def process_inconsistencies(room, element):
inconsistency = get_inconsistency_for_element(
room, element
) #inconsistency = [type of inconsistency, new_object_ID, [old_related_object_ID]]
objectType = global_vars.prolog_service_handle(
"objectType",
[inconsistency[1], "Z"]).ris[0].atoms[1].replace("_", " ")
if ("EMPTY" == inconsistency[0]):
msg = "MemResOther_I have memorized %s" % objectType
elif ("EQUAL" == inconsistency[0]):
global_vars.remove_object_by_name.publish(
String(get_obj_sem_map_name(inconsistency[1])))
msg = "MemResOther_I already know that %s is here" % objectType
elif ("SYNONYM" == inconsistency[0]):
oldObjectType = global_vars.prolog_service_handle(
"objectType",
[inconsistency[2][0], "Z"]).ris[0].atoms[1].replace("_", " ")
global_vars.remove_object_by_name.publish(
String(get_obj_sem_map_name(inconsistency[1])))
msg = "MemResOther_I know that %s is here and that %s is a synonym" % (
oldObjectType, objectType)
elif ("MORE_GENERAL" == inconsistency[0]):
oldObjectType = global_vars.prolog_service_handle(
"objectType",
[inconsistency[2][0], "Z"]).ris[0].atoms[1].replace("_", " ")
global_vars.remove_object_by_name.publish(
String(get_obj_sem_map_name(inconsistency[1])))
msg = "MemResOther_I know that %s is here and that is more specific than %s" % (
oldObjectType, objectType)
elif ("LESS_GENERAL" == inconsistency[0]):
oldObjectType = global_vars.prolog_service_handle(
"objectType",
[inconsistency[2][0], "Z"]).ris[0].atoms[1].replace("_", " ")
global_vars.remove_object_by_name.publish(
String(get_obj_sem_map_name(inconsistency[2][0])))
msg = "MemResOther_I know that %s is here and that is more general than %s" % (
oldObjectType, objectType)
elif ("DIFFERENT" == inconsistency[0]):
objectType = ""
objectID = ""
for i in inconsistency[2]:
result = global_vars.prolog_service_handle("objectType", [i, "Z"])
objectType = (objectType +
result.ris[0].atoms[1].replace("_", " ") +
",").replace("_", "#")
objectID = (objectID + i + ",").replace("_", "#")
msg = "MemResDiff_" + objectType[:-1] + "_" + objectID[:-1]
log_to_terminal("Sending acknowledge mesage %s for object %s" %
(msg, element))
global_vars.event_pub.publish(msg)
return inconsistency[0]
def process_inconsistencies(room, element):
inconsistency = get_inconsistency_for_element(
room, element
) # inconsistency = [type of inconsistency, new_object_ID, [old_related_object_ID]]
objectType = (
global_vars.prolog_service_handle("objectType", [inconsistency[1], "Z"]).ris[0].atoms[1].replace("_", " ")
)
if "EMPTY" == inconsistency[0]:
msg = "MemResOther_I have memorized %s" % objectType
elif "EQUAL" == inconsistency[0]:
global_vars.remove_object_by_name.publish(String(get_obj_sem_map_name(inconsistency[1])))
msg = "MemResOther_I already know that %s is here" % objectType
elif "SYNONYM" == inconsistency[0]:
oldObjectType = (
global_vars.prolog_service_handle("objectType", [inconsistency[2][0], "Z"])
.ris[0]
.atoms[1]
.replace("_", " ")
)
global_vars.remove_object_by_name.publish(String(get_obj_sem_map_name(inconsistency[1])))
msg = "MemResOther_I know that %s is here and that %s is a synonym" % (oldObjectType, objectType)
elif "MORE_GENERAL" == inconsistency[0]:
oldObjectType = (
global_vars.prolog_service_handle("objectType", [inconsistency[2][0], "Z"])
.ris[0]
.atoms[1]
.replace("_", " ")
)
global_vars.remove_object_by_name.publish(String(get_obj_sem_map_name(inconsistency[1])))
msg = "MemResOther_I know that %s is here and that is more specific than %s" % (oldObjectType, objectType)
elif "LESS_GENERAL" == inconsistency[0]:
oldObjectType = (
global_vars.prolog_service_handle("objectType", [inconsistency[2][0], "Z"])
.ris[0]
.atoms[1]
.replace("_", " ")
)
global_vars.remove_object_by_name.publish(String(get_obj_sem_map_name(inconsistency[2][0])))
msg = "MemResOther_I know that %s is here and that is more general than %s" % (oldObjectType, objectType)
elif "DIFFERENT" == inconsistency[0]:
objectType = ""
objectID = ""
for i in inconsistency[2]:
result = global_vars.prolog_service_handle("objectType", [i, "Z"])
objectType = (objectType + result.ris[0].atoms[1].replace("_", " ") + ",").replace("_", "#")
objectID = (objectID + i + ",").replace("_", "#")
msg = "MemResDiff_" + objectType[:-1] + "_" + objectID[:-1]
log_to_terminal("Sending acknowledge mesage %s for object %s" % (msg, element))
global_vars.event_pub.publish(msg)
return inconsistency[0]
def calculate_and_assert_rooms_center_and_type(room_list, asserting=True):
room_type_list = ["office", "room", "corridor", "printerRoom", "phdRoom"]
for room in room_list:
centroid = global_vars.prolog_service_handle("roomCellCentroid", [room, "X", "Y"]).ris[0]
room_center = [int(round(float(centroid.atoms[1]))), int(round(float(centroid.atoms[2])))]
room_type_in_list = False
for room_type in room_type_list:
if room_type in room.lower():
logical_form = "roomType(%s,%s)" % (room, room_type)
room_type_in_list = True
if not room_type_in_list:
logical_form = "roomType(%s,%s)" % (room, room)
logical_form1 = "roomCenter(%s,%s,%s)" % (room, room_center[0], room_center[1])
logical_form2 = "dyn_node(%s,%s,%s)" % (room, room_center[0], room_center[1])
global_vars.prolog_files["rooms"].write(logical_form + ".\n")
global_vars.prolog_files["rooms"].write(logical_form1 + ".\n")
global_vars.prolog_files["graph"].write(logical_form2 + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
global_vars.prolog_assert_handle(logical_form1)
global_vars.prolog_assert_handle(logical_form2)
def calculate_and_assert_rooms_center_and_type(room_list, asserting=True):
room_type_list = ["office", "room", "corridor", "printerRoom", "phdRoom"]
for room in room_list:
centroid = global_vars.prolog_service_handle("roomCellCentroid",
[room, "X", "Y"]).ris[0]
room_center = [
int(round(float(centroid.atoms[1]))),
int(round(float(centroid.atoms[2])))
]
room_type_in_list = False
for room_type in room_type_list:
if room_type in room.lower():
logical_form = "roomType(%s,%s)" % (room, room_type)
room_type_in_list = True
if not room_type_in_list:
logical_form = "roomType(%s,%s)" % (room, room)
logical_form1 = "roomCenter(%s,%s,%s)" % (room, room_center[0],
room_center[1])
logical_form2 = "dyn_node(%s,%s,%s)" % (room, room_center[0],
room_center[1])
global_vars.prolog_files["rooms"].write(logical_form + ".\n")
global_vars.prolog_files["rooms"].write(logical_form1 + ".\n")
global_vars.prolog_files["graph"].write(logical_form2 + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
global_vars.prolog_assert_handle(logical_form1)
global_vars.prolog_assert_handle(logical_form2)
def is_object_specialization_of(object1, object2):
try:
result = global_vars.prolog_service_handle("isA", [object1, object2])
if len(result.ris) != 0:
return True
except:
return False
def is_object_specialization_of(object1, object2):
try:
result = global_vars.prolog_service_handle('isA', [object1, object2])
if (len(result.ris) != 0):
return True
except:
return False
def get_inconsistency_for_element(room, element):
old_objects = []
element_cells = []
element_type = get_obj_type(element)
element = get_obj_atom(room, element)
result = global_vars.prolog_service_handle("objectPos",
[element, "X", "Y", "Z"])
for answer in result.ris:
element_cells.append([answer.atoms[1], answer.atoms[2]])
for coords in element_cells:
result = global_vars.prolog_service_handle(
"objectPos", ["X", coords[0], coords[1], "Z"])
for answer in result.ris:
old_objects.append(answer.atoms[0])
#remove double entries
old_objects = list(set(old_objects))
old_objects.remove(element)
inconsistency = ["EMPTY", element, [""]]
for i in xrange(len(old_objects)):
old_object_type = get_obj_type(old_objects[i])
if old_object_type == element_type:
inconsistency = ["EQUAL", element, [old_objects[i]]]
break
elif is_object_synonym_of(element_type, old_object_type):
inconsistency = ["SYNONYM", element, [old_objects[i]]]
break
elif is_object_generalization_of(element_type, old_object_type):
inconsistency = ["MORE_GENERAL", element, [old_objects[i]]]
break
elif is_object_specialization_of(element_type, old_object_type):
inconsistency = ["LESS_GENERAL", element, [old_objects[i]]]
break
else:
inconsistency = ["DIFFERENT", element, old_objects]
log_to_terminal("Found inconsistency %s for object %s." %
(inconsistency, element))
return inconsistency
def is_object_synonym_of(object1, object2):
try:
result = global_vars.prolog_service_handle("synonym", [object1, object2])
if len(result.ris) != 0:
return True
else:
return False
except:
return False
def get_inconsistency_for_element(room, element):
old_objects = []
element_cells = []
element_type = get_obj_type(element)
element = get_obj_atom(room, element)
result = global_vars.prolog_service_handle("objectPos", [element, "X", "Y", "Z"])
for answer in result.ris:
element_cells.append([answer.atoms[1], answer.atoms[2]])
for coords in element_cells:
result = global_vars.prolog_service_handle("objectPos", ["X", coords[0], coords[1], "Z"])
for answer in result.ris:
old_objects.append(answer.atoms[0])
# remove double entries
old_objects = list(set(old_objects))
old_objects.remove(element)
inconsistency = ["EMPTY", element, [""]]
for i in xrange(len(old_objects)):
old_object_type = get_obj_type(old_objects[i])
if old_object_type == element_type:
inconsistency = ["EQUAL", element, [old_objects[i]]]
break
elif is_object_synonym_of(element_type, old_object_type):
inconsistency = ["SYNONYM", element, [old_objects[i]]]
break
elif is_object_generalization_of(element_type, old_object_type):
inconsistency = ["MORE_GENERAL", element, [old_objects[i]]]
break
elif is_object_specialization_of(element_type, old_object_type):
inconsistency = ["LESS_GENERAL", element, [old_objects[i]]]
break
else:
inconsistency = ["DIFFERENT", element, old_objects]
log_to_terminal("Found inconsistency %s for object %s." % (inconsistency, element))
return inconsistency
def get_synonym(obj):
synonym = obj
try:
synonym = global_vars.prolog_service_handle("synonym", [obj, "X"]).ris[0].atoms[1]
log_to_terminal("Found the synonym %s" % synonym)
except:
log_to_terminal("Could not find a synonym for %s" % synonym)
return synonym
def is_object_synonym_of(object1, object2):
try:
result = global_vars.prolog_service_handle('synonym',
[object1, object2])
if (len(result.ris) != 0):
return True
else:
return False
except:
return False
def get_synonym(obj):
synonym = obj
try:
synonym = global_vars.prolog_service_handle('synonym',
[obj, "X"]).ris[0].atoms[1]
log_to_terminal("Found the synonym %s" % synonym)
except:
log_to_terminal("Could not find a synonym for %s" % synonym)
return synonym
