def callbackCommandResponse(data):
print "callbackCommandResponse name command:" + data.name
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.name)
clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(data.name, data.id, data.successful, data.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run(BBFunctions.gui.getRunTimes())
clipsFunctions.PrintOutput()
def loadFile(self):
filePath = self.fileVar.get()
if not filePath:
tkMessageBox.showinfo(
'LOAD FILE',
'Click on the text box to select a file to be loaded.')
return
if filePath[-3:] == 'clp':
_clipsLock.acquire()
clips.BatchStar(filePath)
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'File Loaded!'
return
path = os.path.dirname(os.path.abspath(filePath))
f = open(filePath, 'r')
line = f.readline()
_clipsLock.acquire()
while line:
clips.BatchStar((path + os.sep + line).strip())
line = f.readline()
f.close()
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'Files Loaded!'
def callbackCommandLoadCLIPS(data):
print 'LOAD FILE'
filePath = data.data
if not filePath:
print 'OPEN FILE, Click on the botton and select a file to be loaded.'
return
if filePath[-3:] == 'clp':
_clipsLock.acquire()
clips.BatchStar(filePath)
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'File Loaded!'
return
path = os.path.dirname(os.path.abspath(filePath))
f = open(filePath, 'r')
line = f.readline()
_clipsLock.acquire()
while line:
clips.BatchStar((path + os.sep + line).strip())
line = f.readline()
f.close()
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'Files Loaded!'
clipsFunctions.Reset()
print 'Facts were reset!'
setLogLevelTest()
def callbackCommandSendAndRunClips(data):
print 'SEND AND RUN COMMAND'
_clipsLock.acquire()
clips.SendCommand(data.data, True)
clipsFunctions.PrintOutput()
_clipsLock.release()
clipsFunctions.Run('')
clipsFunctions.PrintOutput()
def RunCommand(c):
clipsFunctions.Assert('(BB_cmd "{0}" {1} "{2}")'.format(
c.name, c._id, c.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run()
clipsFunctions.PrintOutput()
time.sleep(1)
return Response.FromCommandObject(
c, False, 'CLIPS was busy or not able to handle the command.')
def callbackCommandResponse(data):
print "callbackCommandResponse name command:" + data.name
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.name)
clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(
data.name, data.id, data.successful, data.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run(
''
) # aqui se manda el numero de pasos que ejecutara CLIPS con [''] se ejecutan todos los pasos sin detenerse
clipsFunctions.PrintOutput()
def SharedVarUpdated(sv):
s = '(BB_sv_updated "' + sv.varName + '" '
if sv.svType in [
BB.SharedVarTypes.INT, BB.SharedVarTypes.LONG,
BB.SharedVarTypes.DOUBLE
]:
s += str(sv.data)
elif sv.svType in [
BB.SharedVarTypes.INT_ARRAY, BB.SharedVarTypes.LONG_ARRAY,
BB.SharedVarTypes.DOUBLE_ARRAY, BB.SharedVarTypes.BYTE_ARRAY
]:
s += str(sv.size) + ' ' + ' '.join([str(x) for x in sv.data])
elif sv.svType == BB.SharedVarTypes.STRING:
s += '"' + sv.data + '"'
elif sv.svType == BB.SharedVarTypes.RECOGNIZED_SPEECH:
s += str(len(sv.data)) + ' ' + ' '.join(
['"' + x + '" ' + str(y) for x, y in sv.data])
elif sv.svType == BB.SharedVarTypes.VAR:
s += str(sv.data)
elif sv.svType == BB.SharedVarTypes.MATRIX:
s += str(len(sv.data)) + ' ' + str(len(sv.data[0])) + ' '
for r in sv.data:
for c in r:
s += ' ' + str(c)
else:
print 'ERROR: Parsing shared var: "{0}" failed'.format(sv.varName)
return
s += ')'
clipsFunctions.Assert(s)
clipsFunctions.PrintOutput()
def str_query_KDB(req):
print 'QUERY IN KDB ' + req.query
_clipsLock.acquire()
clips.SendCommand(req.query, True)
clipsFunctions.PrintOutput()
_clipsLock.release()
clipsFunctions.Run('')
result = str(clips.StdoutStream.Read())
print 'RESULT OF QUERY= ' + result
print ''
return StrQueryKDBResponse(result)
def init_KDB(req):
print 'INIT KDB'
print 'LOAD FILE'
global file_gpsr
rospack = rospkg.RosPack()
#file_gpsr = rospack.get_path('simulator') + '/src/rules_base/oracle.dat'
if not req.filePath:
filePath = file_gpsr
else:
filepath = rospack.get_path('simulator')
#clips.BatchStar(filepath + os.sep + 'CLIPS' + os.sep + 'BB_interface.clp')
filePath = filepath + req.filePath
#filePath = req.filePath
print 'Load file in path' + filePath
if filePath[-3:] == 'clp':
_clipsLock.acquire()
clips.BatchStar(filePath)
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'File Loaded!'
return
path = os.path.dirname(os.path.abspath(filePath))
f = open(filePath, 'r')
line = f.readline()
_clipsLock.acquire()
while line:
clips.BatchStar((path + os.sep + line).strip())
line = f.readline()
f.close()
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'Files Loaded!'
clipsFunctions.Reset()
print 'Facts were reset!'
setLogLevelTest()
if req.run == True:
clipsFunctions.Run('')
return InitKDBResponse()
def init_KDB(req):
print 'INIT KDB'
print 'LOAD FILE'
global file_gpsr
if not req.filePath:
filePath = file_gpsr
else:
filePath = req.filePath
print 'Load file in path' + filePath
if filePath[-3:] == 'clp':
_clipsLock.acquire()
clips.BatchStar(filePath)
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'File Loaded!'
return
path = os.path.dirname(os.path.abspath(filePath))
f = open(filePath, 'r')
line = f.readline()
_clipsLock.acquire()
while line:
clips.BatchStar((path + os.sep + line).strip())
line = f.readline()
f.close()
clipsFunctions.PrintOutput()
_clipsLock.release()
print 'Files Loaded!'
clipsFunctions.Reset()
print 'Facts were reset!'
setLogLevelTest()
if req.run == True:
clipsFunctions.Run('')
return InitKDBResponse()
def str_query(req):
print 'Query in KDB' + req.query
_clipsLock.acquire()
clips.SendCommand(req.query, True)
clipsFunctions.PrintOutput()
_clipsLock.release()
clipsFunctions.Run('')
result = str(clips.StdoutStream.Read())
if result.count('ROS') == 2:
print 'ROS response'
r = result.split('ROS')
print r
result = r[1]
else:
result = 'None'
print 'Result of Query= ' + result
print ''
return StrQueryKDBResponse(result)
def ResponseReceived(r):
clipsFunctions.Assert('(BB_received "{0}" {1} {2} "{3}")'.format(
r.name, r._id, r.successful, r.params))
clipsFunctions.PrintOutput()
clipsFunctions.Run(gui.getRunTimes())
clipsFunctions.PrintOutput()
def callbackCommandSendCLIPS(data):
print 'SEND COMMAND'
_clipsLock.acquire()
clips.SendCommand(data.data, True)
clipsFunctions.PrintOutput()
_clipsLock.release()
def callbackCommandRunCLIPS(data):
print "callbackCommandRUNCLIPS "
clipsFunctions.Run('') # aqui se manda el numero de pasos que ejecutara CLIPS con [''] se ejecutan todos los pasos sin detenerse
clipsFunctions.PrintOutput()
def callbackCommandSendCommand(data):
clips.SendCommand(data.command, True)
clipsFunctions.PrintOutput()
def timerThread(t, sym):
time.sleep(t/1000)
clipsFunctions.Assert('(BB_timer {0})'.format(sym))
clipsFunctions.PrintOutput()
def cmdTimerThread(t, cmd, cmdId):
time.sleep(t/1000)
clipsFunctions.Assert('(BB_timer "{0}" {1})'.format(cmd, cmdId))
clipsFunctions.PrintOutput()
def setLogLevel(self):
_clipsLock.acquire()
clips.SendCommand('(bind ?*logLevel* ' + self.logLevelVar.get() + ')')
clipsFunctions.PrintOutput()
_clipsLock.release()
def setLogLevelTest():
_clipsLock.acquire()
clips.SendCommand('(bind ?*logLevel* ' + 'getloglevel' + ')')
clipsFunctions.PrintOutput()
_clipsLock.release()
def sendCommand(self):
_clipsLock.acquire()
clips.SendCommand(self.cmdVar.get(), True)
clipsFunctions.PrintOutput()
_clipsLock.release()
def runCLIPS(self, *args):
clipsFunctions.Run(self.getRunTimes())
clipsFunctions.PrintOutput()
