Merge pull request #51 from linas/psy

Create OpenPsi version of behavior control

src/README.md

@@ -185,3 +185,11 @@ A list of random ideas.
   (DefinedPredicateNode "Is interacting with someone?")
 
   Everything emitted to ROS is a state.... look for the behavior pubs.
+
+----------------
+
+Pending bugs:
+* (DefinedPredicateNode "Did someone leave?")  being called much much
+   too often!!! ... why???
+* Psi hung ... for no apparent reason.
+  (psi-running?)    (psi-get-loop-count)

src/atomic-dbg.py

@@ -174,10 +174,10 @@ def blink_rate(mean_node, var_node):
 	return TruthValue(1, 1)
 
 def say_text(text_node):
-   text = text_node.name
+	text = text_node.name
 	print "(Eva says: ", text, ")"
-   # evl.say_text(text)
-   return TruthValue(1, 1)
+	# evl.say_text(text)
+	return TruthValue(1, 1)
 
 # Return true as long as ROS is running.
 def ros_is_running():

src/behavior.scm

@@ -129,7 +129,7 @@
 
 		;; Show random expressions only if NOT talking
 		(SequentialOr
-			;(Not (DefinedPredicate "chatbot is listening"))
+			;(Not (DefinedPredicate "chatbot is listening?"))
 			(SequentialAnd
 
 				(SequentialOrLink
@@ -170,9 +170,8 @@
 ;; If interaction is requested, then interact with that specific person.
 ;; Make sure we look at that person ...
 (DefineLink
-	(DefinedPredicate "Interaction requested")
+	(DefinedPredicate "Interaction requested action")
 	(SequentialAnd
-		(DefinedPredicate "Someone requests interaction?")
 		(True (DefinedPredicate "If sleeping then wake"))
 		(True (DefinedPredicate "If bored then alert"))
 		(DefinedPredicate "interact with requested person")
@@ -198,7 +197,7 @@
 
 ;; Respond to a new face becoming visible.
 ;
-;; XXX TODO -- need to also do line 590, if interacting for a while
+;; XXX TODO -- if interacting for a while
 ;; this alters probability of glance...
 (DefineLink
 	(DefinedPredicate "Respond to new arrival")
@@ -235,7 +234,6 @@
 (DefineLink
 	(DefinedPredicate "New arrival sequence")
 	(SequentialAnd
-		(DefinedPredicate "Did someone arrive?")
 		(True (DefinedPredicate "If sleeping then wake"))
 		(True (DefinedPredicate "If bored then alert"))
 		(DefinedPredicate "Respond to new arrival")
@@ -244,9 +242,8 @@
 
 ;; Check to see if someone left.
 (DefineLink
-	(DefinedPredicate "Someone left")
+	(DefinedPredicate "Someone left action")
 	(SequentialAnd
-		(DefinedPredicate "Did someone leave?")
 		(Put (DefinedPredicate "Publish behavior")
 			(Concept "Someone left"))
 		(Evaluation (GroundedPredicate "scm: print-msg")
@@ -287,9 +284,6 @@
 (DefineLink
 	(DefinedPredicate "Interact with people")
 	(SequentialAnd
-		; True, if there is anyone visible.
-		(DefinedPredicate "Someone visible")
-
 		; Say something, if no one else has said anything in a while.
 		; i.e. if are being ignored, then say something.
 ;		(SequentialOr
@@ -559,11 +553,9 @@
 ; Things to do, if TTS vocalization just started.
 (DefineLink
 	; owyl "chatbot_speech_start()" method
-	(DefinedPredicate "Speech started?")
+	(DefinedPredicate "Speech started")
 	(SequentialAnd
-		; If the TTS vocalization started (chatbot started talking) ...
-		(DefinedPredicate "chatbot started talking")
-		; ... then switch to face-study saccade ...
+		; Switch to face-study saccade ...
 		(Evaluation (GroundedPredicate "py:conversational_saccade")
 				(ListLink))
 		; ... and show one random gesture from "conversing" set.
@@ -580,12 +572,12 @@
 			(ListLink (Node "--- Start talking")))
 ))
 
-; Currently used for scripted behaviors while STT doesnt publish accurate events.
+; Currently used for scripted behaviors while STT doesn't publish
+; accurate events.
 (DefineLink
-	(DefinedPredicate "Listening started?")
+	(DefinedPredicate "Listening started")
 	(SequentialAnd
-		(DefinedPredicate "chatbot started listening")
-		; ... then switch to face-study saccade ...
+		; Switch to face-study saccade ...
 		(Evaluation (GroundedPredicate "py:listening_saccade")
 				(ListLink))
 		; ... and show one random gesture from "conversing" set.
@@ -604,11 +596,9 @@
 
 ;; Things to do, if the chatbot is currently talking.
 (DefineLink
-	(DefinedPredicate "Speech ongoing?")
+	(DefinedPredicate "Speech ongoing")
 	(SequentialAnd
-		; If the chatbot currently talking ...
-		(DefinedPredicate "chatbot is talking")
-		; ... then handle the various affect states.
+		; Handle the various affect states.
 		(SequentialOr
 			(SequentialAnd
 				; If chatbot is happy ...
@@ -664,12 +654,9 @@
 
 ; Things to do, if the chattbot stopped talking.
 (DefineLink
-	(DefinedPredicate "Speech ended?")
+	(DefinedPredicate "Speech ended")
 	(SequentialAnd
-		; If the chatbot stopped talking ...
-		(DefinedPredicate "chatbot stopped talking")
-
-		; ... then switch back to exploration saccade ...
+		; Switch back to exploration saccade ...
 		(Evaluation (GroundedPredicate "py:explore_saccade")
 			(ListLink))
 
@@ -689,12 +676,9 @@
 
 ; Things to do, if stopped listening.
 (DefineLink
-	(DefinedPredicate "Listening ended?")
+	(DefinedPredicate "Listening ended")
 	(SequentialAnd
-		; If the chatbot stopped talking ...
-		(DefinedPredicate "chatbot stopped listening")
-
-		; ... then switch back to exploration saccade ...
+		; Switch back to exploration saccade ...
 		(Evaluation (GroundedPredicate "py:explore_saccade")
 			(ListLink))
 
@@ -714,11 +698,9 @@
 
 ; Things to do, if the chatbot is listening.
 (DefineLink
-	(DefinedPredicate "Listening?")
+	(DefinedPredicate "Listening ongoing")
 	(SequentialAnd
-		; If the chatbot stopped talking ...
-		(DefinedPredicate "chatbot is listening")
-        ; ... show one of the neutral-speech expressions
+        ; Show one of the neutral-speech expressions
         (SequentialOr
             (Not (DefinedPredicate "Time to change expression"))
             (Put (DefinedPredicateNode "Show random expression")
@@ -765,11 +747,25 @@
 	(SatisfactionLink
 		(SequentialAnd
 			(SequentialOr
-			    (DefinedPredicate "Skip Interaction?")
-				(DefinedPredicate "Interaction requested")
-				(DefinedPredicate "New arrival sequence")
-				(DefinedPredicate "Someone left")
-				(DefinedPredicate "Interact with people")
+				(DefinedPredicate "Skip Interaction?")
+
+				(SequentialAnd
+					(DefinedPredicate "Someone requests interaction?")
+					(DefinedPredicate "Interaction requested action"))
+
+				(SequentialAnd
+					(DefinedPredicate "Did someone arrive?")
+					(DefinedPredicate "New arrival sequence"))
+
+				(SequentialAnd
+					(DefinedPredicate "Did someone leave?")
+					(DefinedPredicate "Someone left action"))
+
+				; True, if there is anyone visible.
+				(SequentialAnd
+					(DefinedPredicate "Someone visible?")
+					(DefinedPredicate "Interact with people"))
+
 				(DefinedPredicate "Nothing is happening")
 				(True))
 
@@ -778,16 +774,39 @@
 			;; but the chatbot is still smiling and yabbering.
 			;; If interaction is turned-off need keep alive gestures
 			(SequentialOr
-				(DefinedPredicate "Speech started?")
-				(DefinedPredicate "Speech ongoing?")
-				(DefinedPredicate "Speech ended?")
-				(DefinedPredicate "Listening started?")
-				(DefinedPredicate "Listening?")
-				(DefinedPredicate "Listening ended?")
+				; If the TTS vocalization started (chatbot started talking) ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot started talking?")
+					(DefinedPredicate "Speech started"))
+
+				; If the chatbot currently talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot is talking?")
+					(DefinedPredicate "Speech ongoing"))
+
+				; If the chatbot stopped talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot stopped talking?")
+					(DefinedPredicate "Speech ended"))
+
+				(SequentialAnd
+					(DefinedPredicate "chatbot started listening?")
+					(DefinedPredicate "Listening started"))
+
+				; If the chatbot stopped talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot is listening?")
+					(DefinedPredicate "Listening ongoing"))
+
+				; If the chatbot stopped talking ...
+				(SequentialAnd
+					(DefinedPredicate "chatbot stopped listening?")
+					(DefinedPredicate "Listening ended"))
+
 				(SequentialAnd
 				    (DefinedPredicate "Skip Interaction?")
-				    (DefinedPredicate "Keep alive")
-				)
+				    (DefinedPredicate "Keep alive"))
+
 				(True)
 			)
 

src/btree-eva.scm

@@ -57,18 +57,18 @@
 (use-modules (opencog nlp relex2logic))
 
 ; Work-around to circular dependency: define `dispatch-text` at the
-; top level of the guile executation environment.
-(define-public (dispatch-text txt)
+; top level of the guile execution environment.
+(define-public (dispatch-text TXT-ATOM)
 "
-  dispatch-text TEXT
+  dispatch-text TXT-ATOM
 
-  Pass the TEXT that STT heard into the OpenCog chatbot.
+  Pass the TXT-ATOM that STT heard into the OpenCog chatbot.
 "
    (call-with-new-thread
 		; Must run in a new thread, else it deadlocks in python,
 		; since the text processing results in python calls.
-      ; (lambda () (process-query "luser" (cog-name txt)))
-      (lambda () (grounded-talk "luser" (cog-name txt)))
+      ; (lambda () (process-query "luser" (cog-name TXT-ATOM)))
+      (lambda () (grounded-talk "luser" (cog-name TXT-ATOM)))
    )
    (stv 1 1)
 )

src/btree-psi.scm

@@ -42,12 +42,33 @@
 ; Load the Eva personality configuration.
 ; (display %load-path)
 (add-to-load-path "../src")
-(load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
+; (load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
+(load-from-path "cfg-sophia.scm") ;;; <<<=== See, its Sophia here!
+
+;; Load the actual psi rules.
+(load-from-path "psi-behavior.scm")
+
+; There MUST be a DefinedPredicateNode with exactly the name
+; below in order for psi-run to work. Or we could just blow
+; that off, and use our own loop...
+(define loop-name (string-append psi-prefix-str "loop"))
+(DefineLink
+	(DefinedPredicate loop-name)
+	(SatisfactionLink
+		(SequentialAnd
+			(Evaluation (GroundedPredicate "scm: psi-step")
+				(ListLink))
+			(Evaluation (GroundedPredicate "scm: psi-run-continue?")
+				(ListLink))
+			; If ROS is dead, or the continue flag not set,
+			; then stop running the behavior loop.
+			(DefinedPredicate "ROS is running?")
+			(DefinedPredicate loop-name))))
 
 ;; Call (run) to run the main loop, (halt) to pause the loop.
 ;; The main loop runs in its own thread.
-(define (run) (behavior-tree-run))
-(define (halt) (behavior-tree-halt))
+(define (run) (psi-run))
+(define (halt) (psi-halt))
 
 ; ---------------------------------------------------------
 ; Load the chat modules.
@@ -59,26 +80,26 @@
 (use-modules (opencog nlp relex2logic))
 
 ; Work-around to circular dependency: define `dispatch-text` at the
-; top level of the guile executation environment.
-(define-public (dispatch-text txt)
+; top level of the guile execution environment.
+(define-public (dispatch-text TXT-ATOM)
 "
-  dispatch-text TEXT
+  dispatch-text TXT-ATOM
 
-  Pass the TEXT that STT heard into the OpenCog chatbot.
+  Pass the TXT-ATOM that STT heard into the OpenCog chatbot.
 "
    (call-with-new-thread
 		; Must run in a new thread, else it deadlocks in python,
 		; since the text processing results in python calls.
-      ; (lambda () (process-query "luser" (cog-name txt)))
-      ; (lambda () (grounded-talk "luser" (cog-name txt)))
-      (lambda () (chat (cog-name txt)))
+      ; (lambda () (process-query "luser" (cog-name TXT-ATOM)))
+      ; (lambda () (grounded-talk "luser" (cog-name TXT-ATOM)))
+      (lambda () (chat (cog-name TXT-ATOM)))
    )
    (stv 1 1)
 )
 
 ; ---------------------------------------------------------
 ; Run the hacky garbage collection loop.
-(run-behavior-tree-gc)
+; (run-behavior-tree-gc)
 
 ; Silence the output.
 *unspecified*

src/btree.scm

@@ -74,20 +74,20 @@
 ;(use-modules (opencog nlp relex2logic))
 
 ; Work-around to circular dependency: define `dispatch-text` at the
-; top level of the guile executation environment.
-(define-public (dispatch-text txt)
+; top level of the guile execution environment.
+(define-public (dispatch-text TXT-ATOM)
 "
-  dispatch-text TEXT
+  dispatch-text TXT-ATOM
 
-  Pass the TEXT that STT heard into the OpenCog chatbot.
+  Pass the TXT-ATOM that STT heard into the OpenCog chatbot.
 "
 ;	(call-with-new-thread
 		; Must run in a new thread, else it deadlocks in python,
 		; since the text processing results in python calls.
-		; (lambda () (process-query "luser" (cog-name txt)))
-		; (lambda () (grounded-talk "luser" (cog-name txt)))
+		; (lambda () (process-query "luser" (cog-name TXT-ATOM)))
+		; (lambda () (grounded-talk "luser" (cog-name TXT-ATOM)))
 		; XXX Need to ... auuh load the chatbot...
-;		(lambda () (chat txt))
+;		(lambda () (chat TXT-ATOM))
 ;	)
 	(stv 1 1)
 )