rgo2018/common.py

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# COMMON KNOWLEDGE FILE RGO2018
 
from __future__ import print_function
 
female_names = ["angie", "mary", "amy", "kimberley", "lisa", "melissa", "michelle", "jennifer", "elizabeth", "julie"]
male_names = ["brian", "michael", "christopher", "william", "john", "david", "james", "robert", "scott", "richard"]
names = female_names + male_names
 
# This dict holds all locations
locations = [
 
    {'name': 'bed',             'room': 'bedroom',    'category': 'beacon',  'manipulation': 'no'},
    {'name': 'desk',            'room': 'bedroom',    'category': 'shelf',   'manipulation': 'yes'},
    {'name': 'bookcase',        'room': 'bedroom',    'category': 'shelf',   'manipulation': 'yes'},
    {'name': 'side_table',      'room': 'bedroom',    'category': 'table',   'manipulation': 'yes'},
 
    {'name': 'bar',             'room': 'kitchen',    'category': 'bar',     'manipulation': 'yes'},
    {'name': 'kitchen_table',   'room': 'kitchen',    'category': 'table',   'manipulation': 'yes'},
    {'name': 'kitchen_cabinet', 'room': 'kitchen',    'category': 'table',   'manipulation': 'yes'},
    {'name': 'sink',            'room': 'kitchen',    'category': 'table',   'manipulation': 'no'},
 
    {'name': 'tv_table',        'room': 'living_room', 'category': 'table',  'manipulation': 'yes'},
    {'name': 'cupboard',        'room': 'living_room', 'category': 'shelf',  'manipulation': 'yes'},
    {'name': 'couch',           'room': 'living_room', 'category': 'seat',   'manipulation': 'yes'},
    {'name': 'couch_table',     'room': 'living_room', 'category': 'beacon', 'manipulation': 'yes'},
 
    {'name': 'dining_table',    'room': 'dining_room', 'category': 'beacon', 'manipulation': 'yes'},
    {'name': 'cabinet',         'room': 'dining_room', 'category': 'shelf',  'manipulation': 'yes'},
    {'name': 'display_case',    'room': 'dining_room', 'category': 'table',  'manipulation': 'no'},
    {'name': 'storage_shelf',   'room': 'dining_room', 'category': 'shelf',  'manipulation': 'yes'}
 
]
 
location_rooms = list(set([ o["room"] for o in locations ]))
location_categories = list(set([ o["category"] for o in locations ]))
location_names = list(set([ o["name"] for o in locations ]))
manipulation_locations = list(set([ o["name"] for o in locations if o["manipulation"] == "yes" ]))
 
rooms = location_rooms + ["workshop"]
 
objects = [
    {'category': 'care',                'name': 'shower_gel',        'color': 'pink'},
    {'category': 'care',                'name': 'soap',              'color': 'white'},
    {'category': 'care',                'name': 'toothpaste',        'color': 'green'},
    {'category': 'cleaning_stuff',      'name': 'sponge',            'color': 'yellow'},
    {'category': 'cleaning_stuff',      'name': 'wiper',             'color': 'yellow'},
    {'category': 'container',               'name': 'box',               'color': 'yellow'},
    {'category': 'container',               'name': 'tray',              'color': 'white'},
    {'category': 'drinks',                  'name': 'beer',              'color': 'yellow'},
    {'category': 'drinks',                  'name': 'cacao',             'color': 'brown'},
    {'category': 'drinks',                  'name': 'coke',              'color': 'red'},
    {'category': 'drinks',                  'name': 'malz',              'color': 'brown'},
    {'category': 'drinks',                  'name': 'mixdrink',          'color': 'brown'},
    {'category': 'drinks',                  'name': 'orange_juice',      'color': 'orange'},
    {'category': 'drinks',                  'name': 'peppermint_tea',    'color': 'green'},
    {'category': 'drinks',                  'name': 'water',                 'color': 'transparent'},
    {'category': 'snacks',                  'name': 'cookies',           'color': 'blue'},
    {'category': 'snacks',                  'name': 'fruit_bar',         'color': 'green'},
    {'category': 'snacks',                  'name': 'kinder',            'color': 'white'},
    {'category': 'snacks',                  'name': 'nuts',              'color': 'yellow'},
    {'category': 'food',                'name': 'apple',             'color': 'green'},
    {'category': 'food',                'name': 'green_paprika',     'color': 'green'},
    {'category': 'food',                'name': 'kiwi',              'color': 'brown'},
    {'category': 'food',                'name': 'lemon',             'color': 'yellow'},
    {'category': 'food',                'name': 'noodles',           'color': 'yellow'},
    {'category': 'food',                'name': 'pepper',            'color': 'brown'},
    {'category': 'food',                'name': 'salt',              'color': 'salt'},
    {'category': 'food',                'name': 'tomato',            'color': 'red'},
    {'category': 'kitchen_stuff',       'name': 'fork',              'color': 'green'},
    {'category': 'kitchen_stuff',       'name': 'spoon',             'color': 'green'},
    {'category': 'kitchen_stuff',       'name': 'knife',             'color': 'green'},
    {'category': 'kitchen_stuff',       'name': 'plate',             'color': 'green'},
    {'category': 'kitchen_stuff',       'name': 'cup',               'color': 'green'}
 
 
]
 
# {'category': 'help_me_carry', 'name': 'bag', 'color': 'red'},
# {'category': 'dishwasher_test', 'name': 'dishwasher_tray', 'color': 'white'},
 
object_names = list(set([ o["name"] for o in objects ]))
object_categories = list(set([ o["category"] for o in objects ]))
object_color = list(set([ o["color"] for o in objects ]))
# object_groups = list(set([ o["group"] for o in objects ]))
# object_known_objects = list(set([ o["name"] for o in objects ]))
 
category_locations = {
#Test
    "care": {"bookcase": "shelf2"},
    "container": {"cupboard": "on_top_off"},
    "drinks": {"kitchen_table": "on_top_of"},
    "snacks": {"couch_table": "on_top_of"},
    "food": {"cabinet": "shelf2"},
    "cleaning_stuff": {"kitchen_cabinet": "on_top_of"},
    "kitchen_stuff" : {"kitchen_table": "on_top_of"}
}
 
inspect_areas = {
#Test
    "cabinet": ["shelf2", "shelf3", "shelf4"],
    "display_case": ["shelf2", "shelf3", "shelf4"],
    "storage_shelf": ["shelf2", "shelf3", "shelf4"],
    "bookcase": ["shelf2", "shelf3", "shelf4"]
}
 
inspect_positions = {
}
 
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
''' colors from printing on screen '''
class bcolors:
    HEADER = '\033[95m'
    OKBLUE = '\033[94m'
    OKGREEN = '\033[92m'
    WARNING = '\033[93m'
    FAIL = '\033[91m'
    ENDC = '\033[0m'
    BOLD = '\033[1m'
    UNDERLINE = '\033[4m'
 
 
'''
General function for printing shortcuts
name: name of the program that instantiates make_prints
sentence: sentence to be displayed
 
Ex: "[<EXECUTIVE NAME>] <SENTENCE TO BE DISPLAYED>"
'''
 
 
def make_prints(name):
 
    prefix = bcolors.HEADER + name + bcolors.ENDC
    def printOk(sentence):
        print(prefix + bcolors.OKBLUE + sentence + bcolors.ENDC)
 
    def printError(sentence):
        print(prefix + bcolors.FAIL + sentence + bcolors.ENDC)
 
    def printWarning(sentence):
        print(prefix + bcolors.WARNING + sentence + bcolors.ENDC)
 
    return printOk, printError, printWarning
 
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
def is_location(location):
    for loc in locations:
        if loc["name"] == location:
            return True
    return False
 
 
def get_room(location):
    for loc in locations:
        if loc["name"] == location:
            return loc["room"]
    return None
 
 
def is_room(entity_id):
    return (entity_id in rooms)
 
 
def get_inspect_areas(location):
    if location in inspect_areas:
        return inspect_areas[location]
    else:
        return ["on_top_of"]
 
 
def get_inspect_position(location, area=""):
    if location in inspect_positions and area in inspect_positions[location]:
        return inspect_positions[location][area]
    else:
        return "in_front_of"
 
 
def is_pick_location(location):
    for loc in locations:
        if loc["name"] == location and loc["manipulation"] == "yes":
            return True
    return False
 
 
def is_place_location(location):
    for loc in locations:
        if loc["name"] == location and (loc["manipulation"] == "yes" or loc["manipulation"] == "only_putting"):
            return True
    return False
 
 
def get_locations(room=None, pick_location=None, place_location=None):
    return [loc["name"] for loc in locations
                if (room == None or loc["room"] == room) and \
                   (pick_location == None or pick_location == is_pick_location(loc["name"])) and \
                   (place_location == None or place_location == is_place_location(loc["name"]))]
 
 
def get_objects(category=None):
    return [obj["name"] for obj in objects
                if category == None or category == obj["category"]]
 
 
def get_object_category(obj):
    for o in objects:
        if o["name"] == obj:
            return o["category"]
    return None
 
def get_object_color(obj):
    for o in objects:
        if o["name"] == obj:
            return o["color"]
    return None
 
# Returns (location, area_name)
def get_object_category_location(obj_cat):
    location, area_name = next(iter(category_locations[obj_cat].items()))
    return location, area_name
 
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
 
if __name__ == "__main__":
    print("\n-----------------------------------------------------------------------------")
    for obj in get_objects():
        cat = get_object_category(obj)
        (location, area_name) = get_object_category_location(cat)
        print("object '{}'".format(obj))
        print("    category: '{}'".format(cat))
        print("    found '{} {}'".format(area_name, location))
 
    print("\n-----------------------------------------------------------------------------")
    for loc in get_locations():
        print("location '{}', room: '{}'".format(loc, get_room(loc)))
 
    print("\n-----------------------------------------------------------------------------")
    print("Pick locations:")
    for loc in get_locations(pick_location=True):
        print("    {}".format(loc))
 
    print("\n-----------------------------------------------------------------------------")
    print("Place locations:")
    for loc in get_locations(place_location=True):
        print("    {}".format(loc))
 
    print("\n-----------------------------------------------------------------------------")
    print("None-manipulation locations:")
    for loc in get_locations(pick_location=False, place_location=False):
        print("    {}".format(loc))