InteractiveWorldLearner.java

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package edu.wpi.rail.jinteractiveworld.ros;

import edu.wpi.rail.jinteractiveworld.data.DataSet;
import edu.wpi.rail.jinteractiveworld.model.EMModel;
import edu.wpi.rail.jinteractiveworld.ros.msgs.interactiveworldmsgs.*;
import edu.wpi.rail.jinteractiveworld.ros.srvs.interactiveworldmsgs.LearnModels;
import edu.wpi.rail.jrosbridge.Ros;
import edu.wpi.rail.jrosbridge.Service;
import edu.wpi.rail.jrosbridge.callback.CallServiceCallback;
import edu.wpi.rail.jrosbridge.messages.geometry.Point;
import edu.wpi.rail.jrosbridge.services.ServiceRequest;
import java.sql.*;
import java.util.ArrayList;

public class InteractiveWorldLearner {

        public static final String NODE_NAME = "interactive_world_learner";

        public static final String LEARN_HYPOTHESES_SERVICE_NAME = "/" + InteractiveWorldLearner.NODE_NAME + "/learn_hypotheses";

        public static final String DB_CLASS = "com.mysql.jdbc.Driver";

        public static final String DB_CREATE = "CREATE TABLE IF NOT EXISTS `iwmodels` (" +
                        "  `id` int(10) unsigned NOT NULL AUTO_INCREMENT," +
                        "  `condition_id` int(10) unsigned NOT NULL," +
                        "  `value` mediumtext NOT NULL," +
                        "  `created` timestamp NOT NULL DEFAULT CURRENT_TIMESTAMP," +
                        "  `modified` timestamp NOT NULL DEFAULT '0000-00-00 00:00:00'," +
                        "  PRIMARY KEY (`id`)," +
                        "  UNIQUE KEY `condition_id` (`condition_id`)" +
                        ") ENGINE=InnoDB DEFAULT CHARSET=latin1 AUTO_INCREMENT=1 ;";

        public static final String DB_FOREIGN_KEY = "ALTER TABLE `iwmodels`" +
                        "  ADD CONSTRAINT `iwmodels_ibfk_1` FOREIGN KEY (`condition_id`) REFERENCES `conditions` (`id`) ON DELETE CASCADE ON UPDATE CASCADE;";

        public static final String DB_ENTRY_CHECK = "SELECT `id` FROM `iwmodels` WHERE `condition_id`=?";

        public static final String DB_ENTRY_DELETE = "DELETE FROM `iwmodels` WHERE `condition_id`=?";

        public static final String DB_INSERT_MODEL = "INSERT INTO `iwmodels` (`condition_id`, `value`) VALUES (?,?)";

        private Ros ros;
        private Service learnHypotheses;

        public InteractiveWorldLearner() {
                ros = new Ros();
                System.out.print("Attempting connection to rosbridge...");
                if (!ros.connect()) {
                        System.out.println("No connection made. Verify rosbridge_websocket is running.");
                        System.exit(-1);
                }
                System.out.println(" success!");

                // setup the services
                learnHypotheses = new Service(ros, InteractiveWorldLearner.LEARN_HYPOTHESES_SERVICE_NAME, "interactive_world_msgs/LearnModels");
                learnHypotheses.advertiseService(new LearnModelsCallback());
        }

        public static void spin() {
                while (true) {
                        try {
                                Thread.sleep(1000);
                        } catch (InterruptedException e) {
                                e.printStackTrace();
                        }
                }
        }

        private class LearnModelsCallback implements CallServiceCallback {

                @Override
                public void handleServiceCall(ServiceRequest request) {
                        System.out.println("Model learning request received...");
                        // parse the message
                        LearnModels.Request req = LearnModels.Request.fromJsonObject(request.toJsonObject());

                        // go trough each
                        PlacementSet[] placementSets = req.getData().getData();
                        ArrayList<Model> models = new ArrayList<Model>();
                        for (int i=0; i<placementSets.length; i++) {
                                // create a data set
                                PlacementSet placementSet = placementSets[i];
                                if (placementSet.getPlacements().length > 1) {
                                        Item item = placementSet.getItem();
                                        Room room = placementSet.getRoom();
                                        Surface surface = placementSet.getSurface();
                                        String referenceFrame = placementSet.getReferenceFrameId();
                                        DataSet ds = new DataSet(item, room, surface, referenceFrame);
                                        Placement[] placements = placementSet.getPlacements();
                                        for (int j = 0; j < placements.length; j++) {
                                                Placement p = placements[j];
                                                Point position = p.getPosition();
                                                ds.add(position.getX(), position.getY(), position.getY(), p.getRotation());
                                        }

                                        // create the clustering model
                                        EMModel em = new EMModel(ds);
                                        models.add(new Model(em));
                                }
                        }

                        Model[] modelsArray = new Model[models.size()];
                        models.toArray(modelsArray);
                        TaskModels taskModels = new TaskModels(modelsArray);
                        System.out.println("Model learning done.");

                        // store the models in the RMS
                        System.out.println("Attempting connection to the RMS...");
                        try {
                                Class.forName(InteractiveWorldLearner.DB_CLASS);
                                String url = "jdbc:mysql://" + req.getHost() + ":" + req.getPort() + "/" + req.getDatabase();
                                Connection connection = DriverManager.getConnection(url, req.getUser(), req.getPassword());

                                // check for the table
                                DatabaseMetaData dbm = connection.getMetaData();
                                ResultSet tables = dbm.getTables(null, null, "iwmodels", null);
                                if (!tables.next()) {
                                        // create the table
                                        Statement create = connection.createStatement();
                                        create.executeUpdate(InteractiveWorldLearner.DB_CREATE);
                                        Statement foreignKey = connection.createStatement();
                                        foreignKey.executeUpdate(InteractiveWorldLearner.DB_FOREIGN_KEY);
                                }

                                // check if we should clear out an old entry
                                final PreparedStatement check = connection.prepareStatement(InteractiveWorldLearner.DB_ENTRY_CHECK);
                                final int i1 = 1;
                                final int i2 = 2;
                                check.setInt(i1, req.getConditionId());
                                final ResultSet existing = check.executeQuery();
                                if(existing.next()) {
                                        // delete the old one
                                        final PreparedStatement delete = connection.prepareStatement(InteractiveWorldLearner.DB_ENTRY_DELETE);
                                        delete.setInt(i1, req.getConditionId());
                                        delete.executeUpdate();
                                }

                                // create our entry
                                final PreparedStatement insert = connection.prepareStatement(InteractiveWorldLearner.DB_INSERT_MODEL);
                                insert.setInt(i1, req.getConditionId());
                                insert.setString(i2, taskModels.toString());
                                insert.executeUpdate();

                                // close the connection
                                connection.close();
                                System.out.println("Models stored to the RMS.");
                        } catch (ClassNotFoundException|SQLException e) {
                                System.err.println("Could not connect the the RMS: " + e.getMessage());
                        }

                        // send back the response
                        LearnModels.Response resp = new LearnModels.Response(true);
                        learnHypotheses.sendResponse(resp, request.getId());
                }
        }

        public static void main(String[] args) {
                // create the learner object
                InteractiveWorldLearner l = new InteractiveWorldLearner();
                InteractiveWorldLearner.spin();
        }
}