Changes have been pushed for the repository "fawkesrobotics/fawkes".
Clone: https://github.com/fawkesrobotics/fawkes.git Gitweb: https://github.com/fawkesrobotics/fawkes The branch, labcegor2 has been updated to 3bad6d3cdba4bcb1e8f6c7f29fb2aa324467f2be (commit) from a32de2d7b34ef7cb71a4622631e8ecb945829d58 (commit) https://github.com/fawkesrobotics/fawkes/tree/labcegor2 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 3bad6d3cdba4bcb1e8f6c7f29fb2aa324467f2be Author: Tristan Ebert <[email protected]> AuthorDate: Wed Dec 16 15:51:21 2020 +0100 Commit: Tristan Ebert <[email protected]> CommitDate: Wed Dec 16 15:51:21 2020 +0100 Add skiller matching to actions and skills to allow multiple actions running at the same time with different skillers. https://github.com/fawkesrobotics/fawkes/commit/3bad6d3cd - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- .../clips-executive/clips/skills-actions.clp | 25 +++++++++++----------- 1 file changed, 13 insertions(+), 12 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 3bad6d3cdba4bcb1e8f6c7f29fb2aa324467f2be - - - - - - - - - - Author: Tristan Ebert <[email protected]> Date: Wed Dec 16 15:51:21 2020 +0100 Subject: Add skiller matching to actions and skills to allow multiple actions running at the same time with different skillers. .../clips-executive/clips/skills-actions.clp | 25 +++++++++++----------- 1 file changed, 13 insertions(+), 12 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/skills-actions.clp b/src/plugins/clips-executive/clips/skills-actions.clp index 561c93003..19f745195 100644 --- a/src/plugins/clips-executive/clips/skills-actions.clp +++ b/src/plugins/clips-executive/clips/skills-actions.clp @@ -14,6 +14,7 @@ ;(slot channel (type INTEGER)) (slot skill-name (type SYMBOL)) (slot skill-id (type SYMBOL)) + (slot skiller (type STRING) (default "Skiller")) (multislot skill-args) ) @@ -39,7 +40,7 @@ (param-names $?params) (param-values $?param-values)) (skill-action-mapping (name ?action-name)) - (not (skill-action-execinfo)) + (not (skill-action-execinfo (skiller ?skiller))) (skiller-control (skiller ?skiller) (acquired TRUE)) => (bind ?skill-id (skill-call ?action-name ?params ?param-values ?skiller)) @@ -51,14 +52,14 @@ (assert (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id) (action-id ?id) (skill-id ?skill-id) (skill-name ?action-name) - (skill-args ?args))) + (skill-args ?args) (skiller ?skiller))) ) (defrule skill-action-running ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) - (action-name ?action-name) (state WAITING)) + (action-name ?action-name) (state WAITING) (skiller ?skiller)) ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id) - (action-id ?id) (skill-id ?skill-id)) + (action-id ?id) (skill-id ?skill-id) (skiller ?skiller)) (skill (id ?skill-id) (status S_RUNNING)) => (printout t "Action " ?action-name " is running" crlf) @@ -67,10 +68,10 @@ (defrule skill-action-final ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) - (action-name ?action-name) (state WAITING|RUNNING)) + (action-name ?action-name) (state WAITING|RUNNING) (skiller ?skiller)) ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id) - (action-id ?id) (skill-id ?skill-id)) - ?sf <- (skill (id ?skill-id) (status S_FINAL)) + (action-id ?id) (skill-id ?skill-id) (skiller ?skiller)) + ?sf <- (skill (id ?skill-id) (status S_FINAL) (skiller ?skiller)) => (printout t "Execution of " ?action-name " completed successfully" crlf) (modify ?pa (state EXECUTION-SUCCEEDED)) @@ -79,10 +80,10 @@ (defrule skill-action-failed ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) - (action-name ?action-name) (state WAITING|RUNNING)) + (action-name ?action-name) (state WAITING|RUNNING) (skiller ?skiller)) ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id) - (action-id ?id) (skill-id ?skill-id)) - ?sf <- (skill (id ?skill-id) (status S_FAILED) (error-msg ?error)) + (action-id ?id) (skill-id ?skill-id) (skiller ?skiller)) + ?sf <- (skill (id ?skill-id) (status S_FAILED) (error-msg ?error) (skiller ?skiller)) => (printout warn "Execution of " ?action-name " FAILED (" ?error ")" crlf) (modify ?pa (state EXECUTION-FAILED) (error-msg ?error)) @@ -91,7 +92,7 @@ (defrule skill-action-cancel-if-action-does-not-exist ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id) - (action-id ?id) (skill-id ?skill-id)) + (action-id ?id) (skill-id ?skill-id) (skiller ?skiller)) (skill (id ?skill-id) (status S_RUNNING) (skiller ?skiller)) (not (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) (skiller ?skiller))) @@ -106,7 +107,7 @@ (defrule skill-action-retract-execinfo-without-action ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id) - (action-id ?id) (skill-id ?skill-id)) + (action-id ?id) (skill-id ?skill-id) (skiller ?skiller)) (not (skill (status S_RUNNING) (id ?skill-id))) (not (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?action-id))) => _______________________________________________ fawkes-commits mailing list [email protected] https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
