siza_demo/common.py

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# COMMON KNOWLEDGE FILE SIZA DEMO
 
from __future__ import print_function
 
names = ['peter', 'josja']
# This dict holds all locations
locations = [
    {'name': 'dinner_table',  'room': 'living_room', 'category': 'table',   'manipulation': 'yes'},
 
    {'name': 'cabinet',       'room': 'kitchen',     'category': 'shelf',   'manipulation': 'yes'},
    {'name': 'trashbin',      'room': 'kitchen',     'category': 'utility', 'manipulation': 'yes'},
    {'name': 'couch',         'room': 'hallway',     'category': 'table',   'manipulation': 'yes'},
 
    {'name': 'counter',       'room': 'kitchen',     'category': 'shelf',   'manipulation': 'yes'},
    {'name': 'tray_table',    'room': 'living_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" ]))
 
location_rooms += ["workshop"]
rooms = location_rooms
 
objects = [
    {'category': 'container',           'name': 'cup',                  'color': 'green'},
    {'category': 'drink',               'name': 'coke',                 'color': 'red'},
    {'category': 'drink',               'name': 'fanta_bottle',         'color': 'red'},
    {'category': 'drink',               'name': 'coke_zero',            'color': 'black'},
    {'category': 'drink',               'name': 'fanta',                'color': 'orange'},
    {'category': 'snack',               'name': 'pringles',             'color': 'orange'},
    {'category': 'snack',               'name': 'apple',                'color': 'green'},
]
 
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 ]))
 
category_locations = {
    "container": {"cabinet": "on_top_of"},
    "drink": {"dinner_table": "on_top_of"},
    "snack": {"cabinet": "on_top_of"},
    "cleaning_stuff": {"cabinet": "on_top_of"},
}
 
inspect_positions = {
}
inspect_areas = {
}
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
most_probable_location_in_room_map = {
    'living_room': 'dinner_table',
    'kitchen': 'cabinet',
}
 
 
def get_location_from_room(room_id):
    if room_id in most_probable_location_in_room_map:
        return most_probable_location_in_room_map[room_id]
    return None
 
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
''' 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_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 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_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))