Changes have been pushed for the repository "fawkes.git". (Fawkes Robotics Software Framework)
Clone: g...@git.fawkesrobotics.org:fawkes.git Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, common/clips-executive has been updated to f140845018719c48deb70e4ba9b08321d0958370 (commit) via 5033bdc3cf468e00c6807f601da9b25b4e71ad78 (commit) via 89617cc08dfa5b71d671c843333b51caa7da67e7 (commit) from 094387c2ef376c3927d5f5830fdc94fc340f9b70 (commit) http://git.fawkesrobotics.org/fawkes.git/common/clips-executive Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 89617cc08dfa5b71d671c843333b51caa7da67e7 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Tue Oct 10 14:36:00 2017 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Tue Oct 10 14:36:00 2017 +0200 clips-executive: automatically load domain during initialization This loads the domain module which defines the general representation of a domain and its rules. It also adds a new clips-executive config value "domain", which is the domain to be loaded. http://git.fawkesrobotics.org/fawkes.git/commit/89617cc http://trac.fawkesrobotics.org/changeset/89617cc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 5033bdc3cf468e00c6807f601da9b25b4e71ad78 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Tue Oct 10 14:37:57 2017 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Tue Oct 10 14:37:57 2017 +0200 clips-executive: only execute an action if it is executable http://git.fawkesrobotics.org/fawkes.git/commit/5033bdc http://trac.fawkesrobotics.org/changeset/5033bdc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit f140845018719c48deb70e4ba9b08321d0958370 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Tue Oct 10 14:39:52 2017 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Tue Oct 10 14:39:52 2017 +0200 clips-executive: adapt test scenario to use a proper domain The domain consists of the two operators say-hello and say-goodbye. Both operators do not have any parameters. The operator say-hello is always executable (its precondition is true), the operator say-goodbye can only be executed if hello has been said before. The operators say-hello and say-goodbye have the effects that the texts hello and goodbye are said respectively. http://git.fawkesrobotics.org/fawkes.git/commit/f140845 http://trac.fawkesrobotics.org/changeset/f140845 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- cfg/conf.d/clips-executive.yaml | 3 ++ src/plugins/clips-executive/clips/init.clp | 6 ++- src/plugins/clips-executive/clips/plan-exec.clp | 3 +- .../clips/test-scenario/fixed-sequence.clp | 8 ++-- .../clips/test-scenario/test-domain.clp | 32 ++++++++++++++++++++ 5 files changed, 45 insertions(+), 7 deletions(-) create mode 100644 src/plugins/clips-executive/clips/test-scenario/test-domain.clp - *Diffs* ------------------------------------------------------------- - *commit* 89617cc08dfa5b71d671c843333b51caa7da67e7 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Tue Oct 10 14:36:00 2017 +0200 Subject: clips-executive: automatically load domain during initialization src/plugins/clips-executive/clips/init.clp | 6 ++++-- 1 files changed, 4 insertions(+), 2 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/init.clp b/src/plugins/clips-executive/clips/init.clp index b28f5d6..1a7ec80 100644 --- a/src/plugins/clips-executive/clips/init.clp +++ b/src/plugins/clips-executive/clips/init.clp @@ -95,6 +95,7 @@ (path-load "blackboard-init.clp") (path-load "skills-init.clp") (path-load "plan.clp") + (path-load "domain.clp") ) (defrule executive-init-stage3 @@ -105,8 +106,9 @@ ; Common spec config prefix (bind ?pf (str-cat "/clips-executive/specs/" ?spec "/")) - (foreach ?component (create$ "goal-reasoner" "goal-expander" "macro-expansion" - "action-selection" "action-execution" "execution-monitoring") + (foreach ?component (create$ "domain" "goal-reasoner" "goal-expander" + "macro-expansion" "action-selection" + "action-execution" "execution-monitoring") (do-for-fact ((?c confval)) (and (eq ?c:path (str-cat ?pf ?component)) (eq ?c:type STRING)) (printout t "Loading component '" ?component "' (" ?c:value ")" crlf) (path-load ?c:value) - *commit* 5033bdc3cf468e00c6807f601da9b25b4e71ad78 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Tue Oct 10 14:37:57 2017 +0200 Subject: clips-executive: only execute an action if it is executable src/plugins/clips-executive/clips/plan-exec.clp | 3 ++- 1 files changed, 2 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/plan-exec.clp b/src/plugins/clips-executive/clips/plan-exec.clp index fe59cec..295e88f 100644 --- a/src/plugins/clips-executive/clips/plan-exec.clp +++ b/src/plugins/clips-executive/clips/plan-exec.clp @@ -14,7 +14,8 @@ (defrule plan-exec-action-start ?pa <- (plan-action (plan-id ?plan-id) (id ?id) (status PENDING) - (action-name ?action-name) (param-names $?params) + (action-name ?action-name) (executable TRUE) + (param-names $?params) (param-values $?param-values)) (not (plan-exec-action)) (skiller-control (acquired TRUE)) - *commit* f140845018719c48deb70e4ba9b08321d0958370 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Tue Oct 10 14:39:52 2017 +0200 Subject: clips-executive: adapt test scenario to use a proper domain cfg/conf.d/clips-executive.yaml | 3 ++ .../clips/test-scenario/fixed-sequence.clp | 8 ++-- .../clips/test-scenario/test-domain.clp | 32 ++++++++++++++++++++ 3 files changed, 39 insertions(+), 4 deletions(-) _Diff for modified files_: diff --git a/cfg/conf.d/clips-executive.yaml b/cfg/conf.d/clips-executive.yaml index 29bbb9f..abdd90b 100644 --- a/cfg/conf.d/clips-executive.yaml +++ b/cfg/conf.d/clips-executive.yaml @@ -52,6 +52,7 @@ clips-executive: specs: test: + domain: test-scenario/test-domain.clp goal-reasoner: test-scenario/goal-reasoner.clp goal-expander: test-scenario/fixed-sequence.clp action-selection: test-scenario/action-selection.clp @@ -61,3 +62,5 @@ clips-executive: action-mapping: say: say{text=?(text)s, wait=true} + say-hello: say{text="Hello world", wait=true} + say-goodbye: say{text="Good bye", wait=true} diff --git a/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp b/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp index 3fdd4b4..283e224 100644 --- a/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp +++ b/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp @@ -4,10 +4,10 @@ => (assert (plan (id TESTGOAL-PLAN) (goal-id TESTGOAL))) (assert (plan-action (id 1) (plan-id TESTGOAL-PLAN) (duration 4.0) - (action-name say) (param-names text wait) - (param-values "Hello world" true))) + (action-name say-hello) + )) (assert (plan-action (id 2) (plan-id TESTGOAL-PLAN) (duration 4.0) - (action-name say) (param-names textFAIL) - (param-values "Good bye"))) + (action-name say-goodbye) + )) (modify ?g (mode EXPANDED)) ) -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
