void PNPGenerator::genHumanAction(string say_ask, string say_do, string action_do, string say_dont, string condition)
{
Place *p1 = pnp.addAction("findHuman",pnp.pinit); addActionToStacks("findHuman",pnp.pinit);
Place *p2 = pnp.addAction(say_ask,p1); addActionToStacks(say_ask,p1);
pair<Transition*,Place*> ptg = pnp.addCondition(" ",p2);
Place *p = ptg.second;
Transition* t1 = pnp.addTransition("["+condition+"]"); t1->setY(p->getY()-1); t1->setX(p->getX()+1);
Transition* t2 = pnp.addTransition("[saidYes]"); t2->setY(p->getY()+0); t2->setX(p->getX()+1);
Transition* t3 = pnp.addTransition("[saidNo]"); t3->setY(p->getY()+1); t3->setX(p->getX()+1);
Transition* t4 = pnp.addTransition("[timeout]"); t4->setY(p->getY()+2); t4->setX(p->getX()+1);
pnp.connect(p,t1); pnp.connect(p,t2); pnp.connect(p,t3); pnp.connect(p,t4);
Place *py = pnp.addPlace("Y",-1); py->setY(t2->getY()); py->setX(t2->getX()+1);
pnp.connect(t2,py);
Place *pn = pnp.addPlace("N",-1); pn->setY(t3->getY()); pn->setX(t3->getX()+1);
pnp.connect(t3,pn);
// say_do, action_do
Place *pd1 = pnp.addAction(say_do,py); addActionToStacks(say_do,py);
Place *pd2 = pnp.addAction(action_do,pd1); addActionToStacks(action_do,pd1);
ptg = pnp.addCondition("["+condition+"]",pd2);
Place *pg = ptg.second;
pg->setName("goal");
// say_dont
Place *pf1 = pnp.addAction(say_dont,pn); addActionToStacks(say_dont,pn);
Transition* tf1 = pnp.addTransition("[not humanDetected]"); tf1->setY(pf1->getY()); tf1->setX(pf1->getX()+1);
pnp.connect(pf1,tf1); pnp.connect(tf1,pnp.pinit);
pnp.connect(t1,pg); pnp.connect(t4,pnp.pinit);
pnp.addInterrupt(pnp.pinit, condition, pg);
}
vector<Place> PlacesManager::findRandom(unsigned int limit) {
vector<Place> places;
ResultSet &rs = Database::getInstance().execute("SELECT id, name FROM place ORDER BY RANDOM() LIMIT %d", limit);
while (rs.hasNext()) {
Place place;
place.setId(rs.getInt(0));
place.setName(rs.getString(1));
places.push_back(place);
}
return places;
}
/**Operational method for the class;
* Called to prompt the user to specificy the Place Object's attribute they wish to change, and
* the value to set it to.
*
* @return Returns a pointer to itself (this)
*/
ModifyPlacesView* ModifyPlacesView::start() {
Place* place = getPlace(rootPlace);
string opts[3] = {"Name", "Longitude", "Latitude"};
OptionsView<string> view(opts, 3);
int menuSelection = 0;
do {
cout << LF << "\tWhat would you like to modify?" << LF;
switch (menuSelection = view.display()->getOption()) {
case 0:
place->setName(getAddress(1, "Please enter the name"));
break;
case 1:
place->setLongitude(inputFloat("Please enter the longitude"));
break;
case 2:
place->setLatitude(inputFloat("Please enter the latitude"));
break;
}
} while (menuSelection != 3);
return this;
}
bool PNPGenerator::genFromPolicy(Policy &p) {
bool _error = false; // check if errors occur during generation
// Map of visited states (with associated places)
std::map<string,Place*> visited;
cout << "Init: " << p.initial_state << endl;
string current_state = p.initial_state;
// add a first fixed transition from the init place to the initial state
pair<Transition*,Place*> pa = pnp.addCondition("[]",pnp.pinit);
Place *p1 = pa.second;
p1->setName(current_state);
// put place for initial state
visited[p.initial_state]=p1;
cout << "Final: " << p.final_state << endl;
//string final_state_str = transformState(final_state);
// Initialization of the stack
stack< pair<string, Place*> > SK; SK.push(make_pair(current_state,p1));
while (!SK.empty()) {
// get top element from stack
current_state=SK.top().first; Place* current_place = SK.top().second;
SK.pop();
std::cout << "PNPgen:: " << current_state << " : ";
string action = p.getActionForState(current_state);
if (action=="") {
if (current_state!=p.final_state)
std::cerr << "PNPgen Warning: No action found for state " << current_state << std::endl;
continue;
}
std::cout << action << " -> ";
vector<StateOutcome> vo = p.getOutcomes(current_state,action);
if (vo.size()==0) {
std::cerr << "PNPgen ERROR: No successor state found for state " << current_state << " and action " << action << std::endl;
_error = true;
break;
}
Place *pe = addAction(action,current_place); // pe: end place of action
// y coordinate of Petri Net layout
int dy=0;
vector<StateOutcome>::iterator io;
for (io = vo.begin(); io!=vo.end(); io++) {
string succ_state = io->successor;
string cond = io->observation;
if (cond[0]!='[')
cond = "["+cond+"]";
cout << cond << " " << succ_state << " ";
Place *ps = visited[succ_state];
// check if succ_state is already visited
if (ps==NULL) { // if not visited
pair<Transition*,Place*> pa = pnp.addCondition(cond,pe,dy); dy++;
Place* pc = pa.second;
SK.push(make_pair(succ_state,pc));
visited[succ_state]=pc;
pc->setName(succ_state);
if (succ_state==p.final_state)
pc->setName("goal");
}
else { // if already visited
pnp.addConditionBack(cond,pe, ps, dy); dy++;
}
} // for io
std::cout << std::endl;
}
return !_error;
}
void PNPGenerator::applyExecutionRules() {
pair<string, Place*> current; Place* noplace=NULL;
while (!ASE.empty()) {
current=ASE.top(); ASE.pop();
string current_action_param = current.first;
vector<string> tk; boost::split(tk,current_action_param,boost::is_any_of("_"));
string current_action = tk[0]; // current action (without parameters)
Place* current_place = current.second; // init place of this action
cout << "Applying execution rules for action " << current_action << endl;
vector<TExecutionRule>::iterator eit;
eit = executionrules.v.begin();
while (eit!=executionrules.v.end()) {
if (eit->action==current_action) {
cout << " " << eit->condition << " -> " << eit->recoveryplan << endl;
boost::trim(eit->recoveryplan);
vector<string> v; boost::split(v,eit->recoveryplan,boost::is_any_of("; "),boost::token_compress_on);
Place *po = NULL; string R="";
Place *pi = pnp.addPlace("I",-1); pi->setY(current_place->getY()-1); pi->setX(current_place->getX()+3);
if (v.size()>1) {
// build actual plan without recovery specification
string plan = ""; int i=0;
for (i=0; i<v.size()-2; i++)
plan = plan + v[i] + ";";
plan = plan + v[i];
//cout << "-- recovery plan " << plan << endl;
po = genLinearPlan(pi,plan,false); // output place of linear plan
R = v[v.size()-1];
}
else {
R = eit->recoveryplan;
po = pi;
}
pnp.addInterrupt(current_place,eit->condition,pi);
if (R=="fail_plan") {
po->setName("fail");
}
else if (R=="restart_plan") {
pnp.connectPlaces(po,pnp.pinit);
}
else if (R=="restart_action") {
pnp.connectPlaces(po,current_place);
}
else if (R=="skip_action") {
pnp.connectPlaces(po,pnp.endPlaceOf(current_place));
}
}
eit++;
}
}
}
void PNPGenerator::setMainLinearPlan(string plan) {
Place *p = genLinearPlan(pnp.pinit,plan); p->setName("goal");
}
void T41::policyCallback(const t41_robust_navigation::Policy::ConstPtr& msg) {
std::map<string,string> policy;
std::map<string,Place*> visited;
std::map<std::pair<string,string>,vector<string> > transition_fn;
std::map<string,string> transformedconditions;
string initial_state = msg->initial_state;
final_state = msg->final_state;
goalname = msg->goal_name;
ROS_INFO("Received policy for goal %s. Initial state: %s Final state: %s", goalname.c_str(), initial_state.c_str(), final_state.c_str());
std::vector<t41_robust_navigation::StatePolicy> p = msg->policy;
t41_robust_navigation::StatePolicy sa;
std::vector<t41_robust_navigation::StatePolicy>::iterator it = p.begin();
while (it!=p.end()) {
sa = *it++;
// printf(" %s : %s -> ", sa.state.c_str(), sa.action.c_str());
string tstate = transformState(sa.state);
//transformedconditions[tstate] = extractCondition(sa.state);
string aname = extractName(sa.action);
string aparam = transformParamsWith_(extractParams(sa.action));
string taction = aname;
if (aparam!="")
taction = aname+"_"+aparam;
policy[tstate] = taction;
//cout << "### Added policy " << tstate << " -> " << taction << endl;
// vector<string> ss = sa.successors;
vector<t41_robust_navigation::StateOutcome> &so = sa.outcomes;
// vector<string>::iterator is;
// for (is=ss.end(); is!=ss.begin(); ) {
for (vector<t41_robust_navigation::StateOutcome>::const_iterator is=so.end(); is!=so.begin(); ) {
is--;
// string succ = *is;
string succ = is->successor;
string tsucc = transformState(succ);
transformedconditions[tsucc] = extractCondition(is->observation); // Not really sure of this, condition should be attached to source state instead of destination state I think
//printf(" %s [%s] ",succ.c_str(),tsucc.c_str());
transition_fn[make_pair(tstate,taction)].push_back(tsucc);
//cout << "### Added transition " << tstate << "," << taction << " -> " << tsucc << endl;
}
//printf("\n");
}
// Generates the PNP
PNP pnp("policy");
Place *p0 = pnp.addPlace("init"); p0->setInitialMarking();
string current_state = transformState(initial_state);
bool PNPgen_error = false;
transformedconditions[current_state] = "[true]";
pair<Transition*,Place*> pa = pnp.addCondition(transformedconditions[current_state],p0);
Place *p1 = pa.second;
p1->setName(current_state);
stack< pair<string, Place*> > SK; SK.push(make_pair(current_state,p1));
while (!SK.empty()) {
current_state=SK.top().first; Place* current_place = SK.top().second;
SK.pop();
std::cout << "PNPgen:: " << current_state << ": ";
string action = policy[current_state];
if (action=="") {
std::cerr << "ERROR. No action found at this point!!!" << std::endl;
PNPgen_error = true;
break;
}
std::cout << action << " -> ";
vector<string> vs = transition_fn[std::make_pair(current_state,action)];
if (vs.size()==0) {
std::cerr << "ERROR. No successor state found at this point!!!" << std::endl;
PNPgen_error = true;
break;
}
Place *pe = pnp.addAction(action,current_place);
vector<string>::iterator iv; int dy=0;
// Ordering successor states (transitions) wrt number of conditions
int maxn=0;
// vector<string> conditions[32]; // max number of atomic conditions
vector<string> succstates[32];
for (iv = vs.begin(); iv!=vs.end(); iv++) {
string succ_state = *iv;
string cond = transformedconditions[succ_state];
cout << "Ordering conditions: " << cond << " ";
int n = count_conditions(cond);
if (n>maxn) maxn=n; cout << n << endl;
// conditions[n].push_back(cond);
succstates[n].push_back(succ_state);
}
for (int k=maxn; k>0; k--) {
// vector<string> vc = conditions[k];
vector<string> ss = succstates[k];
for (int i = 0; i<ss.size(); i++) {
string succ_state = ss[i];
std::cout << succ_state << " ";
Place *ps = visited[succ_state];
int x = pe->getX(); // x position for all the conditions
if (ps==NULL) {
pair<Transition*,Place*> pa = pnp.addCondition(transformedconditions[succ_state],pe,dy); dy++;
Place* pc = pa.second;
SK.push(make_pair(succ_state,pc));
visited[succ_state]=pc;
pc->setName(succ_state);
if (succ_state==final_state)
pc->setName("goal");
}
else {
pnp.addConditionBack(transformedconditions[succ_state],pe, ps, dy); dy++;
}
} // for i
} // for k
std::cout << std::endl;
}
if (PNPgen_error) {
t41_robust_navigation::PolicyResult res;
res.goal_name = goalname;
res.feedback = "FAILURE: cannot generate a PNP";
res.state = initial_state;
policyresult_pub.publish(res);
return;
}
string planname = "AUTOGENpolicy";
string pnpfilename = planfolder+"/"+planname+".pnml";
std::ofstream of(pnpfilename.c_str());
of << pnp;
of.close();
ROS_INFO_STREAM("Saved PNP file " << pnpfilename);
// publish planToExec to start the plan
std_msgs::String s;
//s.data = "stop";
//plantoexec_pub.publish(s); // stop the current plan
//boost::this_thread::sleep(boost::posix_time::milliseconds(500));
s.data = planname;
plantoexec_pub.publish(s); // start the new one
}
