def initDialogue(self):
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
from ltlbroom.specgeneration import SpecGenerator
_SLURP_SPEC_GENERATOR = SpecGenerator()
# Filter out regions it shouldn't know about
filtered_regions = [
region.name
for region in self.proj.rfi.regions
if not (region.isObstacle or region.name.lower() == "boundary")
]
sensorList = copy.deepcopy(self.proj.enabled_sensors)
robotPropList = self.proj.enabled_actuators + self.proj.all_customs
text = self.proj.specText
LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = _SLURP_SPEC_GENERATOR.generate(
text, sensorList, filtered_regions, robotPropList, self.proj.currentConfig.region_tags
)
from ltlbroom.dialog import DialogManager
self.dialogueManager = DialogManager(traceback)
def getCurrentGoalDescription(self):
""" Return a description (in the specification language) of
the goal currently being pursued (jx).
If no automaton is loaded, return None. """
if not self.aut:
return None
curr_goal_num = self.getCurrentGoalNumber()
if self.proj.compile_options["parser"] == "slurp":
# Import the SLURP dialog manager, if necessary
try:
dm = self.SLURPDialogManager
except AttributeError:
# Add SLURP to path for import
sys.path.append(
os.path.join(project.get_ltlmop_root(), "src", "etc",
"SLURP"))
from ltlbroom.dialog import DialogManager
self.SLURPDialogManager = DialogManager()
dm = self.SLURPDialogManager
dm.set_gen_tree(self.parserTraceback)
return dm.explain_goal(int(curr_goal_num))
else:
return str(curr_goal_num)
def initDialogue(self):
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
from ltlbroom.specgeneration import SpecGenerator
_SLURP_SPEC_GENERATOR = SpecGenerator()
# Filter out regions it shouldn't know about
filtered_regions = [region.name for region in self.proj.rfi.regions
if not (region.isObstacle or region.name.lower() == "boundary")]
sensorList = copy.deepcopy(self.proj.enabled_sensors)
robotPropList = self.proj.enabled_actuators + self.proj.all_customs
text = self.proj.specText
LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = \
_SLURP_SPEC_GENERATOR.generate(text, sensorList, filtered_regions, robotPropList,
self.hsub.executing_config.region_tags)
from ltlbroom.dialog import DialogManager
self.dialogueManager = DialogManager(traceback)
class SimGUI_Frame(wx.Frame):
def __init__(self, *args, **kwds):
# begin wxGlade: SimGUI_Frame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.window_1 = wx.SplitterWindow(self, -1, style=wx.SP_3D|wx.SP_BORDER|wx.SP_LIVE_UPDATE)
self.window_1_pane_2 = wx.Panel(self.window_1, -1)
self.notebook_1 = wx.Notebook(self.window_1_pane_2, -1, style=0)
self.notebook_1_pane_2 = wx.Panel(self.notebook_1, -1)
self.notebook_1_pane_1 = wx.Panel(self.notebook_1, -1)
self.window_1_pane_1 = wx.Panel(self.window_1, -1)
self.text_ctrl_sim_log = wx.richtext.RichTextCtrl(self.notebook_1_pane_1, -1, "", style=wx.TE_MULTILINE|wx.TE_READONLY)
self.text_ctrl_slurpout = wx.richtext.RichTextCtrl(self.notebook_1_pane_2, -1, "", style=wx.TE_MULTILINE|wx.TE_READONLY)
self.text_ctrl_slurpin = wx.TextCtrl(self.notebook_1_pane_2, -1, "", style=wx.TE_PROCESS_ENTER)
self.button_SLURPsubmit = wx.Button(self.notebook_1_pane_2, -1, "Submit")
self.button_sim_startPause = wx.Button(self.window_1_pane_2, -1, "Start")
self.button_sim_log_clear = wx.Button(self.window_1_pane_2, -1, "Clear Log")
self.button_sim_log_export = wx.Button(self.window_1_pane_2, -1, "Export Log...")
self.label_1 = wx.StaticText(self.window_1_pane_2, -1, "Show log messages for:")
self.checkbox_statusLog_targetRegion = wx.CheckBox(self.window_1_pane_2, -1, "Target region announcements")
self.checkbox_statusLog_propChange = wx.CheckBox(self.window_1_pane_2, -1, "System proposition changes")
self.checkbox_statusLog_border = wx.CheckBox(self.window_1_pane_2, -1, "Region border crossings")
self.checkbox_statusLog_other = wx.CheckBox(self.window_1_pane_2, -1, "Other debugging messages")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_TEXT_ENTER, self.onSLURPSubmit, self.text_ctrl_slurpin)
self.Bind(wx.EVT_BUTTON, self.onSLURPSubmit, self.button_SLURPsubmit)
self.Bind(wx.EVT_BUTTON, self.onSimStartPause, self.button_sim_startPause)
self.Bind(wx.EVT_BUTTON, self.onSimClear, self.button_sim_log_clear)
self.Bind(wx.EVT_BUTTON, self.onSimExport, self.button_sim_log_export)
self.Bind(wx.EVT_SPLITTER_SASH_POS_CHANGED, self.onResize, self.window_1)
# end wxGlade
self.window_1_pane_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
self.window_1_pane_1.Bind(wx.EVT_PAINT, self.onPaint)
self.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.proj = project.Project()
self.proj.setSilent(True)
# Make status bar at bottom.
self.sb = wx.StatusBar(self)
self.SetStatusBar(self.sb)
self.sb.SetFieldsCount(1)
self.sb.SetStatusText("PAUSED")
self.button_sim_log_export.Enable(False)
# Connect to executor
try:
executor_port = int(sys.argv[1])
except ValueError:
print "ERROR: Invalid port '{}'".format(arg)
sys.exit(2)
self.executorProxy = xmlrpclib.ServerProxy("http://127.0.0.1:{}".format(executor_port), allow_none=True)
# Create the XML-RPC server
# Search for a port we can successfully bind to
while True:
listen_port = random.randint(10000, 65535)
try:
self.xmlrpc_server = SimpleXMLRPCServer(("127.0.0.1", listen_port), logRequests=False, allow_none=True)
except socket.error as e:
pass
else:
break
# Register functions with the XML-RPC server
self.xmlrpc_server.register_function(self.handleEvent)
# Kick off the XML-RPC server thread
self.XMLRPCServerThread = threading.Thread(target=self.xmlrpc_server.serve_forever)
self.XMLRPCServerThread.daemon = True
self.XMLRPCServerThread.start()
print "SimGUI listening for XML-RPC calls on http://127.0.0.1:{} ...".format(listen_port)
# Register with executor for event callbacks
self.executorProxy.registerExternalEventTarget("http://127.0.0.1:{}".format(listen_port))
self.robotPos = None
self.robotVel = (0,0)
self.markerPos = None
self.dialogueManager = None
self.currentGoal = None
self.Bind(wx.EVT_CLOSE, self.onClose)
def loadRegionFile(self, filename):
self.proj.rfi = regions.RegionFileInterface()
self.proj.rfi.readFile(filename)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.onResize()
def loadSpecFile(self, filename):
self.proj.loadProject(filename)
self.hsub = handlerSubsystem.HandlerSubsystem(None, self.proj.project_root)
config, success = self.hsub.loadConfigFile(self.proj.current_config)
if success: self.hsub.configs.append(config)
self.hsub.setExecutingConfig(self.proj.current_config)
self.Bind(wx.EVT_SIZE, self.onResize, self)
if self.proj.compile_options["parser"] == "slurp":
self.initDialogue()
else:
self.notebook_1.DeletePage(1)
self.onResize()
def handleEvent(self, eventType, eventData):
"""
Processes messages from the controller, and updates the GUI accordingly
"""
# Update stuff (should put these in rough order of frequency for optimal speed
if eventType == "FREQ":
wx.CallAfter(self.sb.SetStatusText, "Running at approximately {}Hz...".format(eventData), 0)
elif eventType == "POSE":
self.robotPos = eventData
wx.CallAfter(self.onPaint)
elif eventType == "MARKER":
self.markerPos = eventData
wx.CallAfter(self.onPaint)
elif eventType == "VEL":
# We can't plot anything before we have a map
if self.mapBitmap is None:
print "Received drawing command before map. You probably have an old execute.py process running; please kill it and try again."
return
[x,y] = eventData
[x,y] = map(int, (self.mapScale*x, self.mapScale*y))
self.robotVel = (x, y)
elif eventType == "PAUSE":
wx.CallAfter(self.sb.SetStatusText, "PAUSED.", 0)
elif eventType == "SPEC":
wx.CallAfter(self.loadSpecFile, eventData)
elif eventType == "REGIONS":
wx.CallAfter(self.loadRegionFile, eventData)
else:
if isinstance(eventData, basestring):
if eventData.startswith("Output proposition"):
if self.checkbox_statusLog_propChange.GetValue():
wx.CallAfter(self.appendLog, eventData + "\n", color="GREEN")
elif eventData.startswith("Heading to"):
if self.checkbox_statusLog_targetRegion.GetValue():
wx.CallAfter(self.appendLog, eventData + "\n", color="BLUE")
elif eventData.startswith("Crossed border"):
if self.checkbox_statusLog_border.GetValue():
wx.CallAfter(self.appendLog, eventData + "\n", color="CYAN")
# Detect our current goal index
elif eventData.startswith("Currently pursuing goal"):
m = re.search(r"#(\d+)", eventData)
if m is not None:
self.currentGoal = int(m.group(1))
elif self.checkbox_statusLog_other.GetValue():
if eventData != "":
wx.CallAfter(self.appendLog, eventData + "\n", color="BLACK")
elif self.checkbox_statusLog_other.GetValue():
if eventData != "":
wx.CallAfter(self.appendLog, str(eventData) + "\n", color="BLACK")
def __set_properties(self):
# begin wxGlade: SimGUI_Frame.__set_properties
self.SetTitle("Simulation Status")
self.SetSize((836, 713))
self.button_SLURPsubmit.SetDefault()
self.checkbox_statusLog_targetRegion.SetValue(1)
self.checkbox_statusLog_propChange.SetValue(1)
self.checkbox_statusLog_border.SetValue(1)
self.checkbox_statusLog_other.SetValue(1)
# end wxGlade
def __do_layout(self):
# begin wxGlade: SimGUI_Frame.__do_layout
sizer_1 = wx.BoxSizer(wx.VERTICAL)
sizer_2 = wx.BoxSizer(wx.HORIZONTAL)
sizer_5 = wx.BoxSizer(wx.HORIZONTAL)
sizer_43_copy_1 = wx.BoxSizer(wx.VERTICAL)
sizer_3 = wx.BoxSizer(wx.VERTICAL)
sizer_43_copy_copy = wx.BoxSizer(wx.VERTICAL)
sizer_6 = wx.BoxSizer(wx.VERTICAL)
sizer_7 = wx.BoxSizer(wx.HORIZONTAL)
sizer_4 = wx.BoxSizer(wx.HORIZONTAL)
sizer_5.Add((5, 30), 0, 0, 0)
sizer_43_copy_copy.Add((20, 5), 0, 0, 0)
sizer_4.Add(self.text_ctrl_sim_log, 1, wx.ALL|wx.EXPAND, 5)
self.notebook_1_pane_1.SetSizer(sizer_4)
sizer_6.Add(self.text_ctrl_slurpout, 1, wx.ALL|wx.EXPAND, 5)
sizer_7.Add(self.text_ctrl_slurpin, 1, wx.ALL|wx.EXPAND, 5)
sizer_7.Add(self.button_SLURPsubmit, 0, wx.ALL, 5)
sizer_6.Add(sizer_7, 0, wx.EXPAND, 0)
self.notebook_1_pane_2.SetSizer(sizer_6)
self.notebook_1.AddPage(self.notebook_1_pane_1, "Status Log")
self.notebook_1.AddPage(self.notebook_1_pane_2, "SLURP Dialogue")
sizer_43_copy_copy.Add(self.notebook_1, 1, wx.EXPAND, 0)
sizer_43_copy_copy.Add((20, 5), 0, 0, 0)
sizer_5.Add(sizer_43_copy_copy, 6, wx.EXPAND, 0)
sizer_5.Add((20, 30), 0, 0, 0)
sizer_43_copy_1.Add((20, 20), 0, 0, 0)
sizer_43_copy_1.Add(self.button_sim_startPause, 0, wx.LEFT|wx.RIGHT|wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL, 20)
sizer_43_copy_1.Add((20, 10), 0, 0, 0)
sizer_43_copy_1.Add(self.button_sim_log_clear, 0, wx.LEFT|wx.RIGHT|wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL, 20)
sizer_43_copy_1.Add((20, 10), 0, 0, 0)
sizer_43_copy_1.Add(self.button_sim_log_export, 0, wx.LEFT|wx.RIGHT|wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL, 20)
sizer_43_copy_1.Add((20, 10), 0, 0, 0)
sizer_3.Add((20, 20), 0, 0, 0)
sizer_3.Add(self.label_1, 0, 0, 0)
sizer_3.Add(self.checkbox_statusLog_targetRegion, 0, wx.TOP|wx.BOTTOM, 5)
sizer_3.Add(self.checkbox_statusLog_propChange, 0, wx.TOP|wx.BOTTOM, 5)
sizer_3.Add(self.checkbox_statusLog_border, 0, wx.TOP|wx.BOTTOM, 5)
sizer_3.Add(self.checkbox_statusLog_other, 0, wx.TOP|wx.BOTTOM, 5)
sizer_43_copy_1.Add(sizer_3, 1, wx.EXPAND, 0)
sizer_5.Add(sizer_43_copy_1, 3, wx.EXPAND, 0)
sizer_5.Add((20, 30), 0, 0, 0)
self.window_1_pane_2.SetSizer(sizer_5)
self.window_1.SplitHorizontally(self.window_1_pane_1, self.window_1_pane_2)
sizer_2.Add(self.window_1, 1, wx.EXPAND, 0)
sizer_2.Add((20, 20), 0, 0, 0)
sizer_1.Add(sizer_2, 1, wx.EXPAND, 0)
self.SetSizer(sizer_1)
self.Layout()
# end wxGlade
self.window_1.SetSashPosition(self.GetSize().y/2)
self.window_1_pane_1.SetBackgroundColour(wx.WHITE)
def onResize(self, event=None): # wxGlade: SimGUI_Frame.<event_handler>
size = self.window_1_pane_1.GetSize()
self.mapBitmap = wx.EmptyBitmap(size.x, size.y)
self.mapScale = mapRenderer.drawMap(self.mapBitmap, self.proj.rfi, scaleToFit=True, drawLabels=mapRenderer.LABELS_ALL_EXCEPT_OBSTACLES, memory=True)
self.Refresh()
self.Update()
if event is not None:
event.Skip()
def onEraseBG(self, event):
# Avoid unnecessary flicker by intercepting this event
pass
def onPaint(self, event=None):
if self.mapBitmap is None:
return
if event is None:
dc = wx.ClientDC(self.window_1_pane_1)
else:
pdc = wx.AutoBufferedPaintDC(self.window_1_pane_1)
try:
dc = wx.GCDC(pdc)
except:
dc = pdc
dc.BeginDrawing()
# Draw background
dc.DrawBitmap(self.mapBitmap, 0, 0)
# Draw robot
if self.robotPos is not None:
[x,y] = map(lambda x: int(self.mapScale*x), self.robotPos)
dc.DrawCircle(x, y, 5)
if self.markerPos is not None:
[m,n] = map(lambda m: int(self.mapScale*m), self.markerPos)
dc.SetBrush(wx.Brush(wx.RED))
dc.DrawCircle(m, n, 5)
# Draw velocity vector of robot (for debugging)
#dc.DrawLine(self.robotPos[0], self.robotPos[1],
# self.robotPos[0] + self.robotVel[0], self.robotPos[1] + self.robotVel[1])
dc.EndDrawing()
if event is not None:
event.Skip()
def appendLog(self, text, color="BLACK"):
# for printing everything on the log
# annotate any pXXX region names with their human-friendly name
# convert to set to avoid infinite explosion
for p_reg in set(re.findall(r'\b(p\d+)\b',text)):
for rname, subregs in self.proj.regionMapping.iteritems():
if p_reg in subregs:
break
text = re.sub(r'\b'+p_reg+r'\b', '%s (%s)' % (p_reg, rname), text)
self.text_ctrl_sim_log.SetInsertionPointEnd()
self.text_ctrl_sim_log.BeginTextColour(color)
self.text_ctrl_sim_log.WriteText("["+time.strftime("%H:%M:%S")+"] "+text)
self.text_ctrl_sim_log.EndTextColour()
self.text_ctrl_sim_log.ShowPosition(self.text_ctrl_sim_log.GetLastPosition())
self.text_ctrl_sim_log.Refresh()
def onSimStartPause(self, event): # wxGlade: SimGUI_Frame.<event_handler>
btn_label = self.button_sim_startPause.GetLabel()
if btn_label == "Start" or btn_label == "Resume":
self.button_sim_log_export.Enable(False)
self.executorProxy.resume()
self.appendLog("%s!\n" % btn_label,'GREEN')
self.button_sim_startPause.SetLabel("Pause")
else:
self.executorProxy.pause()
self.appendLog('Pause...\n','RED')
self.button_sim_log_export.Enable(True)
self.button_sim_startPause.SetLabel("Resume")
self.Refresh()
event.Skip()
def onSimExport(self, event): # wxGlade: SimGUI_Frame.<event_handler>
"""
Ask the user for a filename to save the Log as, and then save it.
"""
default = 'StatusLog'
# Get a filename
fileName = wx.FileSelector("Save File As",
os.path.join(os.getcwd(),'examples'),
default_filename=default,
default_extension="txt",
wildcard="Status Log files (*.txt)|*.txt",
flags = wx.SAVE | wx.OVERWRITE_PROMPT)
if fileName == "": return # User cancelled.
# Force a .txt extension. How mean!!!
if os.path.splitext(fileName)[1] != ".txt":
fileName = fileName + ".txt"
# Save data to the file
self.saveFile(fileName)
event.Skip()
def saveFile(self, fileName):
"""
Write all data out to a file.
"""
if fileName is None:
return
f = open(fileName,'w')
print >>f, "Experiment Status Log"
print >>f
# write the log
print >>f, str(self.text_ctrl_sim_log.GetValue())
f.close()
def onClose(self, event):
msg = wx.BusyInfo("Please wait, shutting down...")
try:
self.executorProxy.shutdown()
except socket.error:
# Executor probably crashed
pass
self.xmlrpc_server.shutdown()
self.XMLRPCServerThread.join()
#time.sleep(2)
event.Skip()
def onSimClear(self, event): # wxGlade: SimGUI_Frame.<event_handler>
self.text_ctrl_sim_log.Clear()
event.Skip()
def initDialogue(self):
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
from ltlbroom.specgeneration import SpecGenerator
_SLURP_SPEC_GENERATOR = SpecGenerator()
# Filter out regions it shouldn't know about
filtered_regions = [region.name for region in self.proj.rfi.regions
if not (region.isObstacle or region.name.lower() == "boundary")]
sensorList = copy.deepcopy(self.proj.enabled_sensors)
robotPropList = self.proj.enabled_actuators + self.proj.all_customs
text = self.proj.specText
LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = \
_SLURP_SPEC_GENERATOR.generate(text, sensorList, filtered_regions, robotPropList,
self.hsub.executing_config.region_tags)
from ltlbroom.dialog import DialogManager
self.dialogueManager = DialogManager(traceback)
def onSLURPSubmit(self, event): # wxGlade: SimGUI_Frame.<event_handler>
if self.text_ctrl_slurpin.GetValue() == "":
event.Skip()
return
user_text = self.text_ctrl_slurpin.GetValue()
# echo
self.text_ctrl_slurpout.BeginBold()
self.text_ctrl_slurpout.AppendText("User: "******"\n")
self.text_ctrl_slurpout.ShowPosition(self.text_ctrl_slurpout.GetLastPosition())
self.text_ctrl_slurpout.Refresh()
self.text_ctrl_slurpin.Clear()
# response
if self.dialogueManager is None:
self.text_ctrl_slurpout.BeginBold()
self.text_ctrl_slurpout.AppendText("Error: Dialogue Manager not initialized")
self.text_ctrl_slurpout.EndBold()
else:
sys_text = self.dialogueManager.tell(user_text, self.currentGoal)
self.text_ctrl_slurpout.BeginBold()
self.text_ctrl_slurpout.AppendText("System: ")
self.text_ctrl_slurpout.EndBold()
self.text_ctrl_slurpout.AppendText(sys_text + "\n")
self.text_ctrl_slurpout.ShowPosition(self.text_ctrl_slurpout.GetLastPosition())
self.text_ctrl_slurpout.Refresh()
event.Skip()
class SimGUI_Frame(wx.Frame):
def __init__(self, *args, **kwds):
# begin wxGlade: SimGUI_Frame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.window_1 = wx.SplitterWindow(self, -1, style=wx.SP_3D | wx.SP_BORDER | wx.SP_LIVE_UPDATE)
self.window_1_pane_2 = wx.Panel(self.window_1, -1)
self.notebook_1 = wx.Notebook(self.window_1_pane_2, -1, style=0)
self.notebook_1_pane_2 = wx.Panel(self.notebook_1, -1)
self.notebook_1_pane_1 = wx.Panel(self.notebook_1, -1)
self.window_1_pane_1 = wx.Panel(self.window_1, -1)
self.text_ctrl_sim_log = wx.richtext.RichTextCtrl(
self.notebook_1_pane_1, -1, "", style=wx.TE_MULTILINE | wx.TE_READONLY
)
self.text_ctrl_slurpout = wx.richtext.RichTextCtrl(
self.notebook_1_pane_2, -1, "", style=wx.TE_MULTILINE | wx.TE_READONLY
)
self.text_ctrl_slurpin = wx.TextCtrl(self.notebook_1_pane_2, -1, "", style=wx.TE_PROCESS_ENTER)
self.button_SLURPsubmit = wx.Button(self.notebook_1_pane_2, -1, "Submit")
self.button_sim_startPause = wx.Button(self.window_1_pane_2, -1, "Start")
self.button_sim_log_clear = wx.Button(self.window_1_pane_2, -1, "Clear Log")
self.button_sim_log_export = wx.Button(self.window_1_pane_2, -1, "Export Log...")
self.label_1 = wx.StaticText(self.window_1_pane_2, -1, "Show log messages for:")
self.checkbox_statusLog_targetRegion = wx.CheckBox(self.window_1_pane_2, -1, "Target region announcements")
self.checkbox_statusLog_propChange = wx.CheckBox(self.window_1_pane_2, -1, "System proposition changes")
self.checkbox_statusLog_border = wx.CheckBox(self.window_1_pane_2, -1, "Region border crossings")
self.checkbox_statusLog_other = wx.CheckBox(self.window_1_pane_2, -1, "Other debugging messages")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_TEXT_ENTER, self.onSLURPSubmit, self.text_ctrl_slurpin)
self.Bind(wx.EVT_BUTTON, self.onSLURPSubmit, self.button_SLURPsubmit)
self.Bind(wx.EVT_BUTTON, self.onSimStartPause, self.button_sim_startPause)
self.Bind(wx.EVT_BUTTON, self.onSimClear, self.button_sim_log_clear)
self.Bind(wx.EVT_BUTTON, self.onSimExport, self.button_sim_log_export)
self.Bind(wx.EVT_SPLITTER_SASH_POS_CHANGED, self.onResize, self.window_1)
# end wxGlade
self.window_1_pane_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
self.window_1_pane_1.Bind(wx.EVT_PAINT, self.onPaint)
self.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.proj = project.Project()
self.proj.setSilent(True)
# Make status bar at bottom.
self.sb = wx.StatusBar(self)
self.SetStatusBar(self.sb)
self.sb.SetFieldsCount(1)
self.sb.SetStatusText("PAUSED")
self.button_sim_log_export.Enable(False)
# ??# Set up socket for communication to executor
print "(GUI) Starting socket for communication to controller"
self.host = "localhost"
self.portTo = 9562
self.buf = 1024
self.addrTo = (self.host, self.portTo)
self.UDPSockTo = socket(AF_INET, SOCK_DGRAM)
# ??# Set up socket for communication from executor
print "(GUI) Starting socket for communication from controller"
self.portFrom = 9563
self.addrFrom = (self.host, self.portFrom)
self.UDPSockFrom = socket(AF_INET, SOCK_DGRAM)
self.UDPSockFrom.setsockopt(SOL_SOCKET, SO_REUSEADDR, 1)
self.UDPSockFrom.bind(self.addrFrom)
# Create new thread to communicate with subwindow
print >> sys.__stdout__, "(GUI) Starting controller listen thread..."
self.controllerListenThread = threading.Thread(target=self.controllerListen)
self.controllerListenThread.daemon = True
self.controllerListenThread.start()
self.robotPos = None
self.robotVel = (0, 0)
self.markerPos = None
self.dialogueManager = None
self.currentGoal = None
self.Bind(wx.EVT_CLOSE, self.onClose)
# Let everyone know we're ready
self.UDPSockTo.sendto("Hello!", self.addrTo)
def loadRegionFile(self, filename):
self.proj.rfi = regions.RegionFileInterface()
self.proj.rfi.readFile(filename)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.onResize()
def loadSpecFile(self, filename):
self.proj.loadProject(filename)
self.Bind(wx.EVT_SIZE, self.onResize, self)
if self.proj.compile_options["parser"] == "slurp":
self.initDialogue()
else:
self.notebook_1.DeletePage(1)
self.onResize()
def controllerListen(self):
"""
Processes messages from the controller, and updates the GUI accordingly
"""
############################
# CONTROLLER LISTEN THREAD #
############################
while 1:
# Wait for and receive a message from the controller
input, self.addrFrom = self.UDPSockFrom.recvfrom(self.buf)
if input == "": # EOF indicates that the connection has been destroyed
print "Controller listen thread is shutting down."
break
input = input.strip()
# print >>sys.__stdout__, input
# Update stuff (should put these in rough order of frequency for optimal speed
if input.startswith("Running at"):
wx.CallAfter(self.sb.SetStatusText, input, 0)
elif input.startswith("POSE:"):
[x, y] = map(float, input.split(":")[1].split(","))
self.robotPos = (x, y)
wx.CallAfter(self.onPaint)
elif input.startswith("marker:"):
[x, y] = map(float, input.split(":")[1].split(","))
self.markerPos = (x, y)
wx.CallAfter(self.onPaint)
elif input.startswith("VEL:"):
# We can't plot anything before we have a map
if self.mapBitmap is None:
print "Received drawing command before map. You probably have an old execute.py process running; please kill it and try again."
continue
[x, y] = map(float, input.split(":")[1].split(","))
[x, y] = map(int, (self.mapScale * x, self.mapScale * y))
self.robotVel = (x, y)
elif input.startswith("PAUSE"):
# FIXME: Sometimes we'll still get rate updates AFTER a pause
wx.CallAfter(self.sb.SetStatusText, input, 0)
elif input.startswith("Output proposition"):
if self.checkbox_statusLog_propChange.GetValue():
wx.CallAfter(self.appendLog, input + "\n", color="GREEN")
elif input.startswith("Heading to"):
if self.checkbox_statusLog_targetRegion.GetValue():
wx.CallAfter(self.appendLog, input + "\n", color="BLUE")
elif input.startswith("Crossed border"):
if self.checkbox_statusLog_border.GetValue():
wx.CallAfter(self.appendLog, input + "\n", color="CYAN")
elif input.startswith("SPEC:"):
wx.CallAfter(self.loadSpecFile, input.split(":", 1)[1])
elif input.startswith("REGIONS:"):
wx.CallAfter(self.loadRegionFile, input.split(":", 1)[1])
else:
# Detect our current goal index
if input.startswith("Currently pursuing goal"):
m = re.search(r"#(\d+)", input)
if m is not None:
self.currentGoal = int(m.group(1))
if self.checkbox_statusLog_other.GetValue():
if input != "":
wx.CallAfter(self.appendLog, input + "\n", color="BLACK")
def __set_properties(self):
# begin wxGlade: SimGUI_Frame.__set_properties
self.SetTitle("Simulation Status")
self.SetSize((836, 713))
self.button_SLURPsubmit.SetDefault()
self.checkbox_statusLog_targetRegion.SetValue(1)
self.checkbox_statusLog_propChange.SetValue(1)
self.checkbox_statusLog_border.SetValue(1)
self.checkbox_statusLog_other.SetValue(1)
# end wxGlade
def __do_layout(self):
# begin wxGlade: SimGUI_Frame.__do_layout
sizer_1 = wx.BoxSizer(wx.VERTICAL)
sizer_2 = wx.BoxSizer(wx.HORIZONTAL)
sizer_5 = wx.BoxSizer(wx.HORIZONTAL)
sizer_43_copy_1 = wx.BoxSizer(wx.VERTICAL)
sizer_3 = wx.BoxSizer(wx.VERTICAL)
sizer_43_copy_copy = wx.BoxSizer(wx.VERTICAL)
sizer_6 = wx.BoxSizer(wx.VERTICAL)
sizer_7 = wx.BoxSizer(wx.HORIZONTAL)
sizer_4 = wx.BoxSizer(wx.HORIZONTAL)
sizer_5.Add((5, 30), 0, 0, 0)
sizer_43_copy_copy.Add((20, 5), 0, 0, 0)
sizer_4.Add(self.text_ctrl_sim_log, 1, wx.ALL | wx.EXPAND, 5)
self.notebook_1_pane_1.SetSizer(sizer_4)
sizer_6.Add(self.text_ctrl_slurpout, 1, wx.ALL | wx.EXPAND, 5)
sizer_7.Add(self.text_ctrl_slurpin, 1, wx.ALL | wx.EXPAND, 5)
sizer_7.Add(self.button_SLURPsubmit, 0, wx.ALL, 5)
sizer_6.Add(sizer_7, 0, wx.EXPAND, 0)
self.notebook_1_pane_2.SetSizer(sizer_6)
self.notebook_1.AddPage(self.notebook_1_pane_1, "Status Log")
self.notebook_1.AddPage(self.notebook_1_pane_2, "SLURP Dialogue")
sizer_43_copy_copy.Add(self.notebook_1, 1, wx.EXPAND, 0)
sizer_43_copy_copy.Add((20, 5), 0, 0, 0)
sizer_5.Add(sizer_43_copy_copy, 6, wx.EXPAND, 0)
sizer_5.Add((20, 30), 0, 0, 0)
sizer_43_copy_1.Add((20, 20), 0, 0, 0)
sizer_43_copy_1.Add(
self.button_sim_startPause, 0, wx.LEFT | wx.RIGHT | wx.EXPAND | wx.ALIGN_CENTER_HORIZONTAL, 20
)
sizer_43_copy_1.Add((20, 10), 0, 0, 0)
sizer_43_copy_1.Add(
self.button_sim_log_clear, 0, wx.LEFT | wx.RIGHT | wx.EXPAND | wx.ALIGN_CENTER_HORIZONTAL, 20
)
sizer_43_copy_1.Add((20, 10), 0, 0, 0)
sizer_43_copy_1.Add(
self.button_sim_log_export, 0, wx.LEFT | wx.RIGHT | wx.EXPAND | wx.ALIGN_CENTER_HORIZONTAL, 20
)
sizer_43_copy_1.Add((20, 10), 0, 0, 0)
sizer_3.Add((20, 20), 0, 0, 0)
sizer_3.Add(self.label_1, 0, 0, 0)
sizer_3.Add(self.checkbox_statusLog_targetRegion, 0, wx.TOP | wx.BOTTOM, 5)
sizer_3.Add(self.checkbox_statusLog_propChange, 0, wx.TOP | wx.BOTTOM, 5)
sizer_3.Add(self.checkbox_statusLog_border, 0, wx.TOP | wx.BOTTOM, 5)
sizer_3.Add(self.checkbox_statusLog_other, 0, wx.TOP | wx.BOTTOM, 5)
sizer_43_copy_1.Add(sizer_3, 1, wx.EXPAND, 0)
sizer_5.Add(sizer_43_copy_1, 3, wx.EXPAND, 0)
sizer_5.Add((20, 30), 0, 0, 0)
self.window_1_pane_2.SetSizer(sizer_5)
self.window_1.SplitHorizontally(self.window_1_pane_1, self.window_1_pane_2)
sizer_2.Add(self.window_1, 1, wx.EXPAND, 0)
sizer_2.Add((20, 20), 0, 0, 0)
sizer_1.Add(sizer_2, 1, wx.EXPAND, 0)
self.SetSizer(sizer_1)
self.Layout()
# end wxGlade
self.window_1.SetSashPosition(self.GetSize().y / 2)
self.window_1_pane_1.SetBackgroundColour(wx.WHITE)
def onResize(self, event=None): # wxGlade: SimGUI_Frame.<event_handler>
size = self.window_1_pane_1.GetSize()
self.mapBitmap = wx.EmptyBitmap(size.x, size.y)
self.mapScale = mapRenderer.drawMap(
self.mapBitmap,
self.proj.rfi,
scaleToFit=True,
drawLabels=mapRenderer.LABELS_ALL_EXCEPT_OBSTACLES,
memory=True,
)
self.Refresh()
self.Update()
if event is not None:
event.Skip()
def onEraseBG(self, event):
# Avoid unnecessary flicker by intercepting this event
pass
def onPaint(self, event=None):
if self.mapBitmap is None:
return
if event is None:
dc = wx.ClientDC(self.window_1_pane_1)
else:
pdc = wx.AutoBufferedPaintDC(self.window_1_pane_1)
try:
dc = wx.GCDC(pdc)
except:
dc = pdc
dc.BeginDrawing()
# Draw background
dc.DrawBitmap(self.mapBitmap, 0, 0)
# Draw robot
if self.robotPos is not None:
[x, y] = map(lambda x: int(self.mapScale * x), self.robotPos)
dc.DrawCircle(x, y, 5)
if self.markerPos is not None:
[m, n] = map(lambda m: int(self.mapScale * m), self.markerPos)
dc.SetBrush(wx.Brush(wx.RED))
dc.DrawCircle(m, n, 5)
# Draw velocity vector of robot (for debugging)
# dc.DrawLine(self.robotPos[0], self.robotPos[1],
# self.robotPos[0] + self.robotVel[0], self.robotPos[1] + self.robotVel[1])
dc.EndDrawing()
if event is not None:
event.Skip()
def appendLog(self, text, color="BLACK"):
# for printing everything on the log
# annotate any pXXX region names with their human-friendly name
# convert to set to avoid infinite explosion
for p_reg in set(re.findall(r"\b(p\d+)\b", text)):
for rname, subregs in self.proj.regionMapping.iteritems():
if p_reg in subregs:
break
text = re.sub(r"\b" + p_reg + r"\b", "%s (%s)" % (p_reg, rname), text)
self.text_ctrl_sim_log.BeginTextColour(color)
self.text_ctrl_sim_log.WriteText("[" + time.strftime("%H:%M:%S") + "] " + text)
self.text_ctrl_sim_log.EndTextColour()
self.text_ctrl_sim_log.ShowPosition(self.text_ctrl_sim_log.GetLastPosition())
self.text_ctrl_sim_log.Refresh()
def onSimStartPause(self, event): # wxGlade: SimGUI_Frame.<event_handler>
btn_label = self.button_sim_startPause.GetLabel()
if btn_label == "Start" or btn_label == "Resume":
self.button_sim_log_export.Enable(False)
self.UDPSockTo.sendto("START", self.addrTo) # This goes to the controller
self.appendLog("%s!\n" % btn_label, "GREEN")
self.button_sim_startPause.SetLabel("Pause")
else:
self.UDPSockTo.sendto("PAUSE", self.addrTo) # This goes to the controller
self.appendLog("Pause...\n", "RED")
self.button_sim_log_export.Enable(True)
self.button_sim_startPause.SetLabel("Resume")
self.Refresh()
event.Skip()
def onSimExport(self, event): # wxGlade: SimGUI_Frame.<event_handler>
"""
Ask the user for a filename to save the Log as, and then save it.
"""
default = "StatusLog"
# Get a filename
fileName = wx.FileSelector(
"Save File As",
os.path.join(os.getcwd(), "examples"),
default_filename=default,
default_extension="txt",
wildcard="Status Log files (*.txt)|*.txt",
flags=wx.SAVE | wx.OVERWRITE_PROMPT,
)
if fileName == "":
return # User cancelled.
# Force a .txt extension. How mean!!!
if os.path.splitext(fileName)[1] != ".txt":
fileName = fileName + ".txt"
# Save data to the file
self.saveFile(fileName)
event.Skip()
def saveFile(self, fileName):
"""
Write all data out to a file.
"""
if fileName is None:
return
f = open(fileName, "w")
print >> f, "Experiment Status Log"
print >> f
# write the log
print >> f, str(self.text_ctrl_sim_log.GetValue())
f.close()
def onClose(self, event):
print >> sys.__stderr__, "Telling execute.py to quit!"
self.UDPSockTo.sendto("QUIT", self.addrTo) # This goes to the controller
# time.sleep(2)
event.Skip()
def onSimClear(self, event): # wxGlade: SimGUI_Frame.<event_handler>
self.text_ctrl_sim_log.Clear()
event.Skip()
def initDialogue(self):
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
from ltlbroom.specgeneration import SpecGenerator
_SLURP_SPEC_GENERATOR = SpecGenerator()
# Filter out regions it shouldn't know about
filtered_regions = [
region.name
for region in self.proj.rfi.regions
if not (region.isObstacle or region.name.lower() == "boundary")
]
sensorList = copy.deepcopy(self.proj.enabled_sensors)
robotPropList = self.proj.enabled_actuators + self.proj.all_customs
text = self.proj.specText
LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = _SLURP_SPEC_GENERATOR.generate(
text, sensorList, filtered_regions, robotPropList, self.proj.currentConfig.region_tags
)
from ltlbroom.dialog import DialogManager
self.dialogueManager = DialogManager(traceback)
def onSLURPSubmit(self, event): # wxGlade: SimGUI_Frame.<event_handler>
if self.text_ctrl_slurpin.GetValue() == "":
event.Skip()
return
user_text = self.text_ctrl_slurpin.GetValue()
# echo
self.text_ctrl_slurpout.BeginBold()
self.text_ctrl_slurpout.AppendText("User: "******"\n")
self.text_ctrl_slurpout.ShowPosition(self.text_ctrl_slurpout.GetLastPosition())
self.text_ctrl_slurpout.Refresh()
self.text_ctrl_slurpin.Clear()
# response
if self.dialogueManager is None:
self.text_ctrl_slurpout.BeginBold()
self.text_ctrl_slurpout.AppendText("Error: Dialogue Manager not initialized")
self.text_ctrl_slurpout.EndBold()
else:
sys_text = self.dialogueManager.tell(user_text, self.currentGoal)
self.text_ctrl_slurpout.BeginBold()
self.text_ctrl_slurpout.AppendText("System: ")
self.text_ctrl_slurpout.EndBold()
self.text_ctrl_slurpout.AppendText(sys_text + "\n")
self.text_ctrl_slurpout.ShowPosition(self.text_ctrl_slurpout.GetLastPosition())
self.text_ctrl_slurpout.Refresh()
event.Skip()
