def write_doors_to_file(doors):
door_set = {}
if len(doors) != 0:
doors.pop(0)
for door in doors:
door_atom = door[0].replace("#", "_door")
logical_form = "objectPos(%s,%s,%s,0)" % (door_atom, door[1], door[2])
global_vars.prolog_files["objects"].write(logical_form + ".\n")
global_vars.prolog_assert_handle(logical_form)
logical_form = "stat_node(%s,%s,%s)" % (door_atom, door[1], door[2])
global_vars.prolog_files["graph"].write(logical_form + ".\n")
for other_door in doors:
if (door[0] != other_door[0] and are_same_door(door, other_door)):
other_door[0] = door[0]
for door in doors:
if not door[0] in door_set:
logical_form = "objectType(%s,door)" % door[0].replace(
"#", "_door")
global_vars.prolog_files["objects"].write(logical_form + ".\n")
global_vars.prolog_assert_handle(logical_form)
door_set[door[0]] = ""
def learn(room_tag,
obj_tag,
obj_par,
column,
row,
assertions_list=[""],
asserting=True):
obj_atom = get_obj_atom(room_tag, obj_tag)
obj_time = get_obj_time(obj_tag)
obj_type = get_obj_type(obj_tag)
log_to_terminal("learning %s" % obj_atom)
logical_form = "objectPos(%s,%s,%s,0)" % (obj_atom, column, row)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
logical_form = "objectType(%s,%s)" % (obj_atom, obj_type)
if not (logical_form in assertions_list):
assertions_list.append(logical_form)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
logical_form = "objectLastSeen(%s,%s)" % (obj_atom, obj_time)
if not (logical_form in assertions_list):
assertions_list.append(logical_form)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
#Expecting obj1par1~obj1par1value1^obj1par1value2...~obj1par2...#obj2par1~obj2par1value1^obj2par1value2...
if (obj_par != "0"):
obj_par_list = obj_par.split("~")
for k in xrange(int(len(obj_par_list) / 2)):
par_name_index = 2 * k
par_value_index = 2 * k + 1
if obj_par_list[par_name_index] != "objectAngle":
logical_form = "%s(%s,%s)" % (obj_par_list[par_name_index],
obj_atom,
obj_par_list[par_value_index])
else:
angle = float(obj_par_list[par_value_index]) * 180 / math.pi
logical_form = "%s(%s,%s)" % (obj_par_list[par_name_index],
obj_atom, int(round(angle, -1)))
if not (logical_form in assertions_list):
assertions_list.append(logical_form)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
global_vars.last_object_memorized = obj_atom
def calculate_and_assert_rooms_center_and_type(room_list, asserting=True):
room_type_list = ["office", "room", "corridor", "printerRoom", "phdRoom"]
for room in room_list:
centroid = global_vars.prolog_service_handle("roomCellCentroid", [room, "X", "Y"]).ris[0]
room_center = [int(round(float(centroid.atoms[1]))), int(round(float(centroid.atoms[2])))]
room_type_in_list = False
for room_type in room_type_list:
if room_type in room.lower():
logical_form = "roomType(%s,%s)" % (room, room_type)
room_type_in_list = True
if not room_type_in_list:
logical_form = "roomType(%s,%s)" % (room, room)
logical_form1 = "roomCenter(%s,%s,%s)" % (room, room_center[0], room_center[1])
logical_form2 = "dyn_node(%s,%s,%s)" % (room, room_center[0], room_center[1])
global_vars.prolog_files["rooms"].write(logical_form + ".\n")
global_vars.prolog_files["rooms"].write(logical_form1 + ".\n")
global_vars.prolog_files["graph"].write(logical_form2 + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
global_vars.prolog_assert_handle(logical_form1)
global_vars.prolog_assert_handle(logical_form2)
def calculate_and_assert_rooms_center_and_type(room_list, asserting=True):
room_type_list = ["office", "room", "corridor", "printerRoom", "phdRoom"]
for room in room_list:
centroid = global_vars.prolog_service_handle("roomCellCentroid",
[room, "X", "Y"]).ris[0]
room_center = [
int(round(float(centroid.atoms[1]))),
int(round(float(centroid.atoms[2])))
]
room_type_in_list = False
for room_type in room_type_list:
if room_type in room.lower():
logical_form = "roomType(%s,%s)" % (room, room_type)
room_type_in_list = True
if not room_type_in_list:
logical_form = "roomType(%s,%s)" % (room, room)
logical_form1 = "roomCenter(%s,%s,%s)" % (room, room_center[0],
room_center[1])
logical_form2 = "dyn_node(%s,%s,%s)" % (room, room_center[0],
room_center[1])
global_vars.prolog_files["rooms"].write(logical_form + ".\n")
global_vars.prolog_files["rooms"].write(logical_form1 + ".\n")
global_vars.prolog_files["graph"].write(logical_form2 + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
global_vars.prolog_assert_handle(logical_form1)
global_vars.prolog_assert_handle(logical_form2)
def remember(old_object_atom, new_object_atom="", asserting=True):
global_vars.prolog_files["objects"].close()
global_vars.prolog_files["objects"] = open("objects.pl", "r")
content = global_vars.prolog_files["objects"].readlines()
global_vars.prolog_files["objects"].close()
os.remove("objects.pl")
global_vars.prolog_files["objects"] = open("objects.pl", "a")
for line in content:
if not old_object_atom in line:
global_vars.prolog_files["objects"].write(line)
else:
global_vars.prolog_retract_handle(line.replace(".\n", ""))
logical_form = "prev_" + line
global_vars.prolog_files["old_objects"].write(logical_form)
if asserting:
global_vars.prolog_assert_handle(logical_form)
if new_object_atom != "":
logical_form = "replaced_by(%s,%s)" % (old_object_atom, new_object_atom)
global_vars.prolog_files["old_objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
def write_doors_to_file(doors):
door_set = {}
if len(doors) != 0:
doors.pop(0)
for door in doors:
door_atom = door[0].replace("#", "_door")
logical_form = "objectPos(%s,%s,%s,0)" % (door_atom, door[1], door[2])
global_vars.prolog_files["objects"].write(logical_form + ".\n")
global_vars.prolog_assert_handle(logical_form)
logical_form = "stat_node(%s,%s,%s)" % (door_atom, door[1], door[2])
global_vars.prolog_files["graph"].write(logical_form + ".\n")
for other_door in doors:
if door[0] != other_door[0] and are_same_door(door, other_door):
other_door[0] = door[0]
for door in doors:
if not door[0] in door_set:
logical_form = "objectType(%s,door)" % door[0].replace("#", "_door")
global_vars.prolog_files["objects"].write(logical_form + ".\n")
global_vars.prolog_assert_handle(logical_form)
door_set[door[0]] = ""
def remember(old_object_atom, new_object_atom="", asserting=True):
global_vars.prolog_files["objects"].close()
global_vars.prolog_files["objects"] = open('objects.pl', 'r')
content = global_vars.prolog_files["objects"].readlines()
global_vars.prolog_files["objects"].close()
os.remove("objects.pl")
global_vars.prolog_files["objects"] = open('objects.pl', 'a')
for line in content:
if not old_object_atom in line:
global_vars.prolog_files["objects"].write(line)
else:
global_vars.prolog_retract_handle(line.replace(".\n", ""))
logical_form = "prev_" + line
global_vars.prolog_files["old_objects"].write(logical_form)
if asserting:
global_vars.prolog_assert_handle(logical_form)
if (new_object_atom != ""):
logical_form = "replaced_by(%s,%s)" % (old_object_atom,
new_object_atom)
global_vars.prolog_files["old_objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
def learn(room_tag, obj_tag, obj_par, column, row, assertions_list=[""], asserting=True):
obj_atom = get_obj_atom(room_tag, obj_tag)
obj_time = get_obj_time(obj_tag)
obj_type = get_obj_type(obj_tag)
log_to_terminal("learning %s" % obj_atom)
logical_form = "objectPos(%s,%s,%s,0)" % (obj_atom, column, row)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
logical_form = "objectType(%s,%s)" % (obj_atom, obj_type)
if not (logical_form in assertions_list):
assertions_list.append(logical_form)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
logical_form = "objectLastSeen(%s,%s)" % (obj_atom, obj_time)
if not (logical_form in assertions_list):
assertions_list.append(logical_form)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
# Expecting obj1par1~obj1par1value1^obj1par1value2...~obj1par2...#obj2par1~obj2par1value1^obj2par1value2...
if obj_par != "0":
obj_par_list = obj_par.split("~")
for k in xrange(int(len(obj_par_list) / 2)):
par_name_index = 2 * k
par_value_index = 2 * k + 1
if obj_par_list[par_name_index] != "objectAngle":
logical_form = "%s(%s,%s)" % (obj_par_list[par_name_index], obj_atom, obj_par_list[par_value_index])
else:
angle = float(obj_par_list[par_value_index]) * 180 / math.pi
logical_form = "%s(%s,%s)" % (obj_par_list[par_name_index], obj_atom, int(round(angle, -1)))
if not (logical_form in assertions_list):
assertions_list.append(logical_form)
global_vars.prolog_files["objects"].write(logical_form + ".\n")
if asserting:
global_vars.prolog_assert_handle(logical_form)
global_vars.last_object_memorized = obj_atom
def save_combinedPlan_name_in_kb(kbPlanName, paramsList, pcl):
paramString = ""
for i in paramsList:
if i != "":
paramString += i[0].lower() + i[1:] + ","
assertion = "combinedPlan(%s)" % kbPlanName
assertion2 = "plan(%s,[%s],[])" % (kbPlanName, paramString[:-1])
assertion3 = "pcl(%s,\'%s\')" % (kbPlanName, pcl)
global_vars.prolog_assert_handle(assertion)
global_vars.prolog_assert_handle(assertion2)
global_vars.prolog_assert_handle(assertion3)
os.chdir(global_vars.prolog_directory)
f = open("plans.pl", 'a')
f.write(assertion + ".\n")
f.write(assertion2 + ".\n")
f.write(assertion3 + ".\n")
f.close()
def save_combinedPlan_name_in_kb(kbPlanName, paramsList, pcl):
paramString = ""
for i in paramsList:
if i != "":
paramString += i[0].lower() + i[1:] + ","
assertion = "combinedPlan(%s)"%kbPlanName
assertion2 = "plan(%s,[%s],[])"%(kbPlanName, paramString[:-1])
assertion3 = "pcl(%s,\'%s\')"%(kbPlanName, pcl)
global_vars.prolog_assert_handle(assertion)
global_vars.prolog_assert_handle(assertion2)
global_vars.prolog_assert_handle(assertion3)
os.chdir(global_vars.prolog_directory)
f = open("plans.pl", 'a')
f.write(assertion + ".\n")
f.write(assertion2 + ".\n")
f.write(assertion3 + ".\n")
f.close()