def planner(self, goal):
aStarPlanner.actions = []
aStarPlanner.step = 0
currAction = ""
currPrecondition = ""
preconditionFlag = False
a = actionsList.actionsList()
print aStarPlanner.actions
if len(a.actionFromEffect[goal]) == 2:
currAction = findCheapest(goal)
else:
currAction = a.actionFromEffect[goal][0]
while preconditionFlag == False:
aStarPlanner.actions.append(currAction)
aStarPlanner.step += 1
currPrecondition = a.findPrecondition(currAction)
if a.checkEffect(currPrecondition) == True:
preconditionFlag = True
else:
if len(a.actionFromEffect[currPrecondition]) == 2:
currAction = aStarPlanner.findCheapest(currPrecondition)
else:
currAction = a.actionFromEffect[currPrecondition][0]
print "the list of actions is: " + str(aStarPlanner.actions)
def planner(self, goal):
aStarPlanner.actions = []
aStarPlanner.step = 0
currAction = ""
currPrecondition = ""
preconditionFlag = False
a = actionsList.actionsList()
print aStarPlanner.actions
if len(a.actionFromEffect[goal]) == 2:
currAction = findCheapest(goal)
else:
currAction = a.actionFromEffect[goal][0]
while preconditionFlag == False:
aStarPlanner.actions.append(currAction)
aStarPlanner.step+=1
currPrecondition = a.findPrecondition(currAction)
if a.checkEffect(currPrecondition) == True:
preconditionFlag = True
else:
if len(a.actionFromEffect[currPrecondition]) == 2:
currAction = aStarPlanner.findCheapest(currPrecondition)
else:
currAction = a.actionFromEffect[currPrecondition][0]
print "the list of actions is: " + str(aStarPlanner.actions)
def main():
#print "Enter the IP of the robot: "
#robotIP = raw_input()
#print "Enter the PORT of the robot: "
#robotPORT = int(raw_input())
global searchTime
searchTime = time.clock()
global memoryProxy
global postureProxy
global motionProxy
global speechProxy
global ballSub
global faceSub
goal.Goal.target = "Nothing"
print goal.Goal.target
a = actions.actionsInit()
a.init()
a.toggleAutoLife()
r = actions.rest()
r.rest()
action = actionsList.actionsList()
action.init()
memoryProxy = ALProxy("ALMemory")
postureProxy = ALProxy("ALRobotPosture")
motionProxy = ALProxy("ALMotion")
speechProxy = ALProxy("ALAnimatedSpeech")
global ballEvent
ballEvent = ballEventListener("ballEvent")
global faceEvent
faceEvent = faceEventListener("faceEvent")
actions.actionsInit.goalAchieved = True
try:
while True:
aStarPlanner()
time.sleep(1)
except KeyboardInterrupt:
ballEvent.unsub()
faceEvent.unsub()
actions.stopTracking()
quit()
def main():
#print "Enter the IP of the robot: "
#robotIP = raw_input()
#print "Enter the PORT of the robot: "
#robotPORT = int(raw_input())
global searchTime
searchTime = time.clock()
global memoryProxy
global postureProxy
global motionProxy
global speechProxy
global ballSub
global faceSub
goal.Goal.target = "Nothing"
print goal.Goal.target
a = actions.actionsInit()
a.init()
a.toggleAutoLife()
r = actions.rest()
r.rest()
action = actionsList.actionsList()
action.init()
memoryProxy = ALProxy("ALMemory")
postureProxy = ALProxy("ALRobotPosture")
motionProxy = ALProxy("ALMotion")
speechProxy = ALProxy("ALAnimatedSpeech")
global ballEvent
ballEvent = ballEventListener("ballEvent")
global faceEvent
faceEvent = faceEventListener("faceEvent")
actions.actionsInit.goalAchieved = True
try:
while True:
aStarPlanner()
time.sleep(1)
except KeyboardInterrupt:
ballEvent.unsub()
faceEvent.unsub()
actions.stopTracking()
quit()
def findCheapest(effect):
a = actionsList.actionsList()
actionCost1 = a.getCost(a.actionFromEffect[effect][0])
actionCost2 = a.getCost(a.actionFromEffect[effect][1])
if a.checkEffect(a.findPrecondition(a.actionFromEffect[effect][0])) == False:
actionCost1+=1
if a.checkEffecT(a.findPrecondition(a.actionFromEffect[effect][1])) == False:
actionCost2+=1
if actionCost1 <= actionCost2:
return a.actionFromEffect[effect][0]
else:
return a.actionFromEffect[effect][1]
def findCheapest(effect):
a = actionsList.actionsList()
actionCost1 = a.getCost(a.actionFromEffect[effect][0])
actionCost2 = a.getCost(a.actionFromEffect[effect][1])
if a.checkEffect(a.findPrecondition(
a.actionFromEffect[effect][0])) == False:
actionCost1 += 1
if a.checkEffecT(a.findPrecondition(
a.actionFromEffect[effect][1])) == False:
actionCost2 += 1
if actionCost1 <= actionCost2:
return a.actionFromEffect[effect][0]
else:
return a.actionFromEffect[effect][1]
def finiteStateMachine():
if actions.actionsInit.goalAchieved == True:
actions.stopTracking()
return
global step
global listOfActions
a = actionsList.actionsList()
goal.Goal.target = "Nothing"
print "The precondition is: " + str(
a.checkEffect(a.findPrecondition(listOfActions[0])))
if a.checkEffect(a.findPrecondition(
listOfActions[0])) == True and step > 1:
perform(listOfActions[0])
del listOfActions[0]
step -= 1
elif a.checkEffect(a.findPrecondition(
listOfActions[0])) == True and step == 1:
perform(listOfActions[0])
del listOfActions[0]
step -= 1
print "Goalachieved is: " + str(actions.actionsInit.goalAchieved)
if actions.actionsInit.goalAchieved == True:
for index in range(len(listOfActions)):
del listOfActions[0]
print "returning"
return
print listOfActions
if step == 0:
actions.actionsInit.goalAchieved = True
else:
actions.actionsInit.goalAchieved = False
def finiteStateMachine():
if actions.actionsInit.goalAchieved == True:
actions.stopTracking()
return
global step
global listOfActions
a = actionsList.actionsList()
goal.Goal.target = "Nothing"
print "The precondition is: " + str(a.checkEffect(a.findPrecondition(listOfActions[0])))
if a.checkEffect(a.findPrecondition(listOfActions[0])) == True and step > 1:
perform(listOfActions[0])
del listOfActions[0]
step-=1
elif a.checkEffect(a.findPrecondition(listOfActions[0])) == True and step == 1:
perform(listOfActions[0])
del listOfActions[0]
step-=1
print "Goalachieved is: " + str(actions.actionsInit.goalAchieved)
if actions.actionsInit.goalAchieved == True:
for index in range(len(listOfActions)):
del listOfActions[0]
print "returning"
return
print listOfActions
if step == 0:
actions.actionsInit.goalAchieved = True
else:
actions.actionsInit.goalAchieved = False
def perform(action):
global movX
global movY
global movR
global target
aList = actionsList.actionsList()
print "Performing: " + action + "..."
if action == "moveTo":
m = actions.moveTo()
m.move(movX, movY, movR)
elif action == "wakeUp":
w = actions.wakeUp()
w.wake()
elif action == "rest":
r = actions.rest()
r.rest()
elif action == "kickBall":
k = actions.kickBall()
k.kick()
elif action == "stand":
s = actions.stand()
s.goToStand()
elif action == "trackBall":
b = actions.trackBall()
b.track("RedBall")
elif action == "trackFace":
f = actions.trackFace()
f.track("Face")
elif action == "followFace":
ff = actions.followFace()
ff.follow()
elif action == "moveToFace":
print "at perform"
mf = actions.moveToFace()
mf.move()
elif action == "moveToBall":
mb = actions.moveToBall()
mb.move()
elif action == "searchForObject":
so = actions.searchForObject()
ballEvent.sub()
faceEvent.sub()
so.search()
if faceSub == True:
faceEvent.unsub()
if ballSub == True:
ballEvent.unsub()
searchTime = time.clock
elif action == "robotIdle":
ri = actions.robotIdle()
ri.idle()
elif action == "greetFace":
gf = actions.greetFace()
gf.greet()
else:
print "Error actions is not supported. Shutting down."
exit()
aList.setupCheckEffect()
def perform(action):
global movX
global movY
global movR
global target
aList = actionsList.actionsList()
print "Performing: " + action + "..."
if action == "moveTo":
m = actions.moveTo()
m.move(movX, movY, movR)
elif action == "wakeUp":
w = actions.wakeUp()
w.wake()
elif action == "rest":
r = actions.rest()
r.rest()
elif action == "kickBall":
k = actions.kickBall()
k.kick()
elif action == "stand":
s = actions.stand()
s.goToStand()
elif action == "trackBall":
b = actions.trackBall()
b.track("RedBall")
elif action == "trackFace":
f = actions.trackFace()
f.track("Face")
elif action == "followFace":
ff = actions.followFace()
ff.follow()
elif action == "moveToFace":
print "at perform"
mf = actions.moveToFace()
mf.move()
elif action == "moveToBall":
mb = actions.moveToBall()
mb.move()
elif action == "searchForObject":
so = actions.searchForObject()
ballEvent.sub()
faceEvent.sub()
so.search()
if faceSub == True:
faceEvent.unsub()
if ballSub == True:
ballEvent.unsub()
searchTime = time.clock
elif action == "robotIdle":
ri = actions.robotIdle()
ri.idle()
elif action == "greetFace":
gf = actions.greetFace()
gf.greet()
else:
print "Error actions is not supported. Shutting down."
exit()
aList.setupCheckEffect()
