This repository is used to interface with the docker images developed for our integration work with RPI. Docker images are leia/ontosem and leia/agents, and they expose a REST API once opened.

Once opened, the REST API is available on 0.0.0.0:5002

• /learn -> POST raw JSON in the format for the learner; you can post one or more sequential inputs (utterances and actions); the response will be the HTN in JSON format (the current complete HTN, with the latest inputs included)
• /alpha/gettree -> GET; returns the current HTN (without modifying it):
  • use ?format=json to get the same response format as /learn
  • use ?format=pretty to get a human readable version
• /alpha/reset -> DELETE; this will clear the current tree (in lieu of killing and restarting the docker containers)
• /alpha/maketree -> deprecated, ignore this command for now

• task-models, available here, is used to perform integration tests.

Pull the required images from the docker repo:

docker login --username=[username]
docker pull leia/ontosem:1.0.0
docker pull leia/agents:latest.yale

Run the compose file to turn on 3 containers and their respective services docker-compose -p rpi_integration -f ./docker-compose.yml up

After the docker containers are opened, you can query things via curl in a terminal window.

Examples of curl requests:

• curl -i -X GET http://0.0.0.0:5002/alpha/gettree?format=pretty to get the status of the tree in ascii format
• curl -i -X GET http://0.0.0.0:5002/alpha/gettree?format=json to get the status of the tree in json format
• curl -s -H "Content-type: application/json" -X POST -d '[["u", "We will build a chair."], ["a", "get-screwdriver"]]' http://0.0.0.0:5002/learn to ask the system to learn a new htm from sequence of actions and utterances
• curl -i -X DELETE http://0.0.0.0:5002/alpha/reset to clear the learning

Example of sequences of actions and utterances:

• [["u","I will build a chair."], ["u", "I'm building a leg."], ["a", "get-bracket-foot"], ["a", "get-dowel"]]
• [["u", "We will build a chair."], ["a", "get-screwdriver"]

• docker-compose -p rpi_integration -f ./docker-compose.yml up: runs the container and exposes server ports
• python -m unittest discover tests: runs all the tests

In order to test the HTM controller run:

• rostest rpi_integration test_htm_controller.test --text

If you are posting an action (“a”), then the valid list includes the following keys (you can, alternatively, post any of the below as a “u” using the value):

• get-screwdriver: "Get a screwdriver.",
• get-bracket-foot: "Get a foot bracket.",
• get-bracket-front: "Get a front bracket.",
• get-bracket-back-right: "Get the back bracket on the right side.",
• get-bracket-back-left: "Get the back bracket on the left side.",
• get-top-bracket: "Get the top bracket.",
• get-dowel: "Get a dowel.",
• hold-dowel: "Hold the dowel.",
• release-dowel: "Release the dowel.",
• get-seat: "Get the seat.",
• hold-seat: "Hold the seat.",
• get-back: "Get the back.",
• hold-back: "Hold the back."