writePort = 5150 readPort = 5151 DISPLAY_FUNC = util.asqiiDisplay DECLARE_METHODS_FUNC = methods.declare_methods DECLARE_OPERATORS_FUNC = operators.declare_ops argsPyHopPlanner = [util.pyhop_state_from_world, util.pyhop_tasks_from_goals, DECLARE_METHODS_FUNC, DECLARE_OPERATORS_FUNC] myMidca = predicateworld.UserGoalsMidca(domainFile = MIDCA_ROOT + "domains/blocksworld/arsonist.sim", stateFile = MIDCA_ROOT + "domains/blocksworld/states/defstate.sim", display = DISPLAY_FUNC, argsPyHopPlanner=argsPyHopPlanner) myMidca.append_module('Perceive', MAReporter.MAReporter(writePort)) myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance = 0.9, arsonStart = 2), 1) myMidca.insert_module('Simulate', simulator.FireReset(), 0) myMidca.insert_module('Interpret', TFStack.TFStack(), 1) myMidca.insert_module('Interpret', TFFire.TFFire(), 2) myMidca.insert_module('Interpret', MAQuery.MAQuery(readPort), 3) myMidca.insert_module('Eval', Scorer.Scorer(), 0) def preferApprehend(goal1, goal2): if 'predicate' not in goal1 or 'predicate' not in goal2: return 0 elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free': return -1 elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free': return 1 elif goal1['predicate'] == 'onfire' and goal2['predicate'] != 'onfire': return -1
def createMIDCAObj(self): # in this demo, always keep extinguish to false extinguish = False thisDir = os.path.dirname( os.path.abspath(inspect.getfile(inspect.currentframe()))) MIDCA_ROOT = thisDir + "/../" domainFile = MIDCA_ROOT + "worldsim/domains/arsonist.sim" stateFile = MIDCA_ROOT + "worldsim/states/defstate.sim" self.world = domainread.load_domain(domainFile) stateread.apply_state_file(self.world, stateFile) # creates a PhaseManager object, which wraps a MIDCA object myMidca = base.PhaseManager(self.world, display=asqiiDisplay, verbose=4) #asqiiDisplay(world) # add phases by name for phase in [ "Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act" ]: myMidca.append_phase(phase) # add the modules which instantiate basic blocksworld operation myMidca.append_module("Simulate", simulator.MidcaActionSimulator()) myMidca.append_module("Simulate", simulator.ASCIIWorldViewer()) myMidca.append_module("Perceive", perceive.PerfectObserver()) myMidca.append_module("Interpret", note.ADistanceAnomalyNoter()) # need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput()) myMidca.append_module("Eval", evaluate.SimpleEval()) myMidca.append_module("Intend", intend.SimpleIntend()) myMidca.append_module("Plan", planning.PyHopPlanner(extinguish)) myMidca.append_module("Act", act.SimpleAct()) myMidca.insert_module( 'Simulate', simulator.ArsonSimulator(arsonChance=self.arsonChanceArg, arsonStart=10), 1) myMidca.insert_module('Simulate', simulator.FireReset(), 0) myMidca.insert_module('Interpret', guide.TFStack(), 1) if self.usingTFTreeFire: myMidca.insert_module('Interpret', guide.TFFire(), 2) if self.usingSimulatedMA: myMidca.insert_module('Interpret', guide.ReactiveApprehend(), 3) myMidca.insert_module( 'Eval', evaluate.Scorer(), 1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval def preferApprehend(goal1, goal2): if 'predicate' not in goal1 or 'predicate' not in goal2: return 0 elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free': return -1 elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free': return 1 elif goal1['predicate'] == 'onfire' and goal2[ 'predicate'] != 'onfire': return -1 elif goal1['predicate'] != 'onfire' and goal2[ 'predicate'] == 'onfire': return 1 return 0 # tells the PhaseManager to copy and store MIDCA states so they can be accessed later. myMidca.storeHistory = False myMidca.initGoalGraph(cmpFunc=preferApprehend) ## DO NOT DO THIS: experiment.py will do this automatically: myMidca.init() print("Created MIDCA " + str(id(myMidca)) + " w/ arsonchance=" + str(self.arsonChanceArg) + ", usingTFTreeFire=" + str(self.usingTFTreeFire) + ",usingSimMA=" + str(self.usingSimulatedMA)) self.myMidca = myMidca self.initialized = True