/// <summary>
/// Add a goal to the brain.
/// </summary>
/// <param name="antecedent">Antecedent of goal. If there is no antecendent, an empty TransitiveAction can be given.</param>
/// <param name="consequent">Consequent of goal</param>
/// <param name="brain">Brain to create goal in</param>
/// <returns>Name of the goal created</returns>
private static string AddGoal(TransitiveAction antecedent, TransitiveAction consequent, CBrain brain)
{
// Simple validation: if the consequent has a null action, give up
if (consequent.action == null)
{
return null;
}
// Set up the goal
string name = MakeGoalName(antecedent, consequent);
GoalBuilder goal = new GoalBuilder("NL" + name, brain);
int ruleIndex = goal.AddRule("NL" + name);
// Convert consequents to goals
if (goWords.Contains(consequent.action))
{
brain.Mind.addFact(new CFact("(CurrentDestination Arg Value=" + consequent.target + ";1)"));
return "gGotoX";
}
else if (tellWords.Contains(consequent.action))
{
if (experienceWords.Contains(antecedent.action))
{
string type = TitleCase(antecedent.target);
string matchVar = "NotToldAbout" + type;
goal.AddAndAntecedent(ruleIndex, matchVar + "? " + type + " *=*;1");
goal.AddNegatedAndAntecedent(ruleIndex, "?" + matchVar + " " + type + " ToldAbout=*;1 *=*;1");
goal.AddAndAntecedent(ruleIndex, "CurrentView State " + type + "s=*?" + matchVar + "_*;1 *=*;1");
goal.AddConsequent(ruleIndex, "Execs", "Voice Say \"Commander, I see a " + type + ".\"");
goal.AddConsequent(ruleIndex, "Set", "?" + matchVar + ".Name " + type + " ToldAbout=true");
// Add a default Wait rule so the rule doesn't spin
int defaultRuleIndex = goal.AddRule("Default" + goal.Name);
goal.AddConsequent(defaultRuleIndex, "Wait", "1000");
// Confirm the plan back
int confirmRuleIndex = goal.AddRule("Initialize" + goal.Name);
goal.AddConsequent(confirmRuleIndex, "Execs", "Voice Say \"Okay, if I see a " +
antecedent.target + ", I'll let you know.\"");
goal.AddConsequent(confirmRuleIndex, "DisableRule", "self");
// This rule doesn't have a quit as it should stay standing
}
else
{
// Say we don't know how to do it
brain.Mind.addFact(new CFact("(DontKnow Arg Value=" + antecedent.action + ";1)"));
return "gDontKnowHowToX";
}
}
else if (consequent.action != null)
{
// Say we don't know how to do it
brain.Mind.addFact(new CFact("(DontKnow Arg Value=" + consequent.action + ";1)"));
return "gDontKnowHowToX";
}
else
{
return null;
}
// Commit the goal if we made it through
goal.Commit();
return goal.Name;
}
/// <summary>
/// Create a parser and default goals.
/// </summary>
/// <param name="brain">The brain</param>
/// <param name="robot">The robot</param>
public override void Init(Brain.CBrain brain, IRobot robot)
{
this.brain = brain;
this.robot = robot;
// Load external NLP systems in their own threads
restorerLoaded = new AutoResetEvent(false);
parserLoaded = new AutoResetEvent(false);
Thread parserLoader = new Thread(InitParser);
Thread restorerLoader = new Thread(InitRestorer);
parserLoader.Start();
restorerLoader.Start();
// Load up other systems in the meantime
this.tokenizer = new EnglishMaximumEntropyTokenizer(sharpNLPPath + "EnglishTok.nbin");
this.tagger = new EnglishMaximumEntropyPosTagger(sharpNLPPath + "EnglishPOS.nbin", sharpNLPPath + @"\Parser\tagdict");
// Make default goals
GoalBuilder gotoGoal = new GoalBuilder("GotoX", brain);
int ruleIndex = gotoGoal.AddRule("GotoX");
gotoGoal.AddAndAntecedent(ruleIndex, "CurrentDestination Arg *=*;1");
gotoGoal.AddConsequent(ruleIndex, "Execs", "Voice Say \"Going to the $CurrentDestination_\"");
gotoGoal.AddConsequent(ruleIndex, "Execs", "Motion GoTo $CurrentDestination close");
gotoGoal.AddConsequent(ruleIndex, "Execs", "Voice Say \"Commander, I finished moving to the $CurrentDestination_\"");
gotoGoal.AddConsequent(ruleIndex, "Remove", "CurrentDestination Arg");
gotoGoal.AddConsequent(ruleIndex, "Quit", "");
gotoGoal.Commit();
failureGoal = new GoalBuilder("DidNotUnderstand", brain);
ruleIndex = failureGoal.AddRule("DidNotUnderstand");
failureGoal.AddConsequent(ruleIndex, "Execs", "Voice Say \"I didn't understand what you said.\"");
failureGoal.AddConsequent(ruleIndex, "Quit", "");
failureGoal.Commit();
GoalBuilder goingToGoal = new GoalBuilder("SayGoingToX", brain);
ruleIndex = goingToGoal.AddRule("SayGoingToX");
goingToGoal.AddAndAntecedent(ruleIndex, "CurrentDestination Arg *=*;1");
goingToGoal.AddConsequent(ruleIndex, "Execs", "Voice Say \"I'm Going to the $CurrentDestination_\"");
goingToGoal.AddConsequent(ruleIndex, "Quit", "");
goingToGoal.Commit();
GoalBuilder goingNowhereGoal = new GoalBuilder("SayGoingNowhere", brain);
ruleIndex = goingNowhereGoal.AddRule("SayGoingNowhere");
goingNowhereGoal.AddConsequent(ruleIndex, "Execs", "Voice Say \"I'm not going anywhere right now.\"");
goingNowhereGoal.AddConsequent(ruleIndex, "Quit", "");
goingNowhereGoal.Commit();
GoalBuilder dontKnowGoal = new GoalBuilder("DontKnowHowToX", brain);
ruleIndex = dontKnowGoal.AddRule("DontKnowHowToX");
dontKnowGoal.AddAndAntecedent(ruleIndex, "DontKnow Arg *=*;1");
dontKnowGoal.AddConsequent(ruleIndex, "Execs", "Voice Say \"Sorry, but I don't know how to $DontKnow_\"");
dontKnowGoal.AddConsequent(ruleIndex, "Remove", "DontKnow Arg");
dontKnowGoal.AddConsequent(ruleIndex, "Quit", "");
dontKnowGoal.Commit();
// Wait for all systems to finish loading
restorerLoaded.WaitOne();
parserLoaded.WaitOne();
this.semantics = new SemanticsInterface();
}
