Core Communication Modules

• Transport
• Core Agent
• [N-tuple Templates(https://github.com/icsi-berkeley/framework_code/wiki/Core-Communication-Modules#n-tuple-templates)

The language and action modules are bridged by shared action protocols we call n-tuples. Both the Problem Solver and Specializer have access to n-tuple templates, which are JSON structures oriented towards particular tasks, action, and information retrieval. The Specializer uses information from the SemSpec to fill in a template; the filled-in template is called an n-tuple. This is then transported over a network to the Problem Solver.

Transport

See the Transport documentation for more information.

Core Agent

The Core Agent defines a class that has the ability to send and receive n-tuples. Both the Core UI-Agent and the Core Problem Solver subclass the Core Agent.

A Core Agent is designed to be easy to initialize. The only required argument is the desired name of the channel, e.g.:

python core_agent.py Agent1

The above command would create a CoreAgent with a channel name of "Agent1". All CoreAgents have a Transport object as a field attribute, as well as:

• Name ("Agent1")
• Federation (by default, this is set to "FED1")
• Address (the concatenation of a federation and a name, such as "FED1_Agent1")

The federation is an important attribute, since it helps avoid potential name collisions, in the event of running multiple same-named agents on the same network. The federation can be set with an environment variable, e.g.:

export $ECG_FED=FED1

Optionally, the user can also designate a log-file and a log-level, in which to log errors or messages.

Relevant methods

read_templates(self, filename)

This method reads in a JSON file from the given filename, and returns an OrderedDict of templates. Since a user can specify an inheritance hierarchy for templates, this method also updates a "child" with the key/value pairs of its "parent", unless a particular key/value pair is overridden. If a specified parent does not exist, the method raises a TemplateException, which should cause the program to quit (as this is almost certainly an error).

callback(self, ntuple)

Whenever a CoreAgent subscribes to a particular channel, it passes in a callback method, which is called whenever the CoreAgent receives an n-tuple from that channel name. The CoreAgent defines a simple callback method, which just prints out the received n-tuple. Both the UI-Agent and Problem Solver override this callback method as part of their default behavior. Additional callbacks can be written for different purposes, and to subscribe to different channels.

N-tuple Templates

N-tuple templates serve two primary functions in our system:

1. Declarative instructions: While building an n-tuple, the templates act as declarative specifications for which aspects of the Semantic Specification the Core Specializer should extract, and give instructions on how the output should be formatted.
2. Shared semantics: Templates are oriented towards particular tasks, and are shared between the Specializer and Problem Solver, which establishes a shared vocabulary and semantics between a human user and a robot agent (or other task).

Mood Templates

Event Templates

Parameter Templates

Descriptor Templates