/*
* public CD(SimpleGrammar.ParseNode pn)
* {
* if (pn == null) throw (new Exception("CD null argument"));
* PropList = new Hashtable();
* if (pn.value == "S")
* {
* if (pn.children == null) throw (new Exception("CD: S node has no children"));
* pn = (ParseNode)pn.children[0];
* }
* if (pn.children == null || pn.children.Count == 0) throw (new Exception("CD: CMD node has no children"));
* switch (pn.value)
* {
* case "CMD1":
* CMD1_CD(this, pn);
* break;
* case "C+OBJ":
* C_OBJ_CD(this, pn);
* break;
* case "GOX":
* goxCD(this, pn);
* break;
* case "TURNX":
* turnxCD(this, pn);
* break;
* default:
* throw (new Exception("CD: Unknown child of S"));
* }
* }
*/
/*
* private void CMD1_CD(CD cd, ParseNode pn)
* {
* SimpleGrammar.ParseNode child = (SimpleGrammar.ParseNode)pn.children[0];
* string command = (string)concept.all_commands[child.value];
* if (command == null) throw (new Exception("CMD1_CD: unrecognized command: " + child.value));
* cd.head = (concept)concept.all_concepts[command];
* if (cd.head == null) throw (new Exception("CMD1_CD: unrecognized concept: " + command));
* }
*
*
* private void C_OBJ_CD(CD cd, ParseNode pn)
* {
* foreach (ParseNode child in pn.children)
* {
* if (child.value == "CMD2")
* {
* if (child.children == null || child.children.Count == 0) throw (new Exception("C_OBJ_CD: CMD2 has no children"));
* ParseNode cmd = (ParseNode)child.children[0];
* string command = (string)concept.all_commands[cmd.value];
* if (command == null) throw (new Exception("CMD2_CD: unrecognized command: " + cmd.value));
* cd.head = (concept)concept.all_concepts[command];
* if (cd.head == null) throw (new Exception("CMD1_CD: unrecognized concept: " + command));
* }
* else
* {
* if (child.value == "object:")
* {
* cd.PropList = new Hashtable();
* cd.PropList.Add("object:", objectCD(child));
* }
* }
* }
*
* }
*
* private CD objectCD(ParseNode pn)
* {
* if (pn.children == null || pn.children.Count == 0) throw (new Exception("objectCD: object has no children"));
* ParseNode child = (ParseNode)pn.children[0];
* if (child.value == "me") return new CD("me");
* if (child.value != "NG") throw (new Exception("objectCD: object missing"));
* return ngCD(child);
* }
*
* private CD ngCD(ParseNode pn)
* {
* if (pn.children == null || pn.children.Count == 0) throw (new Exception("ngCD: ng has no children"));
* string noun = "";
* foreach (ParseNode child in pn.children)
* {
* if (child.value == "NOUN")
* {
* if (child.children == null || child.children.Count == 0) throw (new Exception("ngCD: NOUN has no children"));
* ParseNode nn = (ParseNode)child.children[0];
* noun = nn.value;
* break;
* }
* }
* string noun1 = (string)concept.all_nouns[noun]; // such as "ball"
* if (noun1 == null) throw (new Exception("ngCD: unknown noun: " + noun));
* CD result = new CD(noun1);
* foreach (ParseNode child in pn.children)
* {
* if (child.children == null || child.children.Count == 0) throw (new Exception("ngCD: no children of " + child.value));
* ParseNode pnspec = (ParseNode)child.children[0];
* string pnspecName = pnspec.value;
* string mod;
* switch ((string)child.value)
* {
* case "ART":
* result.PropList.Add("det:", pnspecName);
* break;
* case "ADJ":
* mod = (string)concept.all_modifiers[pnspecName];
* if (result.PropList[mod] == null) result.PropList.Add(mod, pnspecName);
* break;
* case "PN":
* if (pnspec.children == null || pnspec.children.Count == 0) throw (new Exception("ngCD: no children of " + pnspecName));
* ParseNode locSpec = (ParseNode)pnspec.children[0];
* string locSpecName = locSpec.value;
* mod = (string)concept.all_directions[locSpecName];
* if (pnspecName == "LOC_SPEC1")
* {
* if (result.PropList[mod] == null) result.PropList.Add(mod, new CD("you"));
* break;
* }
* if (pnspecName == "LOC+REF")
* {
* ParseNode locSpec2 = (ParseNode)locSpec.children[0];
* string locSpec2Name = locSpec2.value;
* mod = (string)concept.all_directions[locSpec2Name];
* if (result.PropList[mod] == null) result.PropList.Add(mod, locrefCD((ParseNode)pnspec.children[1]));
* break;
* }
* throw (new Exception("ngCD: strange PN: " + pnspecName));
* default:
* break;
* }
* }
* return result;
* }
*
* private object locrefCD(ParseNode pn)
* {
* if (pn.children == null || pn.children.Count == 0) throw (new Exception("locrefCD: locref has no children"));
* ParseNode child = (ParseNode)pn.children[0];
* if (child.value == "you") return new CD("you");
* if (child.value != "NPH") throw (new Exception("locrefCD: ref missing"));
* return ngCD(child);
* }
*
*
* private void goxCD(CD cd, ParseNode pn)
* {
* cd.head = (concept)concept.all_concepts["go"];
* cd.PropList = new Hashtable();
* if (pn.children == null || pn.children.Count == 0) throw (new Exception("goxCD: gox has no children"));
* foreach (ParseNode child in pn.children)
* {
* if (child.value == "go_direction")
* {
* ParseNode godir = (ParseNode)child.children[0];
* cd.PropList.Add("go_direction", godir.value);
* }
* else
* {
* if (child.value == "num:")
* {
* ParseNode num = (ParseNode)child.children[0];
* cd.PropList.Add("num:", concept.all_nums[num.value]);
* }
* }
* }
* }
*
* private void turnxCD(CD cd, ParseNode pn)
* {
* cd.head = (concept)concept.all_concepts["turn"];
* cd.PropList = new Hashtable();
* if (pn.children == null || pn.children.Count == 0) throw (new Exception("turnCD: turnx has no children"));
* foreach (ParseNode child in pn.children)
* {
* if (child.value == "turn_direction")
* {
* ParseNode turndir = (ParseNode)child.children[0];
* cd.PropList.Add("turn_direction", turndir.value);
* }
* else
* {
* if (child.value == "num:")
* {
* ParseNode num = (ParseNode)child.children[0];
* cd.PropList.Add("num:", concept.all_nums[num.value]);
* }
* }
* }
* }
*/
public string ToSexp()
{
string res = "(" + head.concept_name;
string pname;
object pval;
string pval_string;
if (PropList != null)
{
res = res + " (";
foreach (DictionaryEntry d in PropList)
{
pname = (string)d.Key;
pval = d.Value;
if (d.Value is CD)
{
CD x = (CD)d.Value;
pval_string = x.ToSexp();
}
else
{
pval_string = d.Value.ToString();
}
res = res + " (" + pname + " " + pval_string + ")";
}
res = res + ")";
}
return(res + ")");
}
public void find_object()
{
CD target_CD = (CD)taskArgs.PropList["object:"];
if (target_CD == null)
{
// myMind.mySynth.SpeakAsync("No target specified");
return;
}
AliveObject target;
float conf;
int fx, fy; //frontier point coordinates
Console.WriteLine("Looking for: " + target_CD.ToSexp());
bool new_objects_flag = true;
for (int i = 0; i < 10; i++)
{
if (new_objects_flag)
{
conf = dogTricks.selectKnowObject(myMind, target_CD, out target);
if (conf == 0 || target == null)
{
Console.WriteLine("Known objects do not match the description");
}
else
{
Console.WriteLine(target.name + " matches with conf " + conf.ToString());
}
if (conf > .3)
{
Console.WriteLine(target.name + " is the best target with conf " + conf.ToString());
dogTricks.walk_to_point(myMind, target);
myMind.myDog.TurnTo(target.X, target.Y);
myMind.myContext.last_focus = target;
Console.WriteLine("At the target");
// Wei Chen 2010-04-21
if (myMind.myDog.PickupObject(target))
{
Console.WriteLine("Carried the target");
}
// Wei Chen 2010-04-21
dogTricks.walk_to_point(myMind, Convert.ToSingle(128), Convert.ToSingle(128));
myMind.myDog.DropObject(target);
return;
}
}
Console.WriteLine("Explore new ground");
if (dogTricks.find_unexplored(myMind, target_CD, out fx, out fy, 25) == false)
{
break;
}
dogTricks.walkTo(myMind, fx, fy, 10);
myMind.update_explored();
if (myMind.myContext.new_objects == null || myMind.myContext.new_objects.Count == 0)
{
new_objects_flag = false;
}
}
// myMind.mySynth.SpeakAsync("I can't find the right target");
Console.WriteLine("Gave up on finding the target");
}