learning.py 文件源码

def __init__(self):
        self.rospack = RosPack()
        with open(join(self.rospack.get_path('apex_playground'), 'config', 'learning.json')) as f:
            self.params = json.load(f)

        self.translator = EnvironmentTranslator()
        self.learning = None

        # User control and critical resources
        self.lock_iteration = RLock()
        self.ready_for_interaction = True
        self.focus = None
        self.set_iteration = -1

        # Saved experiment files
        self.dir = join(self.rospack.get_path('apex_playground'), 'logs')
        if not os.path.isdir(self.dir):
            os.makedirs(self.dir)
        # self.stamp = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
        # self.source_file = join(self.dir, self.source_name + '.pickle')
        self.main_experiment = True
        self.condition = ""
        self.trial = ""
        self.task = ""

        # Serving these services
        self.service_name_perceive = "learning/perceive"
        self.service_name_produce = "learning/produce"
        self.service_name_set_interest = "learning/set_interest"
        self.service_name_set_iteration = "learning/set_iteration"
        self.service_name_interests = "learning/get_interests"

        # Publishing these topics
        self.pub_focus = rospy.Publisher('learning/current_focus', String, queue_size=1, latch=True)
        self.pub_user_focus = rospy.Publisher('learning/user_focus', String, queue_size=1, latch=True)
        self.pub_ready = rospy.Publisher('learning/ready_for_interaction', Bool, queue_size=1, latch=True)
        self.pub_iteration = rospy.Publisher('iteration', UInt32, queue_size=1, latch=True)

        # Using these services
        self.service_name_get_perception = "perception/get"
        for service in [self.service_name_get_perception]:
            rospy.loginfo("Learning  node is waiting service {}...".format(service))
            rospy.wait_for_service(service)
        self.get_state = rospy.ServiceProxy(self.service_name_get_perception, GetSensorialState)