Fixing issues

grammar/intransitive.xml

@@ -1405,6 +1405,7 @@
 <member stem="etch" />
 <member stem="translate" />
 <member stem="spat" />
+<member stem="patrol" />
 <member stem="sizzle" />
 <member stem="perplex" />
 <member stem="frost" />

grammar/lexicon_core.xml

@@ -490,4 +490,21 @@
       </lf>
     </complexcat>
   </entry>
+</family>
+
+<family name="Stop" pos="Stop">
+  <entry name="term">
+    <atomcat type="term">
+      <fs id="2">
+        <feat attr="index">
+          <lf><nomvar name="X" /></lf>
+        </feat>
+      </fs>
+      <lf>
+        <satop nomvar="X:stop">
+          <prop name="[*DEFAULT*]" />
+        </satop>
+      </lf>
+    </atomcat>
+  </entry>
 </family>

grammar/lexicon_decorators.xml

@@ -197,4 +197,48 @@
     </lf>
     </complexcat>
   </entry>
+</family>
+
+<family class="repeat" pos="Loop" closed="true">
+  <entry name="s/(s\np)">
+    <complexcat>
+    <atomcat type="s">
+      <fs id="2">
+        <feat attr="index">
+          <lf><nomvar name="E" /></lf>
+        </feat>
+      </fs>
+    </atomcat>
+    <slash dir="/" mode="&gt;" />
+    <complexcat>
+      <atomcat type="s">
+        <fs id="3">
+          <feat attr="index">
+            <lf><nomvar name="X" /></lf>
+          </feat>
+        </fs>
+      </atomcat>
+      <slash dir="\" mode="&lt;" />
+      <atomcat type="np">
+        <fs id="5">
+          <feat attr="index">
+            <lf><nomvar name="Y" /></lf>
+          </feat>
+        </fs>
+      </atomcat>
+    </complexcat>
+    <lf>
+      <satop nomvar="E:loop">
+        <prop name="[*DEFAULT*]" />
+        <diamond mode="body">
+          <nomvar name="X" />
+        </diamond>
+        <diamond mode="infinite">
+          <nomvar name="E" />
+        </diamond>
+      </satop>
+    </lf>
+    </complexcat>
+  </entry>
+  <member stem="repeatedly" />
 </family>

grammar/morph.xml

@@ -113,6 +113,7 @@ $Revision: 1.8 $, $Date: 2010/09/13 04:37:19 $
   <entry pos="N" word="kitchen" class="room" macros="@sg @sg-X"/>
   <entry pos="N" word="storage" class="room" macros="@sg @sg-X"/>
   <entry pos="N" word="dining" class="room" macros="@sg @sg-X"/>
+  <entry pos="N" word="lounge" class="room" macros="@sg @sg-X"/>
 
   <entry pos="N" word="room" class="room" macros="@sg @sg-X"/>
   <entry pos="N" word="hall" stem="room" class="room"  macros="@sg @sg-X"/>
@@ -464,7 +465,12 @@ $Revision: 1.8 $, $Date: 2010/09/13 04:37:19 $
   <entry pos="Conditional" word="when" />
   <entry pos="Conditional" word="once" stem="when" />
   <entry pos="Conditional" word="till" stem="until" />
-
+
+  <entry pos="Loop" word="repeatedly" />
+  <entry pos="Loop" word="continuously" stem="repeatedly" />
+
+  <entry pos="Stop" word="stop" />
+
   <!-- ======================= Prepositions ======================== -->
 
   <entry pos="Prep" word="for" />

launch/lingua.launch

@@ -1,10 +1,14 @@
 <launch>
   <arg name="gui" value="true" />
-  <arg name="sim" value="true" />
+
+  <arg name="method_path" default="$(find lingua)/data/methods" />
 
   <arg name="grammar" value="$(find lingua)/grammar/grammar.xml" />
   <arg name="handlers" value="$(find lingua)/data/world/handlers.json" />
 
+  <arg name="objects_file" default="" />
+  <arg name="types_file" default="" />
+
   <include file="$(find lingua_world)/launch/world.launch" />
 
   <include file="$(find lingua_kb)/launch/lingua_kb.launch">
@@ -19,12 +23,13 @@
     <node pkg="rqt_py_trees" type="rqt_py_trees" name="rqt_py_trees" />
   </group>
 
-  <group if="$(arg sim)">
-    <node pkg="lingua_tests" type="manipulator" name="manipulator" output="screen" />
-    <node pkg="lingua_tests" type="world_model" name="world_model" />
-  </group>
-
   <node pkg="lingua" type="resolver" name="resolver" output="screen" />
   <node pkg="lingua" type="speech" name="speech" />
 
+  <node pkg="lingua" type="lingua" name="lingua" output="screen">
+    <param name="method_path" value="$(arg method_path)" />
+    <param name="objects_file" value="$(arg objects_file)" if="$(eval len(str(arg('objects_file'))) > 0)" />
+    <param name="types_file" value="$(arg types_file)" if="$(eval len(str(arg('types_file'))) > 0)" />
+  </node>
+
 </launch>

scripts/lingua

@@ -8,9 +8,26 @@ from lingua.trees import Lingua, OneShotSelector
 from rv_trees.trees import BehaviourTree
 from rv_trees.leaves_ros import Leaf
 
+from lingua_kb.srv import Clear, Load
+
 if __name__ == '__main__':
   rospy.init_node('lingua')
+
+  rospy.ServiceProxy('/kb/clear', Clear).wait_for_service()
 
+  if rospy.has_param('~objects_file'):
+    rospy.loginfo('Loading objects from: {}'.format(rospy.get_param('~objects_file')))
+    rospy.ServiceProxy('/kb/clear', Clear)('objects')
+    rospy.ServiceProxy('/kb/load', Load)('objects', rospy.get_param('~objects_file'))
+
+  if rospy.has_param('~types_file'):
+    rospy.loginfo('Loading types from: {}'.format(rospy.get_param('~types_file')))
+    rospy.ServiceProxy('/kb/clear', Clear)('types')
+    rospy.ServiceProxy('/kb/load', Load)('types', rospy.get_param('~types_file'))
+
+  if rospy.has_param('~method_path'):
+    Method.set_path(rospy.get_param('~method_path'))
+
   Method.load()
 
   bt = BehaviourTree('Lingua', Lingua())

src/lingua/ccg_reader/ccg_reader.py

@@ -38,6 +38,9 @@ def read(node):
             if ForLoopReader.is_for(node):
                 return ForLoopReader.read(node)
 
+            if InfiniteLoopReader.is_repeat(node):
+                return InfiniteLoopReader.read(node)
+
             if ObjectReader.is_object(node):    
                 return ObjectReader.read(node)
 
@@ -240,8 +243,8 @@ def get_limit(node):
     def is_object(node):
         try:
             if node.tag == 'satop':
-                return node.get('nom').split(':')[1] in ['object', 'tool', 'dummy']
-            return node.find('nom').get('name').split(':')[1] in ['object', 'tool', 'dummy']
+                return node.get('nom').split(':')[1] in ['object', 'tool', 'dummy', 'room']
+            return node.find('nom').get('name').split(':')[1] in ['object', 'tool', 'dummy', 'room']
         except Exception as e:
             print(str(e))
         return False
@@ -382,6 +385,24 @@ def is_for(node):
 
         return None
 
+class InfiniteLoopReader:
+    @staticmethod
+    def read(node):
+        return InfiniteLoop(
+          ConditionalReader.get_body(node)
+        )
+
+    @staticmethod
+    def is_repeat(node):
+        try:
+            if node.tag == 'satop':
+                return ':loop' in node.get('nom') and node.find('prop').get('name') == 'repeatedly'
+            return ':loop' in node.find('nom').get('name') and node.find('prop').get('name') == 'repeatedly' 
+        except Exception as e:
+           print(str(e))
+
+        return None
+
 class DurationReader:
     @staticmethod
     def read(node):
@@ -518,4 +539,15 @@ def read(node):
 
     @staticmethod
     def get_value(node):
-        return node.find('prop').get('name')
+        return node.find('prop').get('name')
+
+class StopReader:
+    @staticmethod
+    def is_stop(node):
+        try:
+            if node.tag == 'satop':
+                return ':stop' in node.get('nom')
+            return ':stop' in node.find('nom').get('name')
+        except Exception as e:
+            print(str(e))
+        return False

src/lingua/method.py

@@ -151,7 +151,7 @@ def to_tree(self):
       return subtree
 
     children = []
-
+    
     for args in self.zip_arguments(self.arguments):
       branch = self.generate_tree(args, setup=True)
       children.append(branch)
@@ -255,6 +255,7 @@ def generate_tree(self, arguments, setup=False):
     return root
 
   def generate_branch(self, branch, arguments):
+    print(branch)
     if branch['type'] == 'sequence':
       children = list([self.generate_branch(child, arguments) for child in branch['children']])
       return Sequence(branch['name'] if 'name' in branch else None if 'name' in branch else 'sequence', children=children)
@@ -267,14 +268,14 @@ def generate_branch(self, branch, arguments):
       data = copy.deepcopy(branch)
 
       if 'args' in data and 'load_value' in data['args']:
-        matches = re.findall('\${([^}]*)}', data['args']['load_value'])
+        matches = re.findall(r'\${([^}]*)}', data['args']['load_value'])
 
         for match in matches:
           data['args']['load_value'] = arguments[match]
-        
+
       module = importlib.import_module(data['package'])
       class_type = module.__getattribute__(data['class_name'])
-      return class_type(name=data['name'] if 'name' in data else None, **data['args'] if 'args' in data else {})
+      return class_type(**data['args'] if 'args' in data else {})
 
     if branch['type'] == 'decorator':
       data = copy.deepcopy(branch)
@@ -286,10 +287,8 @@ def generate_branch(self, branch, arguments):
         matches = re.findall('\${([^}]*)}', data['args']['predicate'])
 
         for match in matches:
-          print(arguments[match])
           data['args']['predicate'] = data['args']['predicate'].replace('${' + match + '}', str(arguments[match].to_query()))
-        print(data['args'])
-
+
       try:
         node_name = data['name'] if 'name' in data else data['args']['predicate']
       except KeyError:
@@ -298,6 +297,13 @@ def generate_branch(self, branch, arguments):
       return class_type(self.generate_branch(data['child'], arguments), name=node_name, **data['args'] if 'args' in data else {})
 
     if branch['type'] == 'behaviour':
+
+      if 'args' in branch and 'mapping' in branch['args']:
+        for idx in branch['args']['mapping']:
+          if isinstance(branch['args']['mapping'][idx], dict):
+            arguments[idx] = Base.from_json(branch['args']['mapping'][idx], arguments)
+            branch['args']['mapping'][idx] = idx
+
       return Subtree(name=branch['name'] if 'name' in branch else branch['method_name'], method_name=branch['method_name'], arguments=arguments, **branch['args'] if 'args' in branch else {})
 
   def toJSON(self):
@@ -309,4 +315,4 @@ def toJSON(self):
     }
 
 from .trees import Subtree, Preconditions, LearnMethod
-from .types import Conjunction, Groundable, Attribute
+from .types import Base, Conjunction, Groundable, Attribute

src/lingua/trees.py

@@ -129,11 +129,16 @@ def get_last_input(self):
 
   def speech_cb(self, msg):
     # Get XML parses from CCG parser for input text
-    if msg.data in ['done', 'finished', 'that\'s it'] and self.get_listener():
+    if msg.data in ['try', 'done', 'finished', 'that\'s it'] and self.get_listener():
       self.get_listener().set_input(Terminal())
       self.pub_speech.publish(String(data='Thank you'))
       return
 
+    if msg.data in ['stop']:
+      self.stop()
+      self.children.clear()
+      return
+
     result = self.parser(msg.data
       .replace(',', ' , ')
       .replace('  ', ' ')
@@ -298,7 +303,7 @@ def add_child(leaf):
       return self.steps
 
     def expand(leaf):
-      subtree = Sequence(children=[step.to_btree() for step in self.steps])
+      subtree = Sequence(children=[step.to_btree(training=True) for step in self.steps])
       subtree.setup(timeout=0)
 
       self.executor.add_child(subtree)
@@ -317,16 +322,16 @@ def learn(leaf):
       else:
           root = self.expanded[0].to_json(self.parent.arguments)
 
-      method=Method(
-          name='gnash(tool arg0)',
+      learnt=Method(
+          name=method.get_name(),
           preconditions=[],
           postconditions=[],
           root=root
       )
 
-      Method.add(method)
+      Method.add(learnt)
 
-      return method
+      return learnt
 
     self.executor = OneShotSelector(name='executor')
 
@@ -352,7 +357,7 @@ def learn(leaf):
               )
             ]),
             Sequence(name='Execute Instructions', children=[
-              Say(load_value='Let me try'),
+              Say(load_value='Let me try once'),
               Leaf(
                 name='Expand',
                 result_fn=expand #type(leaf.loaded_data) != Terminal