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Merge pull request #49 from linas/mrg
Merge Mandeep's work (pull request #45)
2 parents 3fd059a + 7ec5665 commit 9f87494

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‎src/CMakeLists.txt‎

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@@ -7,6 +7,7 @@ INSTALL (FILES
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# Install the Eva and Sophia config files; however, the scheme module
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# will not load the config parameters -- that has to be done by hand.
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INSTALL (FILES
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psi-behavior.scm
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behavior.scm
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express.scm
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primitives.scm

‎src/btree-psi.scm‎

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;
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; btree-psi.scm
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;
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; OpenPsi-based Eva behavior action selection (for the Eva blender
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; model animations).
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;
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; Runs a set of defined behaviors that express Eva's personality.
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; This version integrates the OpenCog chatbot.
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;
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; The currently-defined behaviors include acknowledging new people who
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; enter the room, rotating attention between multiple occupants of the
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; room, falling asleep when bored (i.e. the room is empty), and acting
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; surprised when someone leaves unexpectedly.
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;
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; HOWTO:
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; Run the main loop:
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; (run)
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; Pause the main loop:
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; (halt)
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;
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; Make sure that you did a `cmake` and `make install` first!
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;
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; Unit testing: See `unit-test.scm` and also notes in `behavior.scm`.
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;
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(add-to-load-path "/usr/local/share/opencog/scm")
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(use-modules (opencog))
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(use-modules (opencog query)) ; XXX work-around relex2logic bug
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; Start the cogsserver. It is used by the face-tracker to poke data
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; into the atomspace.
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(use-modules (opencog cogserver))
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(start-cogserver "../scripts/opencog.conf")
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; Load the behavior trees.
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(use-modules (opencog exec)) ; needed for cog-evaluate! in put_atoms.py
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(use-modules (opencog eva-model)) ; needed for defines in put_atoms.py
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(use-modules (opencog eva-behavior))
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(use-modules (opencog openpsi))
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; Load the Eva personality configuration.
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; (display %load-path)
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(add-to-load-path "../src")
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(load-from-path "cfg-eva.scm") ;;; <<<=== See, its Eva here!
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;; Call (run) to run the main loop, (halt) to pause the loop.
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;; The main loop runs in its own thread.
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(define (run) (behavior-tree-run))
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(define (halt) (behavior-tree-halt))
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; ---------------------------------------------------------
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; Load the chat modules.
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;
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(use-modules (opencog nlp))
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(use-modules (opencog nlp chatbot))
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; Work-around to weird bug: must load relex2logic at the top level.
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(use-modules (opencog nlp relex2logic))
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; Work-around to circular dependency: define `dispatch-text` at the
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; top level of the guile executation environment.
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(define-public (dispatch-text txt)
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"
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dispatch-text TEXT
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Pass the TEXT that STT heard into the OpenCog chatbot.
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"
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(call-with-new-thread
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; Must run in a new thread, else it deadlocks in python,
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; since the text processing results in python calls.
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; (lambda () (process-query "luser" (cog-name txt)))
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; (lambda () (grounded-talk "luser" (cog-name txt)))
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(lambda () (chat (cog-name txt)))
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)
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(stv 1 1)
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)
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; ---------------------------------------------------------
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; Run the hacky garbage collection loop.
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(run-behavior-tree-gc)
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; Silence the output.
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*unspecified*
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;; Actually set it running, by default.
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(all-threads) ; print out the curent threads.
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(run)

‎src/psi-behavior.scm‎

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;
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; psi-behvaior.scm
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(use-modules (ice-9 format))
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(add-to-load-path "/usr/local/share/opencog/scm")
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(use-modules (opencog))
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(use-modules (opencog exec))
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(use-modules (opencog openpsi))
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;
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;;
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(define (pred-2-schema pnode-str)
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(DefineLink
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(DefinedSchemaNode pnode-str)
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(ExecutionOutputLink (GroundedSchemaNode "scm: cog-evaluate!")
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(ListLink (DefinedPredicateNode pnode-str))
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)))
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;;
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(pred-2-schema "Interaction requested action")
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(pred-2-schema "New arrival sequence action")
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(pred-2-schema "Someone left action")
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(pred-2-schema "Interact with people action")
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(pred-2-schema "Nothing is happening action")
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(pred-2-schema "Speech started? action")
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(pred-2-schema "Speech ongoing? action")
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(pred-2-schema "Speech ended? action")
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(pred-2-schema "Listening started? action")
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(pred-2-schema "Listening? action")
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(pred-2-schema "Listening ended? action")
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(pred-2-schema "Keep alive")
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;;
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;(DefineLink (DefinedPredicateNode "do-noop") (True))
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;(pred-2-schema "do-noop")
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(define demand-satisfied (True))
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(define speech-demand-satisfied (True))
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(define face-demand (psi-demand "face interaction" 1))
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(define speech-demand (psi-demand "speech interaction" 1))
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(define run-demand (psi-demand "run demand" 1))
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;(psi-rule (list (DefinedPredicate "Interaction requested"))(DefinedSchemaNode "Interaction requested action") demand-satisfied (stv 1 1) face-demand)
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;(psi-rule (list (DefinedPredicate "New arrival sequence")) (DefinedSchemaNode "New arrival sequence action") demand-satisfied (stv 1 1) face-demand)
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;(psi-rule (list (DefinedPredicate "Someone left")) (DefinedSchemaNode "Someone left action") demand-satisfied (stv 1 1) face-demand)
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;(psi-rule (list (DefinedPredicate "Interact with people")) (DefinedSchemaNode "Interact with people action") demand-satisfied (stv 1 1) face-demand)
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;(psi-rule (list (DefinedPredicate "Nothing is happening")) (DefinedSchemaNode "Nothing is happening action") demand-satisfied (stv 1 1) face-demand)
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;(psi-rule (list (DefinedPredicate "Speech started?")) (DefinedSchemaNode "Speech started? action") speech-demand-satisfied (stv 1 1) speech-demand)
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;(psi-rule (list (DefinedPredicate "Speech ongoing?")) (DefinedSchemaNode "Speech ongoing? action") speech-demand-satisfied (stv 1 1) speech-demand)
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;(psi-rule (list (DefinedPredicate "Speech ended?")) (DefinedSchemaNode "Speech ended? action") speech-demand-satisfied (stv 1 1) speech-demand)
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;(psi-rule (list (DefinedPredicate "Skip Interaction?")) (DefinedSchemaNode "Keep alive") speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Interaction requested"))
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(DefinedSchemaNode "Interaction requested action")
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demand-satisfied (stv 1 1) face-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "New arrival sequence"))
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(DefinedSchemaNode "New arrival sequence action")
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demand-satisfied (stv 1 1) face-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Someone left"))
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(DefinedSchemaNode "Someone left action")
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demand-satisfied (stv 1 1) face-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Interact with people"))
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(DefinedSchemaNode "Interact with people action")
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demand-satisfied (stv 1 1) face-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Nothing is happening"))
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(DefinedSchemaNode "Nothing is happening action")
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demand-satisfied (stv 1 1) face-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Speech started?"))
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(DefinedSchemaNode "Speech started? action")
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speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Speech ongoing?"))
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(DefinedSchemaNode "Speech ongoing? action")
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speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Speech ended?"))
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(DefinedSchemaNode "Speech ended? action")
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speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Listening started?"))
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(DefinedSchemaNode "Listening started? action")
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speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Listening?"))
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(DefinedSchemaNode "Listening? action")
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speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (NotLink(DefinedPredicate "Skip Interaction?"))
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(DefinedPredicate "Listening ended?"))
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(DefinedSchemaNode "Listening ended? action")
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speech-demand-satisfied (stv 1 1) speech-demand)
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(psi-rule (list (DefinedPredicate "Skip Interaction?"))
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(DefinedSchemaNode "Keep alive")
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speech-demand-satisfied (stv 1 1) speech-demand)
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;; ------------------------------------------------------------------
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;; Main loop. Uses tail recursion optimization to form the loop.
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(DefineLink
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(DefinedPredicate "main loop")
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(SatisfactionLink
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(SequentialAnd
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; (SequentialOr
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; (DefinedPredicate "Skip Interaction?")
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; (DefinedPredicate "Interaction requested")
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; (DefinedPredicate "New arrival sequence")
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; (DefinedPredicate "Someone left")
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; (DefinedPredicate "Interact with people")
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; (DefinedPredicate "Nothing is happening")
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; (True))
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; ;; XXX FIXME chatbot is disengaged from everything else.
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; ;; The room can be empty, the head is bored or even asleep,
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; ;; but the chatbot is still smiling and yabbering.
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; ;; If interaction is turned-off need keep alive gestures
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; (SequentialOr
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; (DefinedPredicate "Speech started?")
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; (DefinedPredicate "Speech ongoing?")
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; (DefinedPredicate "Speech ended?")
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; (DefinedPredicate "Listening started?")
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; (DefinedPredicate "Listening?")
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; (DefinedPredicate "Listening ended?")
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; (SequentialAnd
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; (DefinedPredicate "Skip Interaction?")
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; (DefinedPredicate "Keep alive")
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; )
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; (True)
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; )
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; If ROS is dead, or the continue flag not set, then stop
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; running the behavior loop.
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(DefinedPredicate "Continue running loop?")
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(DefinedPredicate "ROS is running?")
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;; Call self -- tail-recurse.
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(DefinedPredicate "main loop")
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)))
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; ----------------------------------------------------------------------

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