Runtime Commands

The following commands can be used during runtime

When you run MIDCA with interactive mode enabled (by default) the following are commands that are available. Examples are from examples/simple_run_arson.py

skip (optional argument x)

Skips ahead x cycles, or one full cycle if x is not given, using

PhaseManager.one_cycle(verbose = 0, pause = 0)

which goes through every phase once. In this example, the phases are

["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]

Example:

****** Starting Eval Phase ******
Not all goals achieved; Goal(C_, B_, predicate: on) is not true.
Next MIDCA command:  skip
cycle finished
Next MIDCA command:  
****** Starting Intend Phase ******
Selecting goal(s): Goal(C_, B_, predicate: on)

In this example, the 'Eval' phases finishes, then the user enters 'skip', and the phases Intend, Plan, Act, Simulate, Perceive, Interpret, and Eval are executed in that order. A full cycle was finished.

show

Displays the world using the display function which can be set when PhaseManager is instantiated. In our example, it is set in examples/predicateworld.py

myMidca = base.PhaseManager(world, display = asqiiDisplay)

Continuing with our example, we get the following output:

Next MIDCA command:  show
                        
    -------              
   |  B_  |              
    -------              
    -------        -------
   |  A_  |       |  C_  |
    -------        -------
------------------------------------------

log

Prompts user to enter a message which will be written to the log file. If the user doesn't enter a message, no log message is written.

****** Starting Plan Phase ******
No goals received by planner. Skipping planning.
Next MIDCA command:  log
Input the text to add to MIDCA's log file. Leave empty and press enter to cancel

This is a useful log message
Next MIDCA command: 

And then if we check the log file, we see our message:

$tail log
11:53.632525 - 3 cycles finished.

11:57.407064 - ****** Starting Plan Phase ******

11:57.407396 - Running module <MIDCA.modules.planning.PyHopPlanner
11:57.407523 - Memory access at key __world states
11:57.407660 - Memory access at key __current goals
11:57.407800 - No goals received by planner. Skipping planning.

13:48.705285 - This is a useful log message

drawgoalgraph

Generates a visual representation of the current goal graph. Requirement: Using this command requires you have graphviz installed. If you are on linux, this can probably be installed via

sudo apt-get install graphviz

or downloaded here: (http://www.graphviz.org/). This has not been tested on Windows or Mac yet, only Ubuntu. #TODO

Example:

Suppose that MIDCA had 3 block stacking goals and generated a goal to put out a fire.

****** Starting Intend Phase ******
Selecting goal(s): Goal(B_, D_, predicate: on) Goal(A_, B_, predicate: on) Goal(D_, C_, predicate: on)

and a few phases later...

****** Starting Interpret Phase ******
No anomaly detected.
MIDCA already has a block stacking goal. Skipping TF-Tree stacking goal generation
TF-Tree goal generated: Goal(A_, negate: True, predicate: onfire)
Please input a goal if desired. Otherwise, press enter to continue

****** Starting Eval Phase ******
Not all goals achieved; Goal(B_, D_, predicate: on) is not true.
Next MIDCA command:  drawgoalgraph
Input file name ending in .pdf or press enter to use default filename: goalgraph.pdf

Drawing of current goal graph written to goalgraph.pdf
Next MIDCA command:

In this example, goalgraph.pdf is: