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 daae9d99f50c00a2fa9d69d6ede0b562b2aed599 (commit) via 54a6a5c82ebfb5297611cf3c091f67821ae5ac9c (commit) via f2b0c275b700fa4255ecf822b6c8efad77772317 (commit) from 26c07e675f79f63af147c2f91638f97d7699d21f (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 f2b0c275b700fa4255ecf822b6c8efad77772317 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Nov 10 10:33:41 2017 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Nov 10 10:59:00 2017 +0100 clips executive: add interface to PDDL generator and planner This allows to generate a PDDL problem and then call a PDDL planner to compute a plan. Calling the function pddl-call with a specified goal will trigger the process. The current status of the planner can be checked with the pddl-plan deftemplate. Note that this does not yet pass the given goal to the planner, nor does it translate the resulting plan back into CLIPS. http://git.fawkesrobotics.org/fawkes.git/commit/f2b0c27 http://trac.fawkesrobotics.org/changeset/f2b0c27 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 54a6a5c82ebfb5297611cf3c091f67821ae5ac9c Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Nov 10 11:00:09 2017 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Nov 10 11:00:09 2017 +0100 clips executive: only load navgraph feature if enabled in the config http://git.fawkesrobotics.org/fawkes.git/commit/54a6a5c http://trac.fawkesrobotics.org/changeset/54a6a5c - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit daae9d99f50c00a2fa9d69d6ede0b562b2aed599 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Nov 10 11:04:07 2017 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Nov 10 11:04:07 2017 +0100 clips executive: disable navgraph and pddl features by default Modify the config check so neither feature is loaded if the config does not specify anything. This means that the features are disabled by default and only loaded if explicitly enabled in the config. http://git.fawkesrobotics.org/fawkes.git/commit/daae9d9 http://trac.fawkesrobotics.org/changeset/daae9d9 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-executive/clips/init.clp | 28 ++++++++- src/plugins/clips-executive/clips/pddl-init.clp | 58 ++++++++++++++++++ src/plugins/clips-executive/clips/pddl.clp | 73 +++++++++++++++++++++++ 3 files changed, 156 insertions(+), 3 deletions(-) create mode 100644 src/plugins/clips-executive/clips/pddl-init.clp create mode 100644 src/plugins/clips-executive/clips/pddl.clp - *Diffs* ------------------------------------------------------------- - *commit* f2b0c275b700fa4255ecf822b6c8efad77772317 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Nov 10 10:33:41 2017 +0100 Subject: clips executive: add interface to PDDL generator and planner src/plugins/clips-executive/clips/init.clp | 13 ++++ src/plugins/clips-executive/clips/pddl-init.clp | 58 ++++++++++++++++++ src/plugins/clips-executive/clips/pddl.clp | 73 +++++++++++++++++++++++ 3 files changed, 144 insertions(+), 0 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/init.clp b/src/plugins/clips-executive/clips/init.clp index 26ca351..8fae926 100644 --- a/src/plugins/clips-executive/clips/init.clp +++ b/src/plugins/clips-executive/clips/init.clp @@ -89,6 +89,16 @@ (ff-feature-request "navgraph") ) +(defrule executive-conditional-pddl-init + "Load PDDL feature if requested in the config." + (executive-init) + (ff-feature-loaded blackboard) + (confval (path "/clips-executive/use_pddl") (type BOOL) (value TRUE)) + => + (printout t "Loading PDDL interface") + (path-load "pddl-init.clp") +) + (defrule executive-init-stage2 (executive-init) (ff-feature-loaded blackboard) @@ -104,6 +114,9 @@ (defrule executive-init-stage3 (executive-init) (ff-feature-loaded skills) + (or (ff-feature-loaded pddl) + (confval (path "/clips-executive/use_pddl") (type BOOL) (value FALSE)) + ) (confval (path "/clips-executive/spec") (type STRING) (value ?spec)) => ; Common spec config prefix - *commit* 54a6a5c82ebfb5297611cf3c091f67821ae5ac9c - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Nov 10 11:00:09 2017 +0100 Subject: clips executive: only load navgraph feature if enabled in the config src/plugins/clips-executive/clips/init.clp | 13 ++++++++++--- 1 files changed, 10 insertions(+), 3 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/init.clp b/src/plugins/clips-executive/clips/init.clp index 8fae926..3a5dbf3 100644 --- a/src/plugins/clips-executive/clips/init.clp +++ b/src/plugins/clips-executive/clips/init.clp @@ -85,7 +85,13 @@ => (printout t "Blackboard feature and skill exec init" crlf) (ff-feature-request "blackboard") - (printout t "Navgraph feature" crlf) +) + +(defrule executive-conditional-navgraph-init + (executive-init) + (confval (path "/clips-executive/use_navgraph") (type BOOL) (value TRUE)) + => + (printout t "Loading navgraph feature") (ff-feature-request "navgraph") ) @@ -102,9 +108,7 @@ (defrule executive-init-stage2 (executive-init) (ff-feature-loaded blackboard) - (ff-feature-loaded navgraph) => - (path-load "blackboard-init.clp") (path-load "skills-init.clp") (path-load "plan.clp") @@ -114,6 +118,9 @@ (defrule executive-init-stage3 (executive-init) (ff-feature-loaded skills) + (or (ff-feature-loaded navgraph) + (confval (path "/clips-executive/use_navgraph") (type BOOL) (value FALSE)) + ) (or (ff-feature-loaded pddl) (confval (path "/clips-executive/use_pddl") (type BOOL) (value FALSE)) ) - *commit* daae9d99f50c00a2fa9d69d6ede0b562b2aed599 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Nov 10 11:04:07 2017 +0100 Subject: clips executive: disable navgraph and pddl features by default 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 3a5dbf3..fcd1488 100644 --- a/src/plugins/clips-executive/clips/init.clp +++ b/src/plugins/clips-executive/clips/init.clp @@ -119,10 +119,12 @@ (executive-init) (ff-feature-loaded skills) (or (ff-feature-loaded navgraph) - (confval (path "/clips-executive/use_navgraph") (type BOOL) (value FALSE)) + (not (confval (path "/clips-executive/use_navgraph") + (type BOOL) (value TRUE))) ) (or (ff-feature-loaded pddl) - (confval (path "/clips-executive/use_pddl") (type BOOL) (value FALSE)) + (not (confval (path "/clips-executive/use_pddl") + (type BOOL) (value TRUE))) ) (confval (path "/clips-executive/spec") (type STRING) (value ?spec)) => -- 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
