def test_pipe(self):
data = (3, 1, 1, 1, 1, 0.1, 0.1, 1000)
expected = [1.0, 1.0, 0.7, 0.4]
tester = self.numeric_evaluator(expected)
coroutines = [co.sliding_window(3),
co.transformer(np.mean),
co.filterer(lambda x: 0 <= x <= 1),
tester]
pipe_tester = co.pipe(coroutines)
for d in data:
pipe_tester.send(d)
def __init__(self, coroutine, in_topic, in_typeneme,
out_topic, out_typename, *args, **kwargs):
super(ChainWith, self).__init__()
self.coroutine = coroutine
self.in_topic = in_topic
self.in_typeneme = in_typeneme
self.out_topic = out_topic
self.out_typename = out_typename
pipe = co.pipe([coroutine(*args, **kwargs),
co.publisher(self.out_topic, self.out_type)])
co.PipedSubscriber(self.in_topic, self.in_type, pipe)
def test_pipe(self):
data = (3, 1, 1, 1, 1, 0.1, 0.1, 1000)
expected = [1.0, 1.0, 0.7, 0.4]
tester = self.numeric_evaluator(expected)
coroutines = [
co.sliding_window(3),
co.transformer(np.mean),
co.filterer(lambda x: 0 <= x <= 1), tester
]
pipe_tester = co.pipe(coroutines)
for d in data:
pipe_tester.send(d)
def __init__(self, db_filename):
"""
Constructor.
Args:
db_filename (str): Filename of the Object DB to load.
"""
super(UncertaintyPublisher, self).__init__()
self.db_filename = db_filename
self.db = odbm.ObjectDBHelper(self.db_filename)
self.numeric_keys = self.numerize_db_keys()
rospy.on_shutdown(self.shutdown)
self.summary_pipe = \
co.pipe([co.mapper(self.summarize_results),
co.publisher('prediction_summary', PredictionSummary)])
# self.entropy_pipe = \
# co.pipe([co.mapper(calc_entropy),
# co.publisher('predictions_entropy', Uncertainty)])
# self.margin_pipe = \
# co.pipe([co.starmapper(calc_margin, None, self.numerize_array),
# co.publisher('predictions_margin', Uncertainty)])
# self.estimator_pipe = \
# co.pipe([co.starmapper(estimate, None, self.numerize_array),
# co.publisher('predicted_object', Prediction)])
# self.pipes = co.splitter(self.entropy_pipe,
# self.margin_pipe,
# self.estimator_pipe,
# self.summary_pipe)
# co.PipedSubscriber('named_predictions', NamedPredictions, self.pipes)
co.PipedSubscriber('named_predictions', NamedPredictions,
self.summary_pipe)
rospy.Subscriber('object_database_updated', Bool, self.callback)
Returns
-------
bool
A bool indicating whether to ask a question or not.
"""
randvalue = random.random()
should_ask = randvalue < jsd_value
rospy.logdebug("JSD: {}, Randval: {}, Going to Ask?: {}".format(
jsd_value, randvalue, should_ask))
return should_ask
pipe = co.pipe([
co.mapper(jensen_shannon_divergence),
co.filterer(should_ask_question),
co.do(lambda _: rospy.loginfo("Going to ask")),
co.publisher("should_ask_question", Bool)
])
_DEFAULT_NAME = 'al_asker_node'
if __name__ == '__main__':
try:
rospy.init_node(_DEFAULT_NAME)
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
co.PipedSubscriber('prediction_summary', PredictionSummary, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
import roslib
roslib.load_manifest('ocular_interaction')
import rospy
from rospy_utils import coroutines as co
from ocular_interaction import ocular_atom_translators as tr
from ocular_interaction import utils
from std_msgs.msg import String
from dialog_manager_msgs.msg import AtomMsg
def _log_atom(atom_msg):
"""Log an atom message."""
utils.log_atom(atom_msg, logger=rospy.logdebug)
if __name__ == '__main__':
try:
rospy.init_node('ocular_event_handler_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([
co.transformer(tr.object_name_to_atom),
co.do(_log_atom),
co.publisher('im_atom', AtomMsg)
])
co.PipedSubscriber('object_name', String, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
"""
import roslib
roslib.load_manifest('ocular_interaction')
from functools import partial
import rospy
from rospy_utils import coroutines as co
from ocular_interaction import ocular_action_translators as tr
from dialog_manager_msgs.msg import ActionMsg
from etts_msgs.msg import Utterance
is_action_valid = partial(tr.should_process_action,
actor_name="etts",
action_name="say_text")
if __name__ == '__main__':
try:
rospy.init_node('ocular_etts_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([
co.filterer(is_action_valid),
co.transformer(tr.action_to_etts),
co.publisher('etts', Utterance)
])
co.PipedSubscriber('im_action', ActionMsg, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
"""
msg_package, msg_name = msg_typename.split('/')
msg_full_typename = '.'.join([msg_package, 'msg', msg_name])
return rpyu.load_class(msg_full_typename)
if __name__ == '__main__':
# TODO: This is highly replicable for filter_node, accumulator, etc.
# At some point I will separate all the repeteable parts to a class
my_args = rospy.myargv(sys.argv)[1:]
f, in_topic, in_typename, out_topic, out_typename = parse_arguments(
my_args)
func = rpyu.load_class(f)
in_type = get_msg_type(in_typename)
out_type = get_msg_type(out_typename)
try:
rospy.init_node('topic_mapper')
pipe = co.pipe(
[co.transformer(func),
co.publisher(out_topic, out_type)])
subscriber = co.PipedSubscriber(in_topic, in_type, pipe)
rospy.loginfo("Node {} successfully started\nIt will map: {}\n"
"From: {} ({}) --> To: {} ({})".format(
rospy.get_name(), f, in_topic, in_typename,
out_topic, out_typename))
rospy.spin()
except rospy.ROSInterruptException:
pass
"""
Node that translates ObjectDescriptor Messages to AtomMsgs.
:author: Victor Gonzalez Pacheco
:maintainer: Victor Gonzalez Pacheco
"""
import roslib
roslib.load_manifest('ocular_interaction')
import rospy
from rospy_utils import coroutines as co
from ocular_interaction import ocular_atom_translators as tr
from dialog_manager_msgs.msg import AtomMsg
from ocular_msgs.msg import ObjectDescriptor
# from ocular_interaction import utils
if __name__ == '__main__':
try:
rospy.init_node('ocular_object_learned_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([co.transformer(tr.learned_object_to_atom),
# co.do(utils.log_atom),
co.publisher('im_atom', AtomMsg)])
co.PipedSubscriber('learned_object', ObjectDescriptor, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
def _init_node(node_name):
"""Common routines for start a node."""
rospy.init_node(node_name)
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
def _log_predictions(predictions, logger=rospy.loginfo):
"""Log predictions msg to logger."""
logger("Predictions RGB: {}".format(utils.blue(str(predictions.rgb))))
logger("Predictions PCloud: {}".format(utils.blue(str(
predictions.pcloud))))
_DEFAULT_NAME = 'predictions_namer'
if __name__ == '__main__':
db_filename = rospy.myargv(argv=sys.argv)[1]
rospy.loginfo("Object Database file: {}".format(utils.blue(db_filename)))
try:
_init_node(_DEFAULT_NAME)
pipe = co.pipe([
match_names(db_filename),
co.do(_log_predictions),
co.publisher('named_predictions', NamedPredictions)
])
co.PipedSubscriber('predictions', Predictions, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
from nltk.stem import SnowballStemmer as Stemmer
import rospy
from rospy_utils import coroutines as co
from asr_msgs.msg import open_grammar_recog_results as ASRmsg
from std_msgs.msg import String
from dialog_manager_msgs.msg import AtomMsg
from ocular_interaction import ocular_atom_translators as tr
from ocular_interaction import utils
atom_logger = partial(utils.log_atom, logger=rospy.loginfo)
translator_pipe = co.pipe([
co.transformer(tr.asr_first_noun_to_atom),
co.do(atom_logger),
co.publisher('im_atom', AtomMsg)
])
splitter = co.splitter(co.publisher('nouns_from_asr', String), translator_pipe)
def get_asr_content(asr_msg):
"""
Return the content of an ASR Msg.
Example:
>>> asrmsg = ASRmsg(content='Hello World', confidence=100.0, languageID=0)
>>> get_asr_content(asrmsg)
'Hello World'
>>> msg(data='Hello World!')
data: Hello World!
"""
msg_package, msg_name = msg_typename.split('/')
msg_full_typename = '.'.join([msg_package, 'msg', msg_name])
return rpyu.load_class(msg_full_typename)
if __name__ == '__main__':
# TODO: This is highly replicable for filter_node, accumulator, etc.
# At some point I will separate all the repeteable parts to a class
my_args = rospy.myargv(sys.argv)[1:]
f, in_topic, in_typename, out_topic, out_typename = parse_arguments(my_args)
func = rpyu.load_class(f)
in_type = get_msg_type(in_typename)
out_type = get_msg_type(out_typename)
try:
rospy.init_node('topic_mapper')
pipe = co.pipe([co.transformer(func),
co.publisher(out_topic, out_type)])
subscriber = co.PipedSubscriber(in_topic, in_type, pipe)
rospy.loginfo("Node {} successfully started\nIt will map: {}\n"
"From: {} ({}) --> To: {} ({})"
.format(rospy.get_name(),
f, in_topic, in_typename,
out_topic, out_typename))
rospy.spin()
except rospy.ROSInterruptException:
pass
try:
bagy.write(msg)
except ValueError:
bname = bagy.name
rospy.logdebug("Trying to write on closed bagy: {}".format(bname))
def _init_node(node_name):
"""Common routines for start a node."""
rospy.init_node(node_name)
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
_DEFAULT_NAME = 'robot_wardrive'
if __name__ == '__main__':
bagy_name = rospy.myargv(argv=sys.argv)[1]
rospy.loginfo("Bagy name is: {}".format(bagy_name))
bagy = Bagy(bagy_name, 'w', SignalLocation)
bagy_logger = partial(write_to_bagy, bagy=bagy)
try:
_init_node(_DEFAULT_NAME)
pipe = co.pipe([co.mapper(make_signal_location_msg),
co.do(bagy_logger),
co.publisher('signal_location', SignalLocation)])
co.PipedSubscriber('amcl_pose', PoseWithCovarianceStamped, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
finally:
bagy.close() # Close Bagy no mather how the program ends
actor_name="object_name_translator",
action_name="object_name")
def __get_object_name(string_msg):
"""Get the object name from a std_msgs/String."""
return String(data=utils.get_first_noun(string_msg.data))
def __log_object_name(string_msg):
"""Log to screen the object name."""
object_name = utils.normalize_word(string_msg.data)
rospy.logwarn("Object Name is: {}".format(object_name))
if __name__ == '__main__':
try:
rospy.init_node('ocular_object_name_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([
co.filterer(is_action_valid),
co.transformer(tr.action_to_object_name),
co.transformer(__get_object_name),
co.do(__log_object_name),
co.publisher('object_name', String)
])
co.PipedSubscriber('im_action', ActionMsg, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
# disponible en <URL a la LASR_UC3Mv1.0>.
"""
Node that translates EventHandler Messages to AtomMsgs.
:author: Victor Gonzalez Pacheco
:maintainer: Victor Gonzalez Pacheco
"""
import roslib
roslib.load_manifest('ocular_interaction')
import rospy
from rospy_utils import coroutines as co
from ocular_interaction import ocular_atom_translators as tr
from dialog_manager_msgs.msg import AtomMsg
from ocular.msg import EventHandler
if __name__ == '__main__':
try:
rospy.init_node('ocular_event_handler_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([
co.transformer(tr.event_handler_to_atom),
co.publisher('im_atom', AtomMsg)
])
co.PipedSubscriber('event_low_rate', EventHandler, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
"""
Node that translates ASR Messages to AtomMsgs.
:author: Victor Gonzalez Pacheco
:maintainer: Victor Gonzalez Pacheco
"""
import roslib
roslib.load_manifest('ocular_interaction')
import rospy
from rospy_utils import coroutines as co
from ocular_interaction import ocular_atom_translators as tr
from ocular_interaction import utils
from dialog_manager_msgs.msg import AtomMsg
from asr_msgs.msg import open_grammar_recog_results as ASRMsg
if __name__ == '__main__':
try:
rospy.init_node('ocular_asr_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
pipe = co.pipe([co.transformer(tr.asr_msg_to_atom),
co.do(utils.log_atom),
co.publisher('im_atom', AtomMsg)])
co.PipedSubscriber('open_grammar_results', ASRMsg, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
from ocular_interaction import ocular_atom_translators as tr
from ocular_interaction import utils
from ocular_msgs.msg import UncertaintyMetric
from dialog_manager_msgs.msg import AtomMsg
def _log_atom(atom_msg):
"""Log an atom message."""
utils.log_atom(atom_msg, logger=rospy.logdebug)
if __name__ == '__main__':
try:
rospy.init_node('ocular_predicted_object_translator')
rospy.loginfo("Initializing {} Node".format(rospy.get_name()))
translator = co.starmapper(tr.generic_atom_translator,
atom_name='uncertainty_metric')
pipe = co.pipe(
[translator,
co.do(_log_atom),
co.publisher('im_atom', AtomMsg)])
co.PipedSubscriber('predictions_entropy', UncertaintyMetric, pipe)
co.PipedSubscriber('predictions_margin', UncertaintyMetric, pipe)
rospy.spin()
except rospy.ROSInterruptException:
pass
from functools import partial
from itertools import ifilter
import rospy
from rospy_utils import coroutines as co
from rospy_utils import param_utils as pu
from asr_msgs.msg import open_grammar_recog_results as ASRmsg
from std_msgs.msg import String
from dialog_manager_msgs.msg import AtomMsg
from ocular_interaction import ocular_atom_translators as tr
from ocular_interaction import utils
atom_logger = partial(utils.log_atom, logger=rospy.loginfo)
translator_pipe = co.pipe([
co.transformer(tr.user_command_to_atom),
co.do(atom_logger),
co.publisher('im_atom', AtomMsg)
])
splitter = co.splitter(co.publisher('asr_command', String), translator_pipe)
def get_command(word, commands):
"""Check wether word is a command from the commands dictionary."""
try:
return commands.get(utils.to_infinitive(word), None)
except UnicodeDecodeError:
rospy.logwarn(
"UnicodeDecodeError while stemming word: {}".format(word))