def __init__(self):
QMainWindow.__init__(self)
self.setupUi(self)
self.recipeModel = recipeModel.Model(self.recipeTable)
self.instructionModel = instructionModel.Model(self.instructionTable)
self.windowManager = WindowManager(self.windowsMenu)
self.recipe_manager = RecipeManager("kitchenModel_1.5.pck")
self.recipeBrowser = recipeBrowser.MainWindow(self.recipe_manager)
self.recipeBrowser.show()
self.windowManager.addWindow(self.recipeBrowser)
self.costFunctionBrowser = costFunctionBrowser.MainWindow(
[0, 10, 0, 10], self.recipe_manager.task_planner)
self.costFunctionBrowser.save_state_tree = True
self.costFunctionBrowser.allow_null_action = False
self.windowManager.addWindow(self.costFunctionBrowser)
self.connect(
self.recipeTable.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectRecipe)
self.connect(self.sendInstructionButton, SIGNAL("clicked()"),
self.sendInstruction)
self.connect(self.sendRecipeButton, SIGNAL("clicked()"),
self.sendRecipe)
def testRecipeManager(self):
manager = RecipeManager("kitchenModel_1.5.pck")
recipes = Corpus("data/")
recipe = recipes[0]
try:
seq = manager.find_plan(recipe.instruction_text, recipe.start_state)
for instruction, state_seq, cost in seq:
for action, state in state_seq:
print "action", action.name
except:
print "problem on", recipe.name
raise
def __init__(self):
QMainWindow.__init__(self)
self.setupUi(self)
self.recipeModel = recipeModel.Model(self.recipeTable)
self.instructionModel = instructionModel.Model(self.instructionTable)
self.inferredInstructionModel = inferredInstructionModel.Model(
self.inferredTable)
#self.modeManager = WindowManager(self.modeMenu)
self.recipe_manager = RecipeManager("kitchenModel_1.5.pck")
## self.recipeBrowser = recipeBrowser.MainWindow(self.recipe_manager)
## self.recipeBrowser.show()
## self.windowManager.addWindow(self.recipeBrowser)
self.costFunctionBrowser = costFunctionBrowser.MainWindow(
[0, 10, 0, 10], self.recipe_manager.task_planner)
self.costFunctionBrowser.save_state_tree = True
self.costFunctionBrowser.allow_null_action = False
#self.windowManager.addWindow(self.costFunctionBrowser)
self.ev = evaluatorGui.Evaluator()
#TODO: Set title based on mode
self.setWindowTitle(
"Recipe Evaluation Browser - Instruction Level Mode")
self.connect(
self.recipeTable.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectRecipe)
self.connect(
self.instructionTable.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectInstruction)
class MainWindow(QMainWindow, recipeCorpusBrowser_ui.Ui_MainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.setupUi(self)
self.recipeModel = recipeModel.Model(self.recipeTable)
self.instructionModel = instructionModel.Model(self.instructionTable)
self.windowManager = WindowManager(self.windowsMenu)
self.recipe_manager = RecipeManager("kitchenModel_1.5.pck")
self.recipeBrowser = recipeBrowser.MainWindow(self.recipe_manager)
self.recipeBrowser.show()
self.windowManager.addWindow(self.recipeBrowser)
self.costFunctionBrowser = costFunctionBrowser.MainWindow(
[0, 10, 0, 10], self.recipe_manager.task_planner)
self.costFunctionBrowser.save_state_tree = True
self.costFunctionBrowser.allow_null_action = False
self.windowManager.addWindow(self.costFunctionBrowser)
self.connect(
self.recipeTable.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectRecipe)
self.connect(self.sendInstructionButton, SIGNAL("clicked()"),
self.sendInstruction)
self.connect(self.sendRecipeButton, SIGNAL("clicked()"),
self.sendRecipe)
def sendRecipe(self):
ar = self.recipeModel.selectedEntry()
self.recipeBrowser.load(ar)
def sendInstruction(self):
entry = self.instructionModel.selectedEntry()
recipe = self.recipeModel.selectedEntry()
esdc, ggg = self.recipe_manager.make_ggg_for_instruction(entry.text)
self.costFunctionBrowser.gggs = [ggg]
self.costFunctionBrowser.esdcs = [esdc]
start_state = recipe.idx_to_start_state(entry.idx)
print 'start', start_state
self.costFunctionBrowser.followCommand(entry.text,
state=start_state,
esdcs=[esdc])
for plan in self.costFunctionBrowser.plansList[0:10]:
result = self.recipe_manager.sequence(plan)
string = planningLanguage.decompile(result)
print "planning language", string
def selectRecipe(self):
ar = self.recipeModel.selectedEntry()
self.recipeTextEdit.setPlainText(ar.recipe_text)
self.instructionModel.setRecipe(ar)
self.instructionTable.selectRow(0)
def load(self, fname):
self.recipeTable.selectRow(0)
self.instructionTable.selectRow(0)
training_set = pickle_util.load("training.pck")
print "training", training_set
recipes = Corpus(fname, training_set)
self.recipeModel.setData(recipes)
self.recipeTable.sortByColumn(recipeModel.COL_IS_TRAINING_SET,
Qt.AscendingOrder)
self.recipeTable.selectRow(0)
class MainWindow(QMainWindow, recipeBrowser_ui.Ui_MainWindow):
def __init__(self, recipe_manager):
QMainWindow.__init__(self)
self.setupUi(self)
self.recipe_manager = recipe_manager
self.instructionModel = instructionModel.Model(self.instructionTable)
self.windowManager = WindowManager(self.windowsMenu)
self.recipe_manager = RecipeManager("kitchenModel_1.5.pck")
self.costFunctionBrowser = costFunctionBrowser.MainWindow(
[0, 10, 0, 10], self.recipe_manager.task_planner)
self.costFunctionBrowser.save_state_tree = True
self.costFunctionBrowser.allow_null_action = False
self.windowManager.addWindow(self.costFunctionBrowser)
self.connect(
self.instructionTable.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectInstruction)
self.connect(self.inferPlanButton, SIGNAL("clicked()"), self.inferPlan)
self.connect(self.sendToRobotButton, SIGNAL("clicked()"),
self.sendToRobot)
self.connect(self.sendInstructionToCfbButton, SIGNAL("clicked()"),
self.sendInstructionToCfb)
self.start_state = None
def selectInstruction(self):
print "select instruction"
def sendInstructionToCfb(self):
entry = self.instructionModel.selectedEntry()
esdc, ggg = self.recipe_manager.make_ggg_for_instruction(entry.text)
self.costFunctionBrowser.gggs = [ggg]
self.costFunctionBrowser.esdcs = [esdc]
self.costFunctionBrowser.followCommand(entry.text,
state=entry.start_state,
esdcs=[esdc])
for plan in self.costFunctionBrowser.plansList:
result = self.recipe_manager.sequence(plan)
string = planningLanguage.decompile(result)
print "planning language", string
def sendToRobot(self):
ingredients_str = "\n".join(i.ros_str()
for i in self.start_state.ingredients)
plan_string = "\n".join(
[e.annotation for e in self.instructionModel.entries])
print "send to robot."
print "ingredients"
print ingredients_str
print "plan"
print plan_string
self.sendToRos(ingredients_str + '\n' + plan_string)
def sendToRos(self, string):
import roslib
roslib.load_manifest('bakebot')
from services.bakebot_recipe_service import BakebotClient
status = BakebotClient.execute_recipe(string, debug=True)
print "ros status", status
def inferPlan(self):
print "follow command"
recipe_text = str(self.recipeTextEdit.toPlainText())
sequence = self.recipe_manager.find_plan(recipe_text, self.start_state)
entries = []
for i, (instruction, states, cost) in enumerate(sequence):
if i == 0:
start_state = self.start_state
else:
start_state = sequence[i - 1][1][-1][1]
annotation = planningLanguage.decompile(states)
entry = instructionModel.Entry(i, instruction.text, annotation,
start_state, cost)
entries.append(entry)
self.instructionModel.setData(entries)
def load(self, annotated_recipe):
self.recipeTextEdit.setPlainText(annotated_recipe.instruction_text)
self.recipeTitleLabel.setText(annotated_recipe.name)
self.start_state = annotated_recipe.start_state
self.annotated_recipe = annotated_recipe