some minor fixes

Author: smigad

act/cmd_einstein.scm

@@ -9,6 +9,7 @@
              (ice-9 regex)
              (json))
 
+;(include-from-path "behavior/functions.scm")
 
 ; XXX there should be error checks here... just have to make sure the robot has its
 ;     port 8080 open before starting this script. Don't know how to do the error checks
@@ -151,15 +152,15 @@
 (define-public (act-pan-head POS)
 	(if (bn-zero-one? POS)
 		(begin
-			(send-to-einstein (format #f "<MO=HT,~f,0.5>" POS))
+			(send-to-einstein (format #f "<MO=HT,~f,0.5>" (format #f "~4f" POS)))
 			(stv 1 1))
 		(stv 0 1)))
 
 ; tilt the head to a given point
 (define-public (act-tilt-head POS)
 	(if (bn-zero-one? POS)
 		(begin
-			(send-to-einstein (format #f "<MO=HN,~f,0.5>" POS))
+			(send-to-einstein (format #f "<MO=HN,~f,0.5>" (format #f "~4f" POS)))
 			(stv 1 1))
 		(stv 0 1)))
 
@@ -188,4 +189,4 @@
 ; go to sleep. When a speech or intentional command is to be sent, 
 ; do-random-actions should be set to false so that no interfering cmnds
 ; are sent during that time and then reenabled again. 
-(call-with-new-thread random-cmds)
+;(call-with-new-thread random-cmds)

behavior/behavior.scm

@@ -7,9 +7,10 @@
 
 ;; load ghost rules
 (begin (display "Loading Ghost Scripts...") (newline))
-(ghost-parse-file (string-append TOPDIR "/ghost/concepts_1.ghost"))
+;(ghost-parse-file (string-append TOPDIR "/ghost/concepts_1.ghost"))
 (ghost-parse-file (string-append TOPDIR "/ghost/character_1.ghost"))
 (ghost-parse-file (string-append TOPDIR "/ghost/intro1.ghost"))
+(ghost-parse-file (string-append TOPDIR "/ghost/chitchat.ghost"))
 (begin (display "Done Loading Ghost Scripts.") (newline))
 
 
@@ -22,6 +23,7 @@
 
 ; check if a face in sight
 (define-public (sense-any-face? atom)
+	(begin (display "** sensing for a face **") (newline))
 	(set! no_faces (cog-value->exact (cog-value Afs Anof)))
 	(if (> no_faces 0)
 		(cog-new-stv 1 1)
@@ -32,13 +34,15 @@
 ; is sensed. The sensors would set a floatvalue with 
 ; the arg node as the atom and the (PredicateNode "number_of") as key
 (define-public (sense-any? atom)
+	(begin (display "** generic sense any? **") (newline))
 	(set! no_faces (cog-value->exact (cog-value atom Anof)))
 	(if (> no_faces 0)
 		(cog-new-stv 1 1)
 		(cog-new-stv 0 1)))
 
 
 (define-public (sense-find-smiling-face)
+	(begin (display "** sensing for smiling face **") (newline))
 	(set! smiling_face_idx 0)
 	(if (> no_faces 0)
 		(do ((i 1 (+ 1 i))) ((> i no_faces))
@@ -47,6 +51,7 @@
 
 ; set the index of a non neutral face to nonneutral-face-idx
 (define-public (sense-find-emotional-face)
+	(begin (display "** sensing for an emotional face **") (newline))
 	(set! nonneutral-face-idx 0)
 	(if (> no_faces 0)
 		(do ((i 2 (1+ i))) ((> i no_faces))
@@ -56,6 +61,7 @@
 
 ; before looking at face check if any faces first and return false if none
 (define-public (look-face atom)
+	(begin (display "** executing behave find face to look at **") (newline))
 	(cog-evaluate! behave-find-face-to-look))
 
 
@@ -66,6 +72,7 @@
 ; look at a single face
 ; first check if only one face in view
 (define-public (look-single-face atom)
+	(begin (display "**> look single face **") (newline))
 	(if (eq? no_faces 1)
 		(begin 
 			(act-face-a-point (cog-value->list (cog-value (ConceptNode "face_1") Apos_h)))
@@ -75,6 +82,7 @@
 
 ; face a smiling face if any
 (define-public (look-smiling-face atom)
+	(begin (display "**> look smiling face **") (newline))
 	(sense-find-smiling-face)
 	(if (eq? smiling_face_idx 0) ; if smiling_face_idx is zero, there is no smiling face
 		(cog-new-stv 0 1)         ; so return failure
@@ -90,6 +98,7 @@
 ; in general any face which isn't neutral
 ; set something here to aid a ghost gambit in saying "why the _____ face"
 (define-public (look-emotional-face atom)
+	(begin (display "**> look emotional face **") (newline))
 	(sense-find-emotional-face)
 	(if (eq? nonneutral-face-idx 0)
 		(cog-new-stv 0 1)
@@ -102,6 +111,7 @@
 
 ; face one of the neutral faces just at random
 (define-public (look-random-face atom)
+	(begin (display "**> look random face **") (newline))
 	(if (eq? no_faces 0)
 		(cog-new-stv 0 1)
 		(begin
@@ -116,6 +126,7 @@
 
 ; look at a salient point
 (define-public (look-salient-point atom)
+	(begin (display "**> look at salient point **") (newline))
 	(begin
 		(act-face-a-point (cog-value->list (cog-value Aey Apos_h)))
 		(cog-new-stv 1 1)))
@@ -159,5 +170,11 @@
 			(GroundedPredicateNode "scm: look-salient-point")
 			(PredicateNode "look"))))
 
+(define-public (oc-bt)
+	(while #t 
+		(begin (display "** executing main BT **") (newline))
+	       (cog-evaluate! behave-looking)
+	       (usleep 5000000)))
 
-(cog-evaluate! behave-looking)
+
+(call-with-new-thread oc-bt)

behavior/functions.scm

@@ -80,7 +80,7 @@
 
 ; Convert list of WordNode to string
 (define-public (wordlist-to-str wrdlst)
-	(string-concatenate (map append-space (map cog-name (wrdlst)))))
+	(string-concatenate (map append-space (map cog-name wrdlst))))
 
 ; function to convert a FloatValue to exact number
 ; only the first of the FloatValue array