def set_state(self, thing, state, path):
''' Publish a given state to a given path on the blackboard '''
data = {}
data['event'] = 'set_object_state'
data['thing_guid'] = thing.get_guid()
data['state'] = state
TopicClient.get_instance().publish(path + 'blackboard', data, False)
def set_importance(self, thing, importance, path):
''' Publish a given level of importance to a given path on the
blackboard '''
data = {}
data['event'] = 'set_object_importance'
data['thing_guid'] = thing.get_guid()
data['importance'] = importance
TopicClient.get_instance().publish(path + 'blackboard', data, False)
def send_data(self, sensor, data):
''' Send off the given data blob to the corresonding sensor topic '''
if self.is_registered(sensor):
TopicClient.get_instance().publish_binary(
'sensor-proxy-' + sensor.get_sensor_id(), data, False)
else:
print "SendData() invoked on unregistered sensor: " + sensor.get_sensor_id(
)
def on_gesture_done(self, gesture, error):
''' Publish a message to the blackboard when a gesture is executed '''
data = {}
data['event'] = 'execute_done'
data['gestureId'] = gesture.get_gesture_id()
data['instanceId'] = gesture.get_instance_id()
data['error'] = error
TopicClient.get_instance().publish('gesture-manager', data, False)
def remove_agent(self, agent):
''' Remove an agent from this society '''
if agent.get_agent_id in self.agent_map:
self.overrides_map.remove(agent.get_agent_id())
self.agent_map.remove(agent.get_agent_id())
data = {}
data['event'] = 'remove_agent_proxy'
data['agentId'] = agent.get_agent_id()
TopicClient.get_instance().publish('agent-society', data, False)
def remove_sensor(self, sensor):
''' Remove the given sensor from this manager '''
if sensor.get_sensor_id() in self.sensor_map:
self.sensor_map.remove(sensor.get_sensor_id())
self.override_map.remove(sensor.get_sensor_id())
data = {}
data['event'] = 'remove_sensor_proxy'
data['sensorId'] = sensor.get_sensor_id()
TopicClient.get_instance().publish('sensor-manager', data, False)
def run(self):
try:
headers = [('selfId', ''), ('token', '')]
topic = TopicClient.start_instance('127.0.0.1', 9443, headers)
TopicClient.get_instance().setHeaders("", "")
TopicClient.get_instance().set_callback(self.on_connected);
topic.start()
except KeyboardInterrupt:
thread.exit()
def add_thing(self, thing, path):
''' Add a concept to this blackboard, which will be automatically
connected to other concepts to produce a goal in the end '''
data = {}
data['event'] = 'add_object'
data['type'] = thing.get_type()
data['thing'] = thing.serialize()
if thing.get_parent():
data['parent'] = thing.get_parent()
TopicClient.get_instance().publish(path + 'blackboard', data, False)
def remove_gesture(self, gesture):
''' Remove a gesture from this manager's set of gestures '''
if gesture.get_gesture_id() in self.gestures_map:
if gesture.on_stop():
data = {}
self.gestures_map.remove(gesture.get_gesture_id())
self.overrides_map.remove(gesture.get_gesture_id())
data['event'] = 'remove_gesture_proxy'
data['gestureId'] = gesture.get_gesture_id()
data['instanceId'] = gesture.get_instance_id()
TopicClient.get_instance().publish('gesture-manager', data, False)
def add_agent(self, agent, override):
''' Add an agent to this society. The society takes ownership of the
agent '''
if agent.get_agent_id not in self.agent_map:
data = {}
data['event'] = 'add_agent_proxy'
data['agentId'] = agent.get_agent_id()
data['name'] = agent.get_agent_name()
data['override'] = override
TopicClient.get_instance().publish('agent-society', data, False)
self.agent_map[agent.get_agent_id()] = agent
self.overrides_map[agent.get_agent_id()] = override
def add_gesture(self, gesture, override):
''' Add a gesture to the set of gestures available to this manager '''
if gesture.get_gesture_id() not in self.gestures_map:
if gesture.on_start():
data = {}
data['event'] = 'add_gesture_proxy'
data['gestureId'] = gesture.get_gesture_id()
data['instanceId'] = gesture.get_instance_id()
data['override'] = override
TopicClient.get_instance().publish('gesture-manager', data, False)
self.gestures_map[gesture.get_gesture_id()] = gesture
self.overrides_map[gesture.get_gesture_id()] = override
print "adding gesture id: " + gesture.get_gesture_id()
def run(self):
try:
self_id = str(uuid.uuid4())
print("self id: " + self_id)
headers = [('selfId', self_id), ('token', '')]
topic = TopicClient.start_instance('127.0.0.1', 9443, headers)
TopicClient.get_instance().setHeaders(self_id, "")
TopicClient.get_instance().set_callback(self.on_connected)
topic.start()
except KeyboardInterrupt:
exit()
except ConnectionRefusedError:
print("connection error: ")
def add_sensor(self, sensor, override):
''' Add a given sensor to this manager. The manager takes ownership of
the object if accepted '''
if sensor.get_sensor_id() not in self.sensor_map:
data = {}
data['event'] = 'add_sensor_proxy'
data['sensorId'] = sensor.get_sensor_id()
data['name'] = sensor.get_sensor_name()
data['data_type'] = sensor.get_data_type()
data['binary_type'] = sensor.get_binary_type()
data['override'] = override
TopicClient.get_instance().publish('sensor-manager', data, False)
self.sensor_map[sensor.get_sensor_id()] = sensor
self.overrides_map[sensor.get_sensor_id()] = override
print "adding sensor id: " + sensor.get_sensor_id()
def subscribe_to_type(self, thing, thing_event, path, callback):
''' Subscribe to any objects of a given type that get put on the
blackboard '''
if path not in self.subscription_map:
TopicClient.get_instance().subscribe(path + 'blackboard', self.on_event)
self.subscription_map[path] = collections.defaultdict(set)
if thing not in self.subscription_map[path]:
data = {}
data['event'] = 'subscribe_to_type'
data['type'] = thing
data['event_mask'] = thing_event
TopicClient.get_instance().publish(path + 'blackboard', data, False)
self.subscription_map[path][thing] = []
self.subscription_map[path][thing].append(Subscriber(callback, thing_event, path))
def on_event(self, data):
''' Callback that can add or remove proxy agents to and from the
society '''
error = False
payload = json.loads(data)
if payload['agentId'] not in self.agent_map:
print("Could not find agent id: " + payload['agentId'])
error = True
elif payload['event'] == 'start_agent':
self.agent_map[payload['agentId']].on_start()
elif payload['event'] == 'stop_agent':
self.agent_map[payload['agentId']].on_stop()
if error:
data = {}
data['failed_event'] = payload['event']
data['event'] = 'error'
TopicClient.get_instance().publish('agent-society', data, False)
def unsubscribe_to_type(self, thing, callback, path):
''' Unsubscribe from a given type of objects that get put on the
blackboard '''
if path in self.subscription_map:
if thing in self.subscription_map[path]:
for subscription in self.subscription_map[path][thing]:
if subscription.callback == callback:
self.subscription_map[path][thing].remove(subscription)
break
if len(self.subscription_map[path][thing]) == 0:
self.subscription_map[path].remove(thing)
if thing not in self.subscription_map[path]:
data = {}
data['event'] = 'unsubscribe_from_type'
data['type'] = thing
TopicClient.get_instance().publish(path + 'blackboard', data, False)
def on_event(self, data):
''' Callback for different kinds of gesture-related events, such as
adding and removing gesture proxies '''
error = False
payload = json.loads(data)
if payload['gestureId'] not in self.gestures_map:
print "Failed to find gesture: " + payload['gestureId']
error = True
elif payload['event'] == 'execute_gesture':
params = payload['params']
self.gestures_map[payload['gestureId']].execute(params)
elif payload['event'] == 'abort_gesture':
self.gestures_map[payload['gestureId']].abort()
if error:
data = {}
data['failed_event'] = payload['event']
data['event'] = 'error'
TopicClient.get_instance().publish('gesture-manager', data, False)
def on_event(self, data):
''' Respond to different events such as requests to start, pause,
or resume sensors '''
error = False
payload = json.loads(data)
if payload['sensorId'] not in self.sensor_map:
print "Failed to find sensor: " + payload['sensorId']
error = True
elif payload['event'] == 'start_sensor':
self.sensor_map[payload['sensorId']].on_start()
elif payload['event'] == 'pause_sensor':
self.sensor_map[payload['sensorId']].on_pause()
elif payload['event'] == "resume_sensor":
self.sensor_map[payload['sensorId']].on_resume()
if error:
data = {}
data['failed_event'] = payload['event']
data['event'] = 'error'
TopicClient.get_instance().publish('sensor-manager', data, False)
def run_thread(headers):
print "Thread is running!!"
sensor = CameraSensor(str(uuid.uuid4()), "Camera", "VideoData", "image/jpeg")
mic = MicrophoneSensor(str(uuid.uuid4()), "Microphone", "AudioData", "audio/L16;rate=16000;channels=1")
gesture = SpeechGesture("tts", str(uuid.uuid4()))
agent = ExampleAgent('ExampleAgent', str(uuid.uuid4()))
while TopicClient.get_instance().isConnected() == False:
print "Topic client not connected yet!"
time.sleep(1)
SensorManager.get_instance().subscribe()
GestureManager.get_instance().subscribe()
AgentSociety.get_instance().subscribe()
SensorManager.get_instance().add_sensor(sensor, True)
SensorManager.get_instance().add_sensor(mic, True)
GestureManager.get_instance().add_gesture(gesture, True)
AgentSociety.get_instance().add_agent(agent, False)
def subscribe(self):
''' Subscribe to the agent-society topic '''
TopicClient.get_instance().subscribe('agent-society', self.on_event)
def shutdown(self):
''' Unsubscribe from the agent-society topic '''
TopicClient.get_instance().unsubscribe('agent-society')
def subscribe(self):
''' Subscribe to the gesture-manager topic '''
TopicClient.get_instance().subscribe('gesture-manager', self.on_event)
def subscribe(self):
''' Subscribe to the sensor-manager topic '''
TopicClient.get_instance().subscribe("sensor-manager", self.on_event)
def shutdown(self):
TopicClient.get_instance().unsubscribe('sensor-manager')
def remove_thing(self, thing, path):
''' Remove a specific thing from the blackboard '''
data = {}
data['event'] = 'remove_object'
data['thing_guid'] = thing.get_guid()
TopicClient.get_instance().publish(path + 'blackboard', data, False)
