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/current-clips-executive-rcll has been updated to c7c16a6bd648fa6d5e7b4363a22d5a14f02a6acf (commit) via 252239e30c02a83c2480c3bc75d09428de103b0c (commit) via 08879f9b70377d2e83dc2df848c9e68447149ac8 (commit) via c3900529533855291b414723b61df0f0ef4786e1 (commit) via a797835e4cd4c712b37aecf395473fc8289dce77 (commit) from 4f1c14b661bb3b51997f5f98bb2eed37eed97a4d (commit) http://git.fawkesrobotics.org/fawkes.git/common/current-clips-executive-rcll 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 a797835e4cd4c712b37aecf395473fc8289dce77 Author: Mostafa Gomaa <go...@kbsg.rwth-aachen.de> AuthorDate: Thu Mar 1 00:32:29 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Mar 9 12:52:08 2018 +0100 clips-executive: Fix undesired late Grounding Fixed case: After actions are already completed and the Grounded preconds cleaned, the Grounding is triggered again leaving the Grounded precond in the factbase. This caused the problem that the next time this Action is Formulated in a plan. It attempts to use the old faulty Grounding. Reason: After removal of domain-wm-update after the cleaning. grounding rules are free to trigger again. http://git.fawkesrobotics.org/fawkes.git/commit/a797835 http://trac.fawkesrobotics.org/changeset/a797835 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit c3900529533855291b414723b61df0f0ef4786e1 Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> AuthorDate: Fri Mar 9 12:51:28 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Mar 9 12:52:55 2018 +0100 clips-executive: print domain errors to log Along the way, remove deffacts which never got asserted and are processed in a rule already. http://git.fawkesrobotics.org/fawkes.git/commit/c390052 http://trac.fawkesrobotics.org/changeset/c390052 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 08879f9b70377d2e83dc2df848c9e68447149ac8 Author: Mostafa Gomaa <go...@kbsg.rwth-aachen.de> AuthorDate: Wed Feb 28 19:39:33 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Mar 9 12:55:21 2018 +0100 clips-executive: Fix matching of Action to Operator When applying effects, domain-oprator name is not matched with the actions name of the plan-action Discovered case: Caused the Actions to always go the state SENESED-EFFECT-WAIT if they had a sensed predicate regardless if the wait sensed FALSE. http://git.fawkesrobotics.org/fawkes.git/commit/08879f9 http://trac.fawkesrobotics.org/changeset/08879f9 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 252239e30c02a83c2480c3bc75d09428de103b0c Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Mar 9 13:07:03 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Mar 9 13:35:01 2018 +0100 pddl-planner: add interface field for planner success The planner does not always find a plan, so the interface field "final" does not suffice to determine whether the planner found a plan. Add a separate field "success" that is true iff the planner has found a plan. If the planner failed, "final" will be true, but "success" will be false. http://git.fawkesrobotics.org/fawkes.git/commit/252239e http://trac.fawkesrobotics.org/changeset/252239e - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit c7c16a6bd648fa6d5e7b4363a22d5a14f02a6acf Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Mar 9 13:31:42 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Mar 9 13:35:01 2018 +0100 clips-executive: set goal mode to FAILED if planner did not find a plan If the planner fails to compute a plan, fail properly instead of re-using an old, possibly invalid plan that is still in the database. http://git.fawkesrobotics.org/fawkes.git/commit/c7c16a6 http://trac.fawkesrobotics.org/changeset/c7c16a6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/libs/interfaces/PddlPlannerInterface.h | 6 +++ src/plugins/clips-executive/clips/domain.clp | 13 +++++-- src/plugins/clips-executive/clips/pddl.clp | 15 +++++++- .../interfaces/PddlPlannerInterface.cpp | 38 +++++++++++++++++++- .../interfaces/PddlPlannerInterface.h_ext | 6 +++ .../interfaces/PddlPlannerInterface.tolua | 3 ++ .../interfaces/PddlPlannerInterface.xml | 3 ++ src/plugins/pddl-planner/pddl-planner_thread.cpp | 4 ++ 8 files changed, 82 insertions(+), 6 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* a797835e4cd4c712b37aecf395473fc8289dce77 - - - - - - - - - - Author: Mostafa Gomaa <go...@kbsg.rwth-aachen.de> Date: Thu Mar 1 00:32:29 2018 +0100 Subject: clips-executive: Fix undesired late Grounding src/plugins/clips-executive/clips/domain.clp | 4 +++- 1 files changed, 3 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/domain.clp b/src/plugins/clips-executive/clips/domain.clp index dfe7183..5643069 100644 --- a/src/plugins/clips-executive/clips/domain.clp +++ b/src/plugins/clips-executive/clips/domain.clp @@ -187,7 +187,8 @@ "Ground a non-atomic precondition. Grounding here merely means that we duplicate the precondition and tie it to one specific action-id." (not (domain-wm-update)) - (plan-action (action-name ?op) (id ?action-id)) + (plan-action (action-name ?op) (id ?action-id) + (status FORMULATED|PENDING|WAITING)) ?precond <- (domain-precondition (name ?precond-name) (part-of ?op) @@ -235,6 +236,7 @@ "Ground an atomic precondition of an operator." (not (domain-wm-update)) (plan-action + (status FORMULATED|PENDING|WAITING) (action-name ?op) (param-names $?action-param-names) (id ?action-id) - *commit* c3900529533855291b414723b61df0f0ef4786e1 - - - - - - - - - - Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> Date: Fri Mar 9 12:51:28 2018 +0100 Subject: clips-executive: print domain errors to log src/plugins/clips-executive/clips/domain.clp | 7 +++++-- 1 files changed, 5 insertions(+), 2 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/domain.clp b/src/plugins/clips-executive/clips/domain.clp index 5643069..b8b3fb4 100644 --- a/src/plugins/clips-executive/clips/domain.clp +++ b/src/plugins/clips-executive/clips/domain.clp @@ -581,6 +581,9 @@ (retract ?wmu) ) -(deffacts domain-facts - (domain-object-type (name object)) +(defrule domain-print-error + (domain-error (error-type ?type) (error-msg ?msg)) + => + (printout error "Domain error '" ?type "': " ?msg crlf) ) + - *commit* 08879f9b70377d2e83dc2df848c9e68447149ac8 - - - - - - - - - - Author: Mostafa Gomaa <go...@kbsg.rwth-aachen.de> Date: Wed Feb 28 19:39:33 2018 +0100 Subject: clips-executive: Fix matching of Action to Operator src/plugins/clips-executive/clips/domain.clp | 2 +- 1 files changed, 1 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/domain.clp b/src/plugins/clips-executive/clips/domain.clp index b8b3fb4..fd9093a 100644 --- a/src/plugins/clips-executive/clips/domain.clp +++ b/src/plugins/clips-executive/clips/domain.clp @@ -411,7 +411,7 @@ "Apply effects of an action after it succeeded." ?pa <- (plan-action (id ?id) (action-name ?op) (status EXECUTION-SUCCEEDED) (param-names $?action-param-names) (param-values $?action-param-values)) - (domain-operator (name ?action-name) (wait-sensed ?wait-sensed)) + (domain-operator (name ?op) (wait-sensed ?wait-sensed)) => (do-for-all-facts ((?e domain-effect) (?p domain-predicate)) (and (eq ?e:part-of ?op) (eq ?e:predicate ?p:name)) - *commit* 252239e30c02a83c2480c3bc75d09428de103b0c - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Mar 9 13:07:03 2018 +0100 Subject: pddl-planner: add interface field for planner success src/libs/interfaces/PddlPlannerInterface.h | 6 +++ .../interfaces/PddlPlannerInterface.cpp | 38 +++++++++++++++++++- .../interfaces/PddlPlannerInterface.h_ext | 6 +++ .../interfaces/PddlPlannerInterface.tolua | 3 ++ .../interfaces/PddlPlannerInterface.xml | 3 ++ src/plugins/pddl-planner/pddl-planner_thread.cpp | 4 ++ 6 files changed, 59 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/libs/interfaces/PddlPlannerInterface.h b/src/libs/interfaces/PddlPlannerInterface.h index 7fcc8fa..2bba677 100644 --- a/src/libs/interfaces/PddlPlannerInterface.h +++ b/src/libs/interfaces/PddlPlannerInterface.h @@ -49,6 +49,9 @@ class PddlPlannerInterface : public Interface bool final; /**< Is the planning finished? */ + bool success; /**< + True if the planner found a plan + */ char active_planner[30]; /**< Currently selected planner */ @@ -98,6 +101,9 @@ class PddlPlannerInterface : public Interface bool is_final() const; void set_final(const bool new_final); size_t maxlenof_final() const; + bool is_success() const; + void set_success(const bool new_success); + size_t maxlenof_success() const; char * active_planner() const; void set_active_planner(const char * new_active_planner); size_t maxlenof_active_planner() const; diff --git a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.cpp b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.cpp index 1fd3be9..b76fc81 100644 --- a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.cpp +++ b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.cpp @@ -52,9 +52,10 @@ PddlPlannerInterface::PddlPlannerInterface() : Interface() memset(data_ptr, 0, data_size); add_fieldinfo(IFT_UINT32, "msg_id", 1, &data->msg_id); add_fieldinfo(IFT_BOOL, "final", 1, &data->final); + add_fieldinfo(IFT_BOOL, "success", 1, &data->success); add_fieldinfo(IFT_STRING, "active_planner", 30, data->active_planner); add_messageinfo("PlanMessage"); - unsigned char tmp_hash[] = {0xcd, 0x44, 0x52, 0xa7, 0xfa, 0xb2, 0xaf, 0xfe, 0xe2, 0xc5, 0x4, 0x6b, 0xe0, 0x97, 0x2b, 0x69}; + unsigned char tmp_hash[] = {0x47, 0x74, 0xd7, 0xcf, 0x3d, 0xe5, 0x68, 0xa6, 0x44, 0xf1, 0x1f, 0x54, 0x5d, 0xc0, 0x4d, 0xd8}; set_hash(tmp_hash); } @@ -134,6 +135,41 @@ PddlPlannerInterface::set_final(const bool new_final) data_changed = true; } +/** Get success value. + * + True if the planner found a plan + + * @return success value + */ +bool +PddlPlannerInterface::is_success() const +{ + return data->success; +} + +/** Get maximum length of success value. + * @return length of success value, can be length of the array or number of + * maximum number of characters for a string + */ +size_t +PddlPlannerInterface::maxlenof_success() const +{ + return 1; +} + +/** Set success value. + * + True if the planner found a plan + + * @param new_success new success value + */ +void +PddlPlannerInterface::set_success(const bool new_success) +{ + data->success = new_success; + data_changed = true; +} + /** Get active_planner value. * Currently selected planner diff --git a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.h_ext b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.h_ext index 7fcc8fa..2bba677 100644 --- a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.h_ext +++ b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.h_ext @@ -49,6 +49,9 @@ class PddlPlannerInterface : public Interface bool final; /**< Is the planning finished? */ + bool success; /**< + True if the planner found a plan + */ char active_planner[30]; /**< Currently selected planner */ @@ -98,6 +101,9 @@ class PddlPlannerInterface : public Interface bool is_final() const; void set_final(const bool new_final); size_t maxlenof_final() const; + bool is_success() const; + void set_success(const bool new_success); + size_t maxlenof_success() const; char * active_planner() const; void set_active_planner(const char * new_active_planner); size_t maxlenof_active_planner() const; diff --git a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.tolua b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.tolua index b156da2..2d7f2ea 100644 --- a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.tolua +++ b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.tolua @@ -40,6 +40,9 @@ class PddlPlannerInterface : public Interface bool is_final(); void set_final(const bool new_final); int maxlenof_final() const; + bool is_success(); + void set_success(const bool new_success); + int maxlenof_success() const; char * active_planner(); void set_active_planner(const char * new_active_planner); int maxlenof_active_planner() const; diff --git a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.xml b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.xml index 8ea34b1..7343b34 100644 --- a/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.xml +++ b/src/plugins/pddl-planner/interfaces/PddlPlannerInterface.xml @@ -11,6 +11,9 @@ <field type="bool" name="final"> Is the planning finished? </field> + <field type="bool" name="success"> + True if the planner found a plan + </field> <field type="string" length="30" name="active_planner"> Currently selected planner </field> diff --git a/src/plugins/pddl-planner/pddl-planner_thread.cpp b/src/plugins/pddl-planner/pddl-planner_thread.cpp index a84bd2b..0da5bf3 100644 --- a/src/plugins/pddl-planner/pddl-planner_thread.cpp +++ b/src/plugins/pddl-planner/pddl-planner_thread.cpp @@ -78,6 +78,7 @@ PddlPlannerThread::init() plan_if_->set_active_planner(planner_string.c_str()); plan_if_->set_msg_id(0); plan_if_->set_final(false); + plan_if_->set_success(false); plan_if_->write(); //setup interface listener @@ -104,9 +105,11 @@ PddlPlannerThread::loop() BSONObj plan = BSONFromActionList(); robot_memory->update(fromjson("{plan:{$exists:true}}"), plan, cfg_collection_, true); print_action_list(); + plan_if_->set_success(true); } else { logger->log_error(name(),"Updating plan failed, action list empty!"); robot_memory->update(fromjson("{plan:{$exists:true}}"), fromjson("{plan:0}"), cfg_collection_, true); + plan_if_->set_success(false); } plan_if_->set_final(true); @@ -343,6 +346,7 @@ PddlPlannerThread::bb_interface_message_received(Interface *interface, fawkes::M if (message->is_of_type<PddlPlannerInterface::PlanMessage>()) { PddlPlannerInterface::PlanMessage* msg = (PddlPlannerInterface::PlanMessage*) message; plan_if_->set_msg_id(msg->id()); + plan_if_->set_success(false); plan_if_->set_final(false); plan_if_->write(); wakeup(); //activates loop where the generation is done - *commit* c7c16a6bd648fa6d5e7b4363a22d5a14f02a6acf - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Mar 9 13:31:42 2018 +0100 Subject: clips-executive: set goal mode to FAILED if planner did not find a plan src/plugins/clips-executive/clips/pddl.clp | 15 ++++++++++++++- 1 files changed, 14 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/pddl.clp b/src/plugins/clips-executive/clips/pddl.clp index a543fe4..9d86184 100644 --- a/src/plugins/clips-executive/clips/pddl.clp +++ b/src/plugins/clips-executive/clips/pddl.clp @@ -77,11 +77,24 @@ (defrule pddl-check-if-planner-finished "Check whether the planner finished planning." ?p <- (pddl-plan (status RUNNING) (plan-id ?plan-id)) - (PddlPlannerInterface (id "pddl-planner") (msg_id ?plan-id) (final TRUE)) + (PddlPlannerInterface (id "pddl-planner") (msg_id ?plan-id) (final TRUE) + (success TRUE)) => (modify ?p (status PLANNED)) ) +(defrule pddl-check-if-planner-failed + "Check whether the planner finished but has not found a plan." + ?g <- (goal (id ?goal-id)) + ?p <- (pddl-plan (status RUNNING) (goal-id ?goal-id) (plan-id ?plan-id)) + (PddlPlannerInterface (id "pddl-planner") (msg_id ?plan-id) (final TRUE) + (success FALSE)) + => + (printout error "Planning failed for goal " ?goal-id crlf) + (modify ?g (mode FAILED)) + (retract ?p) +) + (deffunction pddl-get-max-action-id () "Get the max ID of all current action" (bind ?i 0) -- 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
