Merge pull request #52 from linas/cle

Assorted minor cleanup

Author: linas

src/behavior.scm

@@ -12,22 +12,30 @@
 ; HOWTO:
 ; ------
 ; Run the main loop:
-;    (behavior-tree-run)
+;    (run)
 ; Pause the main loop:
-;    (behavior-tree-halt)
+;    (halt)
 ;
 ; TODO:
 ; -----
-; XXX This needs a major redesign, to NOT use behavior trees at the top
-; level, but instead to provide a library of suitable actions that can
-; be searched over, and then performed when a given situation applies.
-; That is, given a certain state vector (typically, a subset of the
-; current state), the library is searched to see if there is a behavior
-; sequence that can be applied to this situation.  If there is no such
-; explicit match, then the fuzzy matcher should be employed to find
-; something that is at least close.  If nothing close is found, then
-; either the concept blending code, or a hack of the MOSES knob-turning
-; and genetic cross-over code should be used to create new quasi-random
+; The current OpenPsi framework allows much more general and flexible
+; rules than what are presented below; this geneality should be made
+; use of.
+;
+; A general OpenPsi rule has the form of if(context) then take(action);
+; these can contain variables, adn can also be classed into different
+; groups based on the demands that they are fulfilling.
+;
+; The content below consits entirely of actions to nbe taken; the
+; contexts are in the `self-model.scm` file.  The structure of the
+; conexts is fairly rigid; these could probably be loosened to a
+; large degree.
+;
+; The OpenPsi engine could be (should be?) updated to perform fuzzy
+; matching on the contexts, to find close or similar contexts, if no
+; one exact match can be made.  If nothing close is found, then either
+; the concept blending code, or a hack of the MOSES knob-turning and
+; genetic cross-over code should be used to create new quasi-random
 ; performance sequences from a bag of likely matches.
 ;
 ; Unit testing:
@@ -719,6 +727,7 @@
         ))
 		(TrueLink)
 	))
+
 (DefineLink
 	(DefinedPredicate "Keep alive")
 	(SequentialAnd
@@ -740,83 +749,5 @@
         ))
 		(TrueLink)
 	))
-;; ------------------------------------------------------------------
-;; Main loop. Uses tail recursion optimization to form the loop.
-(DefineLink
-	(DefinedPredicate "main loop")
-	(SatisfactionLink
-		(SequentialAnd
-			(SequentialOr
-				(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))
-
-			;; XXX FIXME chatbot is disengaged from everything else.
-			;; The room can be empty, the head is bored or even asleep,
-			;; but the chatbot is still smiling and yabbering.
-			;; If interaction is turned-off need keep alive gestures
-			(SequentialOr
-				; 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"))
-
-				(True)
-			)
-
-			; If ROS is dead, or the continue flag not set, then stop
-			; running the behavior loop.
-			(DefinedPredicate "Continue running loop?")
-			(DefinedPredicate "ROS is running?")
-
-			;; Call self -- tail-recurse.
-			(DefinedPredicate "main loop")
-		)))
 
 ; ----------------------------------------------------------------------

src/btree-eva-mute.scm

@@ -40,6 +40,7 @@
 ; (display %load-path)
 (add-to-load-path "../src")
 (load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
+(load-from-path "old-tree.scm")
 
 ;; Call (run) to run the main loop, (halt) to pause the loop.
 ;; The main loop runs in its own thread.

src/btree-eva.scm

@@ -1,7 +1,7 @@
 ;
 ; btree-eva.scm
 ;
-; Eva behavior tree (for the Eva blender model animations).
+; Eva OpenPsi behaviors (for the Eva blender model animations).
 ;
 ; Runs a set of defined behaviors that express Eva's personality.
 ; This version integrates the OpenCog chatbot.
@@ -36,16 +36,18 @@
 (use-modules (opencog exec))        ; needed for cog-evaluate! in put_atoms.py
 (use-modules (opencog eva-model))   ; needed for defines in put_atoms.py
 (use-modules (opencog eva-behavior))
+(use-modules (opencog openpsi))
 
 ; 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 "psi-behavior.scm")
 
 ;; 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.

src/btree-psi.scm

@@ -1,10 +1,10 @@
 ;
 ; btree-psi.scm
 ;
-; OpenPsi-based Eva behavior action selection (for the Eva blender
+; Sophia OpenPsi behavior action selection (for the Sophia blender
 ; model animations).
 ;
-; Runs a set of defined behaviors that express Eva's personality.
+; Runs a set of defined behaviors that express Sophia's personality.
 ; This version integrates the OpenCog chatbot.
 ;
 ; The currently-defined behaviors include acknowledging new people who
@@ -48,23 +48,6 @@
 ;; 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) (psi-run))
@@ -99,7 +82,7 @@
 
 ; ---------------------------------------------------------
 ; Run the hacky garbage collection loop.
-; (run-behavior-tree-gc)
+(run-behavior-tree-gc)
 
 ; Silence the output.
 *unspecified*

src/btree.scm

@@ -61,6 +61,7 @@
 
 ;; Call (run) to run the main loop, (halt) to pause the loop.
 ;; The main loop runs in its own thread.
+(load-from-path "old-tree.scm")
 (define (run) (behavior-tree-run))
 (define (halt) (behavior-tree-halt))
 

src/old-tree.scm

@@ -0,0 +1,155 @@
+;
+; old-tree.scm
+;
+; Old (deprecated) top-level behavior tree main loop.
+;
+; This has been supplanted by the newer, OpenPsi-based behavior
+; rules, and is temporarily maintained here for backwards
+; compaitbility.
+;
+; HOWTO:
+; ------
+; Run the main loop:
+;    (behavior-tree-run)
+; Pause the main loop:
+;    (behavior-tree-halt)
+;
+;; ------------------------------------------------------------------
+;; Main loop. Uses tail recursion optimization to form the loop.
+(DefineLink
+	(DefinedPredicate "main loop")
+	(SatisfactionLink
+		(SequentialAnd
+			(SequentialOr
+				(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))
+
+			;; XXX FIXME chatbot is disengaged from everything else.
+			;; The room can be empty, the head is bored or even asleep,
+			;; but the chatbot is still smiling and yabbering.
+			;; If interaction is turned-off need keep alive gestures
+			(SequentialOr
+				; 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"))
+
+				(True)
+			)
+
+			; If ROS is dead, or the continue flag not set, then stop
+			; running the behavior loop.
+			(DefinedPredicate "Continue running loop?")
+			(DefinedPredicate "ROS is running?")
+
+			;; Call self -- tail-recurse.
+			(DefinedPredicate "main loop")
+		)))
+
+; ----------------------------------------------------------------------
+;; Main loop control
+(define do-run-loop #t)
+
+(define-public (behavior-tree-run)
+"
+ behavior-tree-run
+
+ Run the Eva behavior tree main loop (in a new thread),
+ Call (behavior-tree-halt) to exit the loop.
+"
+	(set! do-run-loop #t)
+	(call-with-new-thread
+		(lambda () (cog-evaluate! (DefinedPredicateNode "main loop")))))
+
+(define-public (behavior-tree-halt)
+"
+ behavior-tree-halt
+
+ Tell the Eva behavior tree main loop thread to exit.
+"
+	(set! do-run-loop #f))
+
+
+(define-public (behavior-tree-running?)
+"
+ behavior-tree-running?
+
+ Return #t if the behavior tree is running, else return false.
+"
+	do-run-loop)
+
+(define-public (behavior-tree-loop-count)
+"
+ behavior-tree-loop-count
+
+ Return the loop-count of the behavior tree.
+"
+	loop-count)
+
+
+(define loop-count 0)
+(define-public (continue-running-loop)  ; public only because its in a GPN
+	(set! loop-count (+ loop-count 1))
+
+	; Print loop count to the screen.
+	; (if (eq? 0 (modulo loop-count 30))
+	;	(format #t "Main loop: ~a\n" loop-count))
+
+	; Pause for one-tenth of a second... 101 millisecs
+	(usleep 101000)
+	(if do-run-loop (stv 1 1) (stv 0 1)))
+
+; Return true if the behavior loop should keep running.
+(DefineLink
+	(DefinedPredicate "Continue running loop?")
+	(Evaluation
+		(GroundedPredicate "scm:continue-running-loop") (ListLink)))
+
+; ----------------------------------------------------------------------