ExecTraceQuery.java

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package edu.tum.cs.ias.knowrob.mod_dialog.queries;

import java.util.regex.Matcher;
import java.util.regex.Pattern;

import de.tum.in.fipm.kipm.gui.visualisation.applets.CommunicationVisApplet;
import edu.tum.cs.ias.knowrob.mod_dialog.DialogModule;



public class ExecTraceQuery extends SimpleTopLevelQuery {
        
        public ExecTraceQuery(DialogModule mod) {
                super(mod);
        }

        
        boolean exec_trace_initialized=false;
        void initExecutionTrace() {
                if(!exec_trace_initialized) {
                //      DialogModule.executeLispPrologQuery("(with-execution-trace \"/work/ros/tumros-internal/stacks/cram_demo_apps/rosie_execution_trace_visualization/execution_traces/20101005150335-PICK-AND-PLACE-OBJ.ek\")");
                        exec_trace_initialized = true;
                }
                DialogModule.executeLispPrologQuery("(clear-markers)");
                
        }
                        
                        
        @Override
        public String match(String q) {



                Matcher matcher = Pattern.compile("^([f|F]rom where did you try to pick up an object\\?)").matcher(q);
                if(matcher.find()) {
                        
                        q=this.dialog_module.getCurrentObject();
                        dialog_module.setVoice("dfki-obadiah");
                        
                        
                        // visualize communication
                        String query = "(visualize-tsk-location (achieve (object-in-hand ?_ ?_)) ?_ ?_))";
                CommunicationVisApplet.visualizeCommunication(query, null, "", "pr2.jpg");

                initExecutionTrace();
                DialogModule.executeLispPrologQuery(query);

                        
                        String res = "Over here\n"; 
                        CommunicationVisApplet.visualizeCommunication(null, res, "", "pr2.jpg");

                        return res;
                }

//              Where did you stand while picking up an object? (successful)
//              (visualize-tsk-location (achieve (object-in-hand ?_ ?_) ?_ :succeeded))

                matcher = Pattern.compile("^([f|F]rom where did you (successfully)? pick up an object \\?)").matcher(q);
                if(matcher.find()) {
                        
                        q=this.dialog_module.getCurrentObject();
                        dialog_module.setVoice("dfki-obadiah");
                        
                        
                        // visualize communication
                        String query = "(visualize-tsk-location (achieve (object-in-hand ?_ ?_)) ?_ :succeeded)";
                CommunicationVisApplet.visualizeCommunication(query, null, "", "pr2.jpg");

                initExecutionTrace();
                DialogModule.executeLispPrologQuery(query);

                        
                        String res = "There.\n"; 
                        CommunicationVisApplet.visualizeCommunication(null, res, "", "pr2.jpg");

                        return res;
                }

                
                matcher = Pattern.compile("^([f|F]rom where did you put down an object\\?)").matcher(q);
                if(matcher.find()) {
                        
                        q=this.dialog_module.getCurrentObject();
                        dialog_module.setVoice("dfki-obadiah");
                        
                        
                        // visualize communication
                        String query = "(visualize-tsk-location (achieve (object-placed-at ?_ ?_)) ?_ ?_)";
                CommunicationVisApplet.visualizeCommunication(query, null, "", "pr2.jpg");

                initExecutionTrace();
                DialogModule.executeLispPrologQuery(query);

                        
                        String res = "Over there\n"; 
                        CommunicationVisApplet.visualizeCommunication(null, res, "", "pr2.jpg");

                        return res;
                }


                matcher = Pattern.compile("^([w|W]here did you detect objects\\?)").matcher(q);
                if(matcher.find()) {
                        
                        q=this.dialog_module.getCurrentObject();
                        dialog_module.setVoice("dfki-obadiah");
                        
                        
                        // visualize communication
                        String query = "(visualize-object-detection ?_ ?_)";
                CommunicationVisApplet.visualizeCommunication(query, null, "", "pr2.jpg");

                initExecutionTrace();
                DialogModule.executeLispPrologQuery(query);

                        
                        String res = "At these locations.\n"; 
                        CommunicationVisApplet.visualizeCommunication(null, res, "", "pr2.jpg");

                        return res;
                }


                matcher = Pattern.compile("^(how did you move while grasping the object\\?)").matcher(q);
                if(matcher.find()) {
                        
                        q=this.dialog_module.getCurrentObject();
                        dialog_module.setVoice("dfki-obadiah");
                        
                        
                        // visualize communication
                        String query = "(visualize-robot-trajectory (achieve (object-in-hand ?_ ?_)) ?_ ?_)";
                CommunicationVisApplet.visualizeCommunication(query, null, "", "pr2.jpg");

                initExecutionTrace();
                DialogModule.executeLispPrologQuery(query);

                        
                        String res = "Like this.\n"; 
                        CommunicationVisApplet.visualizeCommunication(null, res, "", "pr2.jpg");

                        return res;
                }
                

                matcher = Pattern.compile("^(how did you move the arm while grasping the object\\?)").matcher(q);
                if(matcher.find()) {
                        
                        q=this.dialog_module.getCurrentObject();
                        dialog_module.setVoice("dfki-obadiah");
                        
                        
                        // visualize communication
                        String query = "(visualize-arm-trajectory (achieve (object-in-hand ?_ ?_)) ?_ ?_)";
                CommunicationVisApplet.visualizeCommunication(query, null, "", "pr2.jpg");

                initExecutionTrace();
                DialogModule.executeLispPrologQuery(query);

                        
                        String res = "Like that.\n"; 
                        CommunicationVisApplet.visualizeCommunication(null, res, "", "pr2.jpg");

                        return res;
                }
                
                return null;
        }

        

}