public Thing CreateLandmark(List <Thing> near)
{
//a landmark is a collection of nearby segments
//these must be cloned so they can be fixed in position rather than being adjusted relative to Sallie's position
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return(null);
}
Thing newLandmark = UKS.AddThing("Lm" + landmarkCount++.ToString(), "Landmark");
foreach (Thing t in near)
{
Segment s = Module2DModel.SegmentFromUKSThing(t);
Thing P1 = UKS.AddThing("lmp" + pointCount++.ToString(), "Point"); //These points are not included in the model and do don't move with poin of view
P1.V = s.P1.Clone();
Thing P2 = UKS.AddThing("lmp" + pointCount++.ToString(), "Point");
P2.V = s.P2.Clone();
Thing S = UKS.AddThing("l" + t.Label.ToString(), "SSegment");
S.AddReference(P1);
S.AddReference(P2);
S.AddReference(t.References[2].T);//the color
newLandmark.AddReference(S);
}
return(newLandmark);
}
public override void Initialize()
{
//scanning = false;
orienting = false;
auto = false;
lastLandmark = null;
currentLandmark = null;
currentEvent = null;
ClearNeurons();
//randomize
rand = new Random((int)DateTime.Now.Ticks);
AddLabel("Auto");
AddLabel("Found");
//this is the first test of building a sequence of behaviors
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS != null)
{
Thing t = UKS.AddThing("LTurnS", "Action");
t = UKS.AddThing("RTurnS", "Action");
t = UKS.AddThing("UTurnS", "Action");
t = UKS.AddThing("GoS", "Action");
}
}
public void AddOutcomePair(Thing Event, Thing theAction, Thing theOutcome)
{
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return;
}
Thing newOutcomePair = UKS.AddThing("x" + pairCount++, Event); //creates new thing as it as a child
newOutcomePair.AddReference(theAction);
newOutcomePair.AddReference(theOutcome);
}
public Thing CreateEvent(Thing newLandmark)
{
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return(null);
}
Thing retVal = UKS.AddThing("E" + eventCount++.ToString(), "Event");
retVal.AddReference(newLandmark);
return(retVal);
}
public override void Fire()
{
Init(); //be sure to leave this here
if (words.Count > 0)
{
string word = words[0];
na.BeginEnum();
for (Neuron n = na.GetNextNeuron(); n != null; n = na.GetNextNeuron())
{
if (n.Label == word)
{
n.SetValue(1);
// n.CurrentCharge = 1;
break;
}
else if (n.Label == "")
{
//the word has not been heard before, add it
n.Label = word;
n.CurrentCharge = 1;
//connection to UKS
ModuleUKSN nmUKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmUKS != null)
{
List <Thing> words = nmUKS.Labeled("Word").Children;
Thing w = nmUKS.Valued(word, words);
if (w == null)
{
string label = "w" + char.ToUpper(word[0]) + word.Substring(1);
w = nmUKS.AddThing(label, new Thing[] { nmUKS.Labeled("Word") }, word);
}
Neuron n1 = nmUKS.GetNeuron(w);
if (n1 != null)
{
n.AddSynapse(n1.Id, 1);
}
//TODO: add a synapse to the speakwords module as well
}
break;
}
}
words.RemoveAt(0);
}
}
public override void Fire()
{
Init(); //be sure to leave this here
if (synth == null)
{
return;
}
bool paused = true;
for (int i = 1; i < na.NeuronCount; i++)
{
Neuron n = na.GetNeuronAt(i);
if (n.Fired())
{
if (n.Label.Length == 1)
{
phraseToSpeak += n.Label;
paused = false;
}
if (n.Synapses.Count == 0)
{
//if a neuron fired and it has no connection, connect it to the knowledge store
//connection to KB
ModuleUKSN nmKB = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmKB != null)
{
string label = "pn" + n.Label;
List <Thing> phonemes = nmKB.Labeled("Phoneme").Children;
Thing pn = nmKB.Labeled(label, phonemes);
if (pn == null) //this should always be null
{
pn = nmKB.AddThing(label, new Thing[] { nmKB.Labeled("Phoneme") }, pn);
}
Neuron n1 = nmKB.GetNeuron(pn);
if (n1 != null)
{
n.AddSynapse(n1.Id, 1);
n1.SetValue(1);
}
}
}
}
}
if (phonemesToFire != "")
{
char c = phonemesToFire[0];
bool fired = false;
for (int i = 0; i < na.NeuronCount; i++)
{
Neuron n = na.GetNeuronAt(i);
if (n.Label == c.ToString())
{
n.SetValue(1);
fired = true;
break;
}
}
if (!fired)
{
Utils.Noop();
}
phonemesToFire = phonemesToFire.Substring(1);
}
if (paused && phraseToSpeak != "")
{
if (dlg != null)
{
((ModuleSpeakPhonemesDlg)dlg).SetLabel(phraseToSpeak);
}
if (na.GetNeuronAt("Enable").Fired())
{
ModuleSpeechIn msi = (ModuleSpeechIn)FindModuleByType(typeof(ModuleSpeechIn));
if (msi != null)
{
msi.PauseRecognition(); //if there is a recognizer active
}
//synth.SpeakAsync(phraseToSpeak + ".");
//phraseToSpeak = "";
PromptBuilder pb1 = new PromptBuilder();
if (typedIn)
{
pb1.StartVoice("Microsoft David Desktop");
pb1.StartStyle(new PromptStyle(PromptRate.Medium));
}
else
{
pb1.StartVoice("Microsoft Zira Desktop");
pb1.StartStyle(new PromptStyle(PromptRate.ExtraSlow));
}
pb1.AppendTextWithPronunciation("not used", phraseToSpeak);
pb1.EndStyle();
pb1.EndVoice();
string x = pb1.ToXml();
Debug.WriteLine(debugString(phraseToSpeak));
//synth.Speak(pb1);
synth.SpeakAsync(pb1);
}
//string heard = GetPronunciationFromText("", phraseToSpeak); //it would be nice to hear what was said but it doesn't work with this engine
phraseToSpeak = "";
typedIn = false;
}
}
//get input from touch... accurate locations, no color
public bool AddSegmentFromTouch(PointPlus P1, PointPlus P2, PointPlus motion, int arm)
{
//if conf=0, it's a known endpoint. conf=1, not an endpoint
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return(false);
}
if (UKSSegments is null)
{
return(false);
}
if (imagining)
{
return(false);
}
ColorInt theColor = Utils.ColorToInt(Colors.Wheat);
Segment newSegment = new Segment()
{
P1 = P1, P2 = P2, theColor = theColor
};
//OrderSegment(newSegment);
Thing t1 = GetNearestThing(newSegment.MidPoint.Theta, out float dist1);
//TODO: for motion testing
t1 = UKS.Labeled("s0");
if (t1 == null)
{
//TODO: merge mutliple segments
// AddSegmentToUKS(P1, P2, theColor, motion); //don't store motion with the segment (yet)
AddSegmentToUKS(P1, P2, theColor);
}
else if (dist1 < 1)
{
Segment prevSegment = SegmentFromUKSThing(t1);
PointPlus prevMidpoint = prevSegment.MidPoint;
Angle oldM = prevSegment.Angle;
Angle newM = newSegment.Angle;
PointPlus offset = new PointPlus()
{
R = prevSegment.Length, Theta = newM
};
if (P1.Conf == 0 && P2.Conf == 0) //we're given both endpoints
{
prevSegment.P1.P = P1.P; prevSegment.P1.Conf = 0;
prevSegment.P2.P = P2.P; prevSegment.P2.Conf = 0;
}
else if (P1.Conf == 0)
{
prevSegment.P1.P = P1.P; prevSegment.P1.Conf = 0;
prevSegment.P2.P = P1.P - offset.V;
}
else if (P2.Conf == 0)
{
prevSegment.P1.P = P2.P; prevSegment.P2.Conf = 0;
prevSegment.P2.P = P2.P + offset.V;
}
else
{
//we're not near an endpoint--match the modpoint as close as possible & preserve length
//make the segment match the two points
PointPlus newMidpoint1 = new PointPlus()
{
P = (Point)GetClosestPointOnLine(P1.V, P2.V, prevMidpoint.V),
};
//offset is the dietance from the midpoint to each end
offset.R = offset.R / 2;
PointPlus newP1 = new PointPlus()
{
P = newMidpoint1.P + offset.V
};
PointPlus newP2 = new PointPlus()
{
P = newMidpoint1.P - offset.V
};
prevSegment.P1.R = newP1.R; prevSegment.P1.Theta = newP1.Theta;
prevSegment.P2.R = newP2.R; prevSegment.P2.Theta = newP2.Theta;
}
PointPlus newMidpoint = prevSegment.MidPoint;
newMidpoint.P = newMidpoint.P - prevMidpoint.V;
if (newMidpoint.R > 0.01 && motion.R != 0)
{
if (prevSegment.Motion == null)
{
prevSegment.Motion = new PointPlus();
Thing tMotion = UKS.AddThing("m" + mCount++, UKS.Labeled("Point"));
tMotion.V = prevSegment.Motion;
t1.AddReference(tMotion);
}
prevSegment.Motion.R = motion.R;
prevSegment.Motion.Theta = motion.Theta;
prevSegment.Motion.Conf = newM - oldM;
}
}
UpdateDialog();
return(false);
}
public override void Fire()
{
Init(); //be sure to leave this here
if (GetNeuronValue("Auto") == 0)
{
return;
}
goToGoal = GetNeuronValue("Goal") == 1;
ModuleBehavior mBehavior = (ModuleBehavior)FindModleu(typeof(ModuleBehavior));
if (mBehavior == null)
{
return;
}
Module2DModel mModel = (Module2DModel)FindModleu(typeof(Module2DModel));
if (mModel is null)
{
return;
}
ModuleEvent mEvent = (ModuleEvent)FindModleu(typeof(ModuleEvent));
if (mEvent == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
if (UKS == null)
{
return;
}
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
mModel.GetSegmentsFromUKS();
IList <Thing> segments = mModel.GetUKSSegments();
if (segments.Count == 0)
{
return;
}
Thing t = segments[0]; //TODO: this only works with just a single item in the UKS
//figure out if any motion occured
Segment s = Module2DModel.SegmentFromUKSThing(t);
Module2DModel.OrderSegment(s);
if (GetNeuronValue("E0") == 1)
{
GoToLandmark(UKS.Labeled("E0").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E1") == 1)
{
GoToLandmark(UKS.Labeled("E1").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E2") == 1)
{
GoToLandmark(UKS.Labeled("E2").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (doPush != 0)
{
if (doPush == 2)
{
Push(s);
}
doPush--;
return;
}
if (doFaceSegment)
{
DoFaceSegment(s);
doFaceSegment = false;
return;
}
Segment s1;
if (lastPosition == null) //create objects to keep track of the target and last position
{
s1 = s.Clone();
lastPosition = mModel.AddSegmentToUKS(s1);
lastPosition.Label = "LastPosition";
lastPosition.RemoveParent(UKS.Labeled("Segment"));
lastPosition.AddParent(UKS.Labeled("SSegment"));
Module2DSim mSim = (Module2DSim)FindModleu(typeof(Module2DSim));
if (mSim is null)
{
return;
}
Segment motionTarget = mSim.GetMotionTarget();
if (motionTarget == null)
{
motionTarget = new Segment();
motionTarget.P1 = new PointPlus(4, 1.5f);
motionTarget.P2 = new PointPlus(4, -2.5f);
motionTarget.theColor = (ColorInt)0xff;
}
endTarget = mModel.AddSegmentToUKS(motionTarget);
endTarget.Label = "EndTarget";
//endTarget.RemoveParent(UKS.Labeled("Segment"));
//endTarget.AddParent(UKS.Labeled("SSegment"));
}
else
{
s1 = Module2DModel.SegmentFromUKSThing(lastPosition);
}
//get motion from subtracting and then updating last position
Angle rotation = s.Angle - s1.Angle;
if (rotation > PI / 2)
{
rotation = PI - rotation;
}
if (rotation < -PI / 2)
{
rotation = PI + rotation;
}
Motion motion = new Motion()
{
P = (Point)s.MidPoint.V - s1.MidPoint.V,
rotation = rotation,
};
lastPosition.References[0].T.V = s.P1.Clone();
lastPosition.References[1].T.V = s.P2.Clone();
if (Abs(motion.R) > .01 || Abs(motion.rotation) > .05 && !goToGoal && !doBackOff)
{
//check for existing Event
Thing currentEvent = MostLikelyEvent(t);
if (currentEvent == null)
{ //add new Event
Thing lm1 = mEvent.CreateLandmark(new List <Thing>()
{
t
});
Thing t1 = mEvent.CreateEvent(lm1);
Thing t3 = UKS.AddThing("m" + motionCount++, UKS.Labeled("Motion"), motion);
mEvent.AddOutcomePair(t1, UKS.GetOrAddThing("Push", "Action"), t3);
}
return;
}
if (doBackOff)
{
DoBackOff(s);
doBackOff = false;
doFaceSegment = true;
return;
}
if (goToGoal)
{
if (endTarget != null)
{
Segment s2 = Module2DModel.SegmentFromUKSThing(endTarget);
GoToGoal(s, s2);
return;
}
}
Explore(s);
}
