;**************************************************** ;* ;* PROTOTYPE 5 (P5.lisp) "Gandalf" ;* ;* PROTOTYPE INTERNAL AND EXTERNAL BEHAVIORS ;* ;* May 1, 1995 - begin ;* Aug 1, 1995 - customized for the cube ;* Feb 16,1996 - changed to Gandalf ;* ;**************************************************** (in-package 'USER) ;; SKETCH-TYPE MESSAGES ;contains a list of all message types that can be posted on BB (defvar *turn-sensors* nil) (defvar *turn-descriptors* nil) (defvar *turn-state-behaviors* nil) (defvar *ext-rea-behaviors* nil) (defvar *int-rea-behaviors* nil) (defvar *int-rea-beh* nil) (defvar *CL-beh* nil) (defvar *PCL-state-beh* nil) (defvar *grand-generic-list* nil) ;I'm not sure this is used anymore.... (defvar *ext-cont-rea-behaviors* nil) (defvar *ext-CL-behaviors* nil) (defvar *ext-PCL-behaviors* nil) (defvar *BB-sensory-msgs-types* nil) ;Eval *BB-msgs-types* below when *BB-sensory-msgs-types*!! (setf *BB-msgs-types* *BB-sensory-msgs-types*) (setf *BB-sensory-msgs-types* '(facing-domain looking-at-me facing-me turned-to-me gesturing speaking addressing-me rhand-in-gest-space lhand-in-gest-space hand-in-gest-space looking-at-r-hand looking-at-l-hand looking-at-hands is-active giving-turn taking-turn wanting-turn take-turn give-turn see-user greeting saying-goodbye saying-my-name complete-utter complete-synt complete-gram complete-pragm want-back-ch-feedb concluding dial-on dial-off referencing-domain l-deictic-morph r-deictic-morph ) ) (defmethod BB-msgs-type ((msgs symbol)) "Receives a message and returns T if part of BB message set." (member msgs *BB-msgs-types*)) (defmethod BB-msgs-type ((msgs list)) "In this case we have a function call in the form of a list and need to determine if the message of the funcall is part of BB." (member (second msgs) *BB-msgs-types*)) (if *BB-sensory-msgs-types* (setf *BB-msgs-types* *BB-sensory-msgs-types*)) ;; KNOWLEDGE BASE MESSAGE TYPES (defvar *KB-msgs-types* nil) ;stores all message types that can be posted to *KB-msgs* (setf *KB-msgs-types* '(RCV-SPCH ;given when something is received from HARK SPCH-data-avail KB-parsing KB-succ-parse CL-act-avail KB-exe-act DKB-act-avail DKB-exe-act TKB-act-avail TKB-exe-speech-act TKB-exe-world-act ) ) (defmethod KB-msgs-type ((item symbol)) (member item *KB-msgs-types*)) ; Indices into the *input-buffer* datarecord ; Constants for positions and orientations for turn-taking system. ;Indexes are really functions ;************ Virtual Sensors ************** ;NOTICE: these are not *just* turn sensors anymore! (5/26/96) (defparameter *turn-sensors* ;there are not *only* turn sensors here anymore 3/10/96 ;Sensors receive raw data and do simple computations. ; TEMPLATE: (name object-type ; data1 data2 ; (index1) (index2) ;indexes are in prens if functions ; func state) '((facing-domain bs-fix-ref nil work-screen (get-head-dir) nil facing nil) (looking-at-me bs-fix-ref nil agent-screen (get-gaze-dir) nil looking-me nil) (facing-me bs-fix-ref nil agent-screen (get-head-dir) nil facing nil) (turned-to-me bs-fix-ref nil agent-screen (get-trunk-dir) nil turned-to nil) (looking-at-r-hand bs-var-ref nil nil (get-gaze-dir) (get-r-wrist-pos) looking-hands nil) (looking-at-l-hand bs-var-ref nil nil (get-gaze-dir) (get-l-wrist-pos) looking-hands nil) (l-deictic-morph bs-var-ref nil nil ;LA-index defined in Sockread2.lisp (get-body-part LA-index 0)(get-trunk-dir) deictic-sketch nil) ; 0 is foo (r-deictic-morph bs-var-ref nil nil (get-body-part RA-index 0)(get-trunk-dir) deictic-sketch nil) ; (l-hand-above-trunk-midline bs-var-ref ;used for deictic sketch (5/24/96) ; nil nil ; (get-l-wrist-pos)(get-trunk-dir) ; hand-above-trunk-midplane nil) ; (r-hand-above-trunk-midline bs-var-ref ;used for deictic sketch ; nil nil ; (get-r-wrist-pos)(get-trunk-dir) ; hand-above-trunk-midplane nil) ; (l-arm-straight bs-fix-ref ; nil nil ; (get-l-elbow-angle) nil ; arm-straight nil) ; (r-arm-straight bs-fix-ref ; nil nil ; (get-r-elbow-angle) nil ; arm-straight nil) ;; (looking-at-gest-space bs-var-ref ;; nil nil ;; (get-gaze-dir) (get-trunk-dir) ;; looking-gest-space nil) (rhand-in-gest-space bs-var-ref nil nil (get-trunk-dir) (get-r-wrist-pos) hand-in-gesture-space nil) (lhand-in-gest-space bs-var-ref nil nil (get-trunk-dir) (get-l-wrist-pos) hand-in-gesture-space nil) ; (complete-inton inton-sensor nil nil ind1 nil nil nil) ; (filler inton-sensor nil nil ind1 nil nil nil) (speaking inton-sensor nil nil speech-on-idx nil speaking? nil) (greeting speech-sensor 9 nil ;9 stands for region of speech nil nil region-equal nil) (saying-my-name speech-sensor 8 nil nil nil region-equal nil) (see-user socket-sensor *socket-obj1* nil nil nil body-status nil) ;need something more powerful later... ; very simplified for now... 4/12/96 (complete-pragm speech-sensor nil nil ind1 nil pragmatically-complete nil) (complete-gram speech-sensor nil nil ind1 ind2 grammar-complete nil) (complete-synt speech-sensor nil nil ind1 nil syntax-complete nil) ; (cl-act-avail speech-sensor ;notice that this should not be done! DKB & TKB ; nil nil ;communicate directly through their own *KB-msgs*. ; nil nil ; cl-act-available? nil) ; TEMPLATE: (name object-type ; data1 data2 ; (index1) (index2) ;indexes are in prens if functions ; func state) )) ; Note: "filler" is really an analysis question and ; shouldn't be in the descriptor list. ; Or should it? It is crucial for the reactive ; behavior of the system, so perhaps it should. ; Combining hand-in-gest-space and looking-at-hands ; could be a reactive predictor's conditions ; to predict iconic gesture. Or, it's really an ; "assumption's" conditions because it's not ; anticipating anything; it's assuming after the ; fact but with very meager evidence. ;************ Multimodal Descriptors ************** ;notice: if added to, change list in function descr-type in file mmrecorder! (defparameter *turn-descriptors* ;Descriptors dealing with turn analysis. ; TEMPLATE: (name pos-cond neg-cond thresh state) '((giving-turn (;(complete-utter 0.5) ;pos-cond (looking-at-me 0.3) (facing-me 0.3)) ((gesturing 0.3) (speaking 0.4)) ;neg-cond 1 nil) ;thresh ;state (taking-turn ((gesturing 1.0) ;pos (speaking 1.0)) ((looking-at-me 0.5)) ;neg 1 nil) ;for neg-cond we could also have (not self-adjustor) (want-back-ch-feedb ((looking-at-me 0.5) (speaking 0.5)) () 1 nil) (looking-at-hands ((looking-at-r-hand 1.0) (looking-at-l-hand 1.0)) () 1 nil) (hand-in-gest-space ((lhand-in-gest-space 1.0) (rhand-in-gest-space 1.0)) () 1 nil) ; (l-deictic-gest ((l-hand-above-trunk-midline 0.5) ;now in sensors 6/3/96 ; (l-arm-straight 0.6)) ; () 1 nil) ; (r-deictic-gest ((r-hand-above-trunk-midline 0.5) ; (r-arm-straight 0.6)) ; () 1 nil) (referencing-domain ((l-deictic-morph 0.7)(r-deictic-morph 0.7) (facing-domain 0.5)(speaking 0.5)(facing-me 0.4)) () 1 nil) (is-active ((hand-in-gest-space 1.0)(speaking 1.0)) () 1 nil) (gesturing ((hand-in-gest-space 0.5)(speaking 0.6)) () 1 nil) (complete-utter ((complete-inton 0.5) (complete-gram 0.5) (complete-pragm 0.5)) () 1 nil) (addressing-me ((turned-to-me 1.0)(facing-me 1.0)(facing-domain 1.0)) () 1 nil) (wanting-turn ((speaking 0.5) (hand-in-gest-space 0.6)) () 1 nil) (concluding () () 1 nil) (saying-goodbye () () 1 nil) ; (saying-my-name () ; () 1 nil) ;not sure we need greeting here.... ; (greeting () ; () 1 nil) )) ; Prototype files contain all the necessary commands to make ; objects, initialize states and run the proper main routine. ;************ define the internal turn behaviors ************** ; To create, call (make-turn-state-beh *turn-state-behaviors*) ; language use: agent has "take/give", user is "taking/giving": (defparameter *turn-state-behaviors* ;These behaviors change the turn state and are thus internal. ;TEMPLATE: nodename msgs next-state pos-cond neg-cond active-descr thresh state '( (take-turn1 take-turn ; name of node and what to post in turn-history. (give-turn dial-on) ; next states that should be active-the ones that should follow. (addressing-me wanting-turn) ; pos cond that make next-state active/t ; (=transition conds to cancel curr state) (KB-exe-act spch-data-avail) ; neg-cond that make next-state active ; active-descr...should include giving-back-ch-feedb. (taking-turn ; descriptors that will enable transition to next state wanting-turn ; and should therefore be active *now*. gesturing addressing-me saying-goodbye concluding hand-in-gest-space ;; is-active looking-at-hands) 1 nil) ; thresh ; state (take-turn2 take-turn ; name of node and what to post in turn-history. (give-turn dial-on) ; next states that should be active-the one that should follow. (addressing-me taking-turn) ; pos cond that make next-state active/t ; (=transition conds to cancel curr state) (KB-exe-act) ; neg-cond that make next-state active ; active-descr...should include giving-back-ch-feedb. (taking-turn ; descriptors that will enable transition to next state wanting-turn ; and should therefore be active *now*. gesturing addressing-me saying-goodbye concluding hand-in-gest-space ;; is-active looking-at-hands) 1 nil) ; thresh ; state ; (take-turn3 take-turn ; name of node and what to post in turn-history. ; (give-turn dial-on) ; next states that should be active-the one that should follow. ; (facing-me (time-since facing-me 300)) ; pos cond that make next-state active/t ;; ; (=transition conds to cancel curr state) ; (KB-exe-act spch-data-avail) ; neg-cond that make next-state active ;; ; active-descr... ; (taking-turn ; descriptors that will enable transition to *next* state(s) ; wanting-turn ; and should therefore be active *now*. ; gesturing ; addressing-me ; saying-goodbye ; concluding ; hand-in-gest-space ;; is-active ; looking-at-hands) ; 1 nil) ; thresh ; state ; (give-turn1 give-turn ; what to post. ; (take-turn dial-on) ; next states that should be active. ; (giving-turn (time-since 'give-turn 200)) ; pos-conds (=transition rule) ; (speaking) ; neg-conds ; (gesturing ; active descriptors ; taking-turn ; ; giving-turn ;; filler ; looking-at-hands ; complete-utter ; want-back-ch-feedb ; saying-goodbye ; concluding ; is-active) ;active-descr ; 1 nil) ;thresh ;state ; (take-turn3 take-turn ; what to post. ; ((time-since speaking 400)) ; pos-conds ; (speaking) ; neg-conds ; (taking-turn wanting-turn gesturing) ; These updated during this state. ; all nil) ;Perhaps there should be a give-turn-by-free-will ;and then give-turn-bec-user-interrupt;the ;latter would not have goal-list-empty as a condition. In fact, when give-turn is set to ;true when goal-list is not empty, there is a different method for ;giving the turn, like "I'm sorry, what was that?" (give-turn2 give-turn ; node name and posting (state) name. (take-turn dial-on) ; next states that should be active. ((time-since 'speaking 50) giving-turn) ; pos-cond that make next-state active (taking-turn) ;neg-cond (gesturing referencing-domain addressing-me taking-turn giving-turn ; filler saying-goodbye concluding looking-at-hands complete-utter want-back-ch-feedb is-active) ;active-descr 1 nil) ;thresh ;state ;TEMPLATE: nodename what-to-post next-state pos-cond neg-cond active-descr thresh state )) ;************ External Reactive Behaviors ************** ; To create, call (make-ext-rea-beh *ext-rea-behaviors*) ; ALL TIME VALUES IN CENTISECONDS (defparameter *ext-rea-behaviors* ;These behaviors control the external behavior of the agent. ;TEMPLATE: name extent [=centiseconds] ; type ; posconds ; negconds ; pos-restore-conds - conds that will make the beh on the outlook for its conds ; neg-restore-conds ; actions [slot name = msgs] ; initial state [=T or NIL] '((show-take-turn1 500 ;name & extent ext-one-shot-rea-beh ;type (take-turn) ;positive trigger conditions. nil ;negative trigger conditions. nil ;positive restore conditions [not used for cont beh] (take-turn) ;negative restore conditions [not used for cont beh] (Show-Take-Turn) ;actions nil) ;initial state = is the beh allowed to be executed? ; (be-impatient 200 ; ext-one-shot-rea-beh ;type ; (give-turn (time-since speaking 300)) ; (speaking) ; nil ;positive restore conditions ; (take-turn) ;negative restore conditions ; (slow-cube1) ; nil) ; (show-idle 200 ; ext-one-shot-rea-beh ;type ; (give-turn (time-since speaking 500)) ;pos cond ; (speaking) ;neg cond ; nil ;positive restore conditions ; (give-turn) ;negative restore conditions ; (slow-cube2) ; nil) ; (surprised 500 ; ext-one-shot-rea-beh ;type ; (take-turn hand-in-gest-space) ;pos conds ; (speaking) ;neg conds ; nil ;positive restore conditions ; (take-turn) ;negative restore conditions ; (speed-cube) ; nil) ; (pay-attention 10000 ; ext-one-shot-rea-beh ;type ; (give-turn) ; nil ; nil ;positive restore conditions ; (give-turn) ;negative restore conditions ; (speed-cube) ;specifies the constituents of action (+ options?). ; nil) ; (or, the actions' constituents ; could be specified somewhere else.) ; (displ-speaking forever ;this beh is just to show delay of user-speaking->motor act ; ext-one-shot-rea-beh ;type ; (speaking) ; nil ; (t) ;positive restore conditions ; nil ;negative restore conditions ; (displ-speaking) ; nil) ; (displ-silent forever ; ext-one-shot-rea-beh ; nil ; (speaking) ; (t) ; nil ; (displ-silent) ; nil) ; (show-eager 1000 ; ext-one-shot-rea-beh ; (turned-to-me facing-me) ; nil ; nil ; (turned-to-me) ; (head-at-zero-zero) ;second element indicates which object to reference. ; nil) ; (show-eager2 1000 ; ext-one-shot-rea-beh ; (turned-to-me facing-me) ; nil ; nil ; (turned-to-me) ; (gaze-at-zero-zero) ;second element indicates which object to reference. ; nil) ; (show-addressing-user1 1000 ; ext-one-shot-rea-beh ; (DKB-exe-act) ; nil ; (take-turn) ; nil ; (head-at-zero-zero) ; Nil) (show-addr-me3 20 ;centiseconds ext-one-shot-rea-beh (turned-to-me facing-me) nil nil (turned-to-me) ;if not turned to me, restore (smile) nil) ; (show-addr-me4 20 ;centiseconds ; ext-one-shot-rea-beh ; (turned-to-me facing-me speaking) ; nil ; nil ; (facing-me) ;if not facing me, restore ; (turn-to user) ; nil) (show-addr-me5 20 ;lifetime in centiseconds ext-one-shot-rea-beh (saying-my-name turned-to-me facing-me) nil nil (turned-to-me) ;if not turned to me, restore (eyebrow-greet) nil) (show-listen 20 ;lifetime in centiseconds ext-one-shot-rea-beh (saying-my-name turned-to-me facing-me) nil nil (turned-to-me) (brows-in-pensive-shape) nil) (initialize 20 ;lifetime in centiseconds ext-one-shot-rea-beh (dial-off) nil (dial-on) nil (face-neutral) nil) (look-puzzled 100 ; 1 sec ext-one-shot-rea-beh (turned-to-me facing-me (time-since 'facing-me 400)) nil nil (turned-to-me) (look-puzzled) nil) (look-aloof 100 ;centiseconds ext-one-shot-rea-beh (turned-to-me facing-me (time-since 'facing-me 800) dial-off) (speaking kb-parsing) nil (turned-to-me) (look-aloof) nil) ; (show-addr-me5 200 ; ext-one-shot-rea-beh ; (turned-to-me facing-me) ; nil ; (turned-to-me) ; nil ; (turn-to user) ; nil) (show-not-addr-me 100 spatial-rea-beh (dial-off) (turned-to-me) (taking-turn) ;pos restr cond nil (turn-to big-screen) nil) (show-give-turn1 200 ;name & extent ext-one-shot-rea-beh ;type (give-turn) nil nil ;positive reset conditions (give-turn) ;negative reset conditions (show-give-turn) nil) (show-give-turn2 200 ;name & extent ext-one-shot-rea-beh ;type (give-turn) nil nil ;positive reset conditions (give-turn) ;negative reset conditions (gaze-at-zero-zero) nil) (look-where-pointing 200 spatial-rea-beh (referencing-domain) () () (referencing-domain) (look-at big-screen) nil) (turn-to-where-pointing 200 spatial-rea-beh (referencing-domain (time-since 'referencing-domain 100)) () () (referencing-domain) (turn-to big-screen) nil) ; (show-give-turn3 200 ;name & extent ; ext-one-shot-rea-beh ;type ; (give-turn) ; nil ; nil ;positive reset conditions ; (give-turn) ;negative reset conditions ; (turn-to user) ; nil) ) ) ;*********** EXTERNAL CONTINUOUS REACTIVE BEHAVIORS *********** (defparameter *ext-cont-rea-behaviors* ;These behaviors control the external behavior of the agent. ; All values in centiseconds. ;TEMPLATE: name extent ; type ; posconds ;if t = forever on ; negconds ; actions (slot name = msgs) ; initial state (T or NIL) ; period '((blink-slowly 10000 ext-cont-rea-beh (dial-off) nil (blink-slowly) t 300) (blink 10000 ext-cont-rea-beh (dial-on) ;if t = forever on nil (blink) t 300) ; (show-addr-me2 10000 ;2/19/96 new action! ; spatial-rea-beh ;If the motor sys had direct access to spatial data, ; (turned-to-me facing-me) ;we wouldn't need to duplicate show-addr-me in this way. ; nil ; (look-at user) ; nil ; 600) ;look at user every 6 seconds while talking. ; (cont-look-at-user 10000 ; spatial-rea-beh ; (DKB-exe-beh) ; nil ; (turn-to user) ; nil ; 500) )) (defparameter *int-rea-behaviors* ;TEMPLATE: name extent type posconds negconds pos-res neg-res msgs '( ; (one-shot-listen forever ; int-one-shot-rea-beh ;type ; (give-turn) ;pos firing conds ; nil ;neg firing conds ; nil ;pos reset ; (give-turn) ;neg reset ; (one-shot-spch) ;msgs ; ) ; (cont-listen forever ; int-one-shot-rea-beh ; (see-user) ; () ; nil ; nil ; (cont-speech) ; ) (clear-buffs 10000 int-one-shot-rea-beh (give-turn) nil (take-turn) nil (clear-spch-buffs) ) ) ) ;****************************************** ;* PROCESS CONTROL LAYER Behaviors ;****************************************** ; These are actually communicating with the TKB, or part ; of it, because they control the sensory apparatus and ; semantic functions. ; These should perhaps all be moved to a file named ; after the character they belong to. ; A neat way to make actions that won't occur for a long ; time after they have been done is to include a long ; time-delay, plus some event, in their restore conditions. ;NOTICE: only DESCRIPTORS may appear in conditions (neg/pos) ;why? (defparameter *PCL-state-behaviors* ;TEMPLATE ;name type message pos-c neg-c init-state '((dial-on1 PCL-state-beh ;to start dialogue with user dial-on ;what to post (=what state is it now) (dial-off) ;next states that should be active (saying-goodbye concluding) ;pos-conds that make transition possible (dial-off) ;neg-conds that make transition possible (saying-goodbye ;desciptors that make transition from this state possible concluding) nil) (dial-off1 PCL-state-beh ;this one requires the user to say the agent's name dial-off (dial-on give-turn) ;probably HAVE to have give-turn in both ... (saying-my-name) (dial-off) (addressing-me gesturing) nil) (dial-off2 PCL-state-beh dial-off ;what to post (=what state is it now) (dial-on give-turn) ;next state(s) that should be active (addressing-me) ;pos-conds that make transition posible () ;neg-conds that make this state true (addressing-me) ;descr that enable transition to next nil) ) ) ; Here we would update speech through a node... (defparameter *int-PCL-behaviors* ;Here are actions like excusing delay; asking about missing info, etc. ;TEMPLATE ;name type extent msgs pos-c neg-c pos-restr neg-restr init-state '((parse-speech int-PCL-beh 200 (parse-speech) (giving-turn spch-data-avail) ;pos-cond () ;neg-cond (give-turn) ;pos-restr conds () ;neg-restr-conds nil) ; (rem-spch-addr-to-others int-PCL-beh 200 ; (rem-spch-to-others) ; ((time-since 'speaking 50)) ; (addressing-me KB-exe-act) ; (speaking) ; () ; nil) ; (remove-partial-parses int-PCL-beh 100 ; (rem-part-parses) ; (KB-succ-parse KB-exe-act) ; (addressing-me) ; () ; (KB-exe-act) ; nil) ; (report-no-words int-PCL-beh 900 ; (compose-DKB-trouble-report 'no-words) ; ((time-since 'speaking 400) addressing-me take-turn giving-turn dial-on) ; (RCV-spch CL-act-avail taking-turn ; KB-succ-parse KB-exe-act speaking) ; (take-turn) ; () ; nil) ; (report-no-words int-PCL-beh 400 ; (compose-DKB-trouble-report 'no-words) ; ((time-since 'speaking 100) ; (KB-time-since 'RCV-spch 200) ; (KB-time-since 'KB-succ-parse 800) ; (KB-time-since 'KB-exe-act 800)) ; (KB-succ-parse (KB-time-since 'KB-succ-parse 800) ; (time-since 'speaking 300) ; spch-data-avail CL-act-avail RCV-spch taking-turn ; give-turn KB-exe-act speaking) ; (speaking) ; ((time-since speaking 50) ; CL-act-avail KB-exe-act spch-data-avail) ;when worked: kb-exe-act cl-act-avail ; nil) ) ) (defparameter *ext-PCL-behaviors* ;Here are actions like excusing delay; asking about missing info, etc. ;TEMPLATE ;name type extent msgs pos-c neg-c pos-restr neg-restr init-state ;2/27/96 ? NOTICE: if msgs is a list, first element should be a ;function that takes the rest of msgs in the form of a list as parameters '( (hesitate1 ext-PCL-beh 100 hesitate ;action (dial-on take-turn SPCH-data-avail (time-since speaking 70)) ;pos-cond (CL-act-avail speaking) ;neg-cond (give-turn) ;pos-restr conds () ;neg-restr-cond nil) (turn-to-user ext-spatial-PCL-beh 2000 (turn-to user) (TKB-exe-speech-act) () () (TKB-exe-speech-act) nil) (show-content-delivery ext-spatial-PCL-beh 2000 (look-at user) (DKB-exe-act looking-at-me) () (take-turn) () nil) (pay-attention-to-act ext-spatial-PCL-beh 2000 (turn-to big-screen) ;msgs (TKB-exe-world-act) ;pos-cond () ;neg-cond nil (TKB-exe-world-act) ;neg-restr-cond nil) ; (show-busy ext-PCL-beh 200 ; manual-hold-it-signal ; (speaking facing-me TKB-exe-world-act) ; () ; () ; (TKB-exe-world-act) ; nil) (show-done-exe ext-spatial-PCL-beh 2000 (look-at user) ;msgs () ;pos-cond (TKB-exe-world-act) ;neg-cond (TKB-exe-world-act) ;pos-restr-cond nil nil) (show-done-exe2 ext-spatial-PCL-beh 2000 (turn-to user) ;msgs () ;pos-cond (TKB-exe-world-act) ;neg-cond (TKB-exe-world-act) ;pos-restr-cond nil nil) (show-know-addressing ext-spatial-PCL-beh 2000 (look-at 'user) (TKB-exe-world-act looking-at-me facing-me speaking) () () (TKB-exe-world-act) nil) (show-idle ext-PCL-beh 2000 restless () (facing-me) (facing-me) () nil) (look-at-domain ext-spatial-PCL-beh 2000 (turn-to big-screen) (facing-domain take-turn) (speaking) (taking-turn) () nil) (look-relaxed ext-PCL-beh 2000 face-neutral (TKB-exe-world-act) () () (TKB-exe-world-act) nil) (show-listening ext-spatial-PCL-beh 1000 (turn-to user) (speaking addressing-me) () (take-turn) () nil) (show-listening2 ext-spatial-PCL-beh 1000 (look-at user) (speaking addressing-me) () (take-turn) () nil) (look-where-pointing ext-spatial-PCL-beh 2000 (look-at big-screen) (referencing-domain) () () (referencing-domain) nil) (turn-to-where-pointing ext-spatial-PCL-beh 2000 (turn-to big-screen) (referencing-domain (time-since 'referencing-domain 100)) () () (referencing-domain) nil) ; (look-at-big-screen2 ext-spatial-PCL-beh 2000 ; (look-at big-screen) ;msgs ; (TKB-exe-world-act) ;pos-cond ; () ;neg-cond ; (give-turn) ; () ; nil) ; (deliver-CL-problem ext-PCL-beh ; ) ) ;************* CONTENT LAYER BEHAVIORS ************** ; When a 'problem report' is received from TKB (reported on KB-msgs) ; an ext-PCL-beh is created with the correct slots filled. (defparameter *ext-CL-behaviors* ;TEMPLATE ;name type func pos-c neg-c pos-restr neg-restr init-state '((do-TKB-act ext-CL-beh 2000 (post-TKB-act) (dial-on TKB-act-avail take-turn) ;pos-cond () ;neg-cond (CL-act-avail) ;pos-restr conds () ;neg-restr-conds nil ) (do-DKB-act ext-CL-beh 2000 (post-DKB-act) (dial-on DKB-act-avail take-turn) ;pos-cond () ;neg-cond (CL-act-avail) ;pos-restr conds () ;neg-restr-conds nil ) ; (turn-to-big-screen3 ext-spatial-PCL-beh 2000 ;perhaps allow this later...???? ; (turn-to big-screen) ;msgs ; (TKB-exe-world-act) ;pos-cond ; () ;neg-cond ; (give-turn) ; () ; nil) ) ) (defun compile-all () (proclaim '(optimize (speed 3))) (compile-file "/home/kris/sol/ymir/obj-defs.lisp") (compile-file "/home/kris/sol/ymir/3DGeo.lisp") ;3-d calcs. (compile-file "/home/kris/sol/ymir/3Danaly.lisp") ;Specialized 3-d dialogue functions- ;(needs to be loaded before T-T!) (compile-file "/home/kris/sol/ymir/Sockread2.lisp") ;Needs to be loaded before all objects. (compile-file "/home/kris/sol/ymir/T-T2.lisp") ;Sensors and integrators. (compile-file "/home/kris/sol/ymir/t-t-funcs") ;Input processing. (compile-file "/home/kris/sol/ymir/Beh3.lisp") ;Functions related to behaviors. (compile-file "/home/kris/sol/ymir/Dia1.lisp") ;PCL behaviors (compile-file "/home/kris/sol/ymir/motorMV2.lisp") ;Motor commands. (compile-file "/home/kris/sol/ymir/Timers") ;Functions returning time stamps. (compile-file "/home/kris/sol/ymir/simu") ;Simulation for debugging. ; (compile-file "/home/kris/sol/ymir/display/Xbasics2.lisp") ; (compile-file "/home/kris/sol/ymir/display/Xdrawingtools.lisp") (compile-file "/home/kris/sol/ymir/xvisLW.lisp") ;Display functions (compile-file "/home/kris/sol/ymir/Assemble.lisp") ;inits & more (compile-file "/home/kris/sol/ymir/speech.lisp") ;parsing, TKB, DKB (compile-file "/home/kris/sol/ymir/World") ;Mverse solar sys (compile-file "/home/kris/sol/ymir/display/mmrecorder") ;for recording/plotting data ) (defun load-all () (load "/home/kris/sol/ymir/obj-defs.lisp") (load "/home/kris/sol/ymir/P5.lisp") ;object defs and load cmnds (load "/home/kris/sol/ymir/defsystem") ;drawingstuff ; (load "/home/kris/sol/ymir/display/Xbasics2") ;these loaded in xvisLW ; (load "/home/kris/sol/ymir/display/Xdrawingtools") (load "/home/kris/sol/ymir/3DGeo") ;3-d calcs. (load "/home/kris/sol/ymir/3Danaly") ;Specialized 3-d dialogue functions- ;(needs to be loaded before T-T!) (load "/home/kris/sol/ymir/Sockread2") ;Needs to be loaded before all objects. (load "/home/kris/sol/ymir/T-T2") ;Functions related to sensors and integrators. (load "/home/kris/sol/ymir/Beh3") ;RL behaviors; Functions related to behaviors. (load "/home/kris/sol/ymir/t-t-funcs") ;Functions related to input processing. (load "/home/kris/sol/ymir/Dia1") ;PCL behaviors; Functions related to behaviors. (load "/home/kris/sol/ymir/speech") ;parsing, TKB, DKB (load "/home/kris/sol/ymir/World") ;Mverse solar sys (load "/home/kris/sol/ymir/motorMV2") ;motor commands - output from Sparta to Spot. (load "/home/kris/sol/ymir/Timers") ;Functions returning time stamps. ; (set-display "karl") ;this may be needed...don't know... (load "/home/kris/sol/ymir/display/xvisLW") ;Display functions [=XvisualsLispWorks] (load "/home/kris/sol/ymir/Assemble.lisp") (load "/home/kris/sol/ymir/abbrev.lisp") ;abbreviations (load "/home/kris/sol/ymir/display/mmrecorder") ;for recording/plotting data ) ;----------------------------------------------- ; SETUPS ;----------------------------------------------- #| (defun spike-setup () (setf *hostname* "spike") (set-display *hostname*) (setf *read-file* gest-space1) (finish-setup) ) (defun leon-setup () (setf *hostname* "leon") (if (boundp '*win1*) (setf font (xlib:open-font *win1* "fixed"))) (set-display *hostname*) (setf Mverse-port# 15006) ;opens mverse on leon's leon:1 (finish-setup) ) (defun spud-setup () (setf *hostname* "spud") ; (if (boundp '*win1*)(setf font (xlib:open-font *win1* "fixed"))) (setf *font-name* "type13") ;other options: rock12, vtsingle, fixed (set-display *hostname*) (setf Mverse-port# 15006) (finish-setup) ) (defun splotch-setup () (setf *hostname* "splotch") ; (if (boundp '*win1*)(setf font (xlib:open-font *win1* "6x12"))) (setf *font-name* "6x12") ;options: rock12, vtsingle, fixed, 6x12, type13 (set-display *hostname*) (get-colors) (if (y-or-n-p "Open graphic display? [y/n]") (progn (open-window) (d-on))) (setf Mverse-port# 15006) (finish-setup) ) ;(compile-all) ;(load-all-compiled) (defun finish-setup () (if *display-on* (update-graph)) (make-all) (initialize-all) ;(init-all-sockets *read-file*) ; (init-all-sockets) (setf (num-vals *socket-obj1*) NUM-vals-list) ;(main1) (generate-report) ;(print "All set.") (print "To start, type: (main1)") ) |#