = action[action_name]
action_class = Action(user, output)
func = getattr(action_class, function)
response = func()
else:
response = None
return response
def get_image(cls,
collection: str,
episode_id: str,
action_id: int,
suffix: str,
images=None,
image_data=None,
as_float=False) -> OrthographicImage:
image = cv2.imread(
str(cls.get_image_path(collection, episode_id, action_id, suffix)),
cv2.IMREAD_UNCHANGED)
if image is None:
raise FileNotFoundError(
f'Image {collection} {episode_id} {action_id} {suffix} not found.'
)
if not as_float and image.dtype == np.uint8:
image = image.astype(np.uint16)
image *= 255
elif as_float:
mult = 255 if image.dtype == np.uint8 else 255 * 255
image = image.astype(np.float32)
image /= mult
if image_data:
image_data_result = {
'info': image_data['info'],
'pose': RobotPose(data=image_data['pose']),
}
elif images:
image_data_result = images[suffix]
else:
episode = cls.database[collection].find_one({'id': episode_id},
{'actions.images': 1})
if not episode or not episode['actions'] or not (
0 <= action_id < len(episode['actions'])):
raise Exception(
f'Internal mismatch of image {collection} {episode_id} {action_id} {suffix} not found.'
)
image_data_result = Action(
data=episode['actions'][action_id]).images[suffix]
return OrthographicImage(
image,
image_data_result['info']['pixel_size'],
image_data_result['info']['min_depth'],
image_data_result['info']['max_depth'],
suffix.split('-')[0],
image_data_result['pose'].to_array(),
# list(image_data_result['pose'].values()),
# Affine(image_data_result['pose']).to_array(),
)
def __init__(self,
environment_id=None,
correct_order=None,
fragsize=-1,
segment=True):
'''
correct_order specifies if the fragmented packets should come in the correct order
fragsize specifies how
'''
Action.__init__(self, "fragment", "out")
self.enabled = True
self.branching = True
self.terminal = False
self.fragsize = fragsize
self.segment = segment
if correct_order == None:
self.correct_order = self.get_rand_order()
else:
self.correct_order = correct_order
def __init__(self, start_ttl=1, end_ttl=64, environment_id=None):
"""
Initializes the trace action.
Args:
start_ttl (int): Starting TTL to use
end_ttl (int): TTL to end with
environment_id (str, optional): Environment ID associated with the strategy we are a part of
"""
Action.__init__(self, "trace", "out")
self.enabled = True
self.terminal = True
self.branching = False
self.start_ttl = start_ttl
self.end_ttl = end_ttl
# Since running this action might take enough time that additional packets
# get generated, only allow this action to run once
self.ran = False
# Define a socket
self.socket = conf.L3socket(iface=actions.utils.get_interface())
def __str__(self):
"""
Returns a string representation with the fragsize
"""
s = Action.__str__(self)
if self.segment:
s += "{" + "tcp" + ":" + str(self.fragsize) + ":" + str(
self.correct_order) + "}"
else:
s += "{" + "ip" + ":" + str(self.fragsize) + ":" + str(
self.correct_order) + "}"
return s
def place(
robot: Robot,
gripper: Gripper,
current_episode: Episode,
current_bin: Bin,
action: Action,
action_frame: Affine,
grasp_action: Action,
image_frame: Affine,
camera: Camera,
saver: Saver,
md: MotionData
) -> None:
move_to_safety(robot, md)
md_approach_down = MotionData().with_dynamics(0.3).with_z_force_condition(7.0)
md_approach_up = MotionData().with_dynamics(1.0).with_z_force_condition(20.0)
action_approch_affine = Affine(z=Config.approach_distance_from_pose)
action_approach_frame = action_frame * action_approch_affine
robot.move_cartesian(Frames.gripper, action_approach_frame, md)
robot.move_relative_cartesian(Frames.gripper, action_approch_affine.inverse(), md_approach_down)
if md_approach_down.did_break:
robot.recover_from_errors()
action.collision = True
robot.move_relative_cartesian(Frames.gripper, Affine(z=0.001), md_approach_up)
action.final_pose = RobotPose(affine=(image_frame.inverse() * robot.current_pose(Frames.gripper)))
gripper.release(grasp_action.final_pose.d + 0.006) # [m]
if Config.mode is not Mode.Perform:
move_to_safety(robot, md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images and Config.release_in_other_bin:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
def test_shift_conversion(self):
conv = Converter(shift_z_offset=0.0, box=self.box)
image = OrthographicImage(
self.read_image(self.file_path / self.image_name), 2000.0, 0.22,
0.4, '', Config.default_image_pose)
action = Action()
action.type = 'shift'
action.pose = RobotPose()
action.pose.x = -0.02
action.pose.y = 0.105
action.pose.a = 1.52
action.pose.d = 0.078
action.index = 1
action.shift_motion = [0.03, 0.0]
draw_pose(image, action.pose, convert_to_rgb=True)
draw_around_box(image, box=self.box, draw_lines=True)
imageio.imwrite(str(self.file_path / 'gen-shift-draw-pose.png'),
image.mat)
self.assertTrue(conv.shift_check_safety(action, [image]))
conv.calculate_pose(action, [image])
self.assertLess(action.pose.z, 0.0)
