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 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)
# 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
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
"""
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 functools import partial
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)
>>> 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
def test_transformer_curried(self):
expected, tester = self.__set_up_transformer()
test_transformer = co.transformer(inc)
test_transformer.send(tester)
for i in self.data:
test_transformer.send(i)
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
def test_transformer_curried(self):
expected, tester = self.__set_up_transformer()
test_transformer = co.transformer(inc)
test_transformer.send(tester)
for i in self.data:
test_transformer.send(i)
roslib.load_manifest('ocular_interaction')
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))
