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, timn/clips-executive-goal-extension has been created
        at  ca93cc82d368339bd16849e94ec59febbc3a6b4c (commit)

http://git.fawkesrobotics.org/fawkes.git/timn/clips-executive-goal-extension

- *Log* ---------------------------------------------------------------
commit 34e9704f46956d54d4913b52996942920dea46c6
Author:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
AuthorDate: Tue Mar 6 18:02:14 2018 +0100
Commit:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
CommitDate: Tue Mar 6 18:02:14 2018 +0100

    clips-executive: add goal class

http://git.fawkesrobotics.org/fawkes.git/commit/34e9704
http://trac.fawkesrobotics.org/changeset/34e9704

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
commit 1eb3af2c2417409f01def20b5f4a8ad11f8cedc1
Author:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
AuthorDate: Tue Mar 6 18:02:34 2018 +0100
Commit:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
CommitDate: Tue Mar 6 18:02:34 2018 +0100

    clips-executive: introduce REJECTED state for goals

http://git.fawkesrobotics.org/fawkes.git/commit/1eb3af2
http://trac.fawkesrobotics.org/changeset/1eb3af2

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
commit 3c6965b3f0ed2ed3952ef8da398415326dab7c6a
Author:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
AuthorDate: Tue Mar 6 18:02:50 2018 +0100
Commit:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
CommitDate: Tue Mar 6 18:02:50 2018 +0100

    clips-executive: add informative message for goals

http://git.fawkesrobotics.org/fawkes.git/commit/3c6965b
http://trac.fawkesrobotics.org/changeset/3c6965b

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
commit ca93cc82d368339bd16849e94ec59febbc3a6b4c
Author:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
AuthorDate: Tue Mar 6 18:03:02 2018 +0100
Commit:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
CommitDate: Tue Mar 6 18:03:02 2018 +0100

    clips-executive: add documentation for goals

http://git.fawkesrobotics.org/fawkes.git/commit/ca93cc8
http://trac.fawkesrobotics.org/changeset/ca93cc8

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------
 src/plugins/clips-executive/clips/plan.clp |   61 +++++++++++++++++++++++++++-
 1 files changed, 59 insertions(+), 2 deletions(-)


- *Diffs* -------------------------------------------------------------

- *commit* 34e9704f46956d54d4913b52996942920dea46c6 - - - - - - - - - -
Author:  Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
Date:    Tue Mar 6 18:02:14 2018 +0100
Subject: clips-executive: add goal class

 src/plugins/clips-executive/clips/plan.clp |    1 +
 1 files changed, 1 insertions(+), 0 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/clips-executive/clips/plan.clp 
b/src/plugins/clips-executive/clips/plan.clp
index f52729c..f68eaf2 100644
--- a/src/plugins/clips-executive/clips/plan.clp
+++ b/src/plugins/clips-executive/clips/plan.clp
@@ -10,6 +10,7 @@
 ; This is just a dummy until we have a full spec
 (deftemplate goal
        (slot id (type SYMBOL))
+       (slot class (type SYMBOL))
   (slot type (type SYMBOL) (allowed-values ACHIEVE MAINTAIN) (default ACHIEVE))
        (slot mode (type SYMBOL) (allowed-values FORMULATED SELECTED EXPANDED
                                                                                
                                                                                
         COMMITTED DISPATCHED COMPLETED FAILED))

- *commit* 1eb3af2c2417409f01def20b5f4a8ad11f8cedc1 - - - - - - - - - -
Author:  Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
Date:    Tue Mar 6 18:02:34 2018 +0100
Subject: clips-executive: introduce REJECTED state for goals

 src/plugins/clips-executive/clips/plan.clp |    2 +-
 1 files changed, 1 insertions(+), 1 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/clips-executive/clips/plan.clp 
b/src/plugins/clips-executive/clips/plan.clp
index f68eaf2..672447b 100644
--- a/src/plugins/clips-executive/clips/plan.clp
+++ b/src/plugins/clips-executive/clips/plan.clp
@@ -13,7 +13,7 @@
        (slot class (type SYMBOL))
   (slot type (type SYMBOL) (allowed-values ACHIEVE MAINTAIN) (default ACHIEVE))
        (slot mode (type SYMBOL) (allowed-values FORMULATED SELECTED EXPANDED
-                                                                               
                                                                                
         COMMITTED DISPATCHED COMPLETED FAILED))
+                                                                               
                                                                                
         COMMITTED DISPATCHED COMPLETED FAILED REJECTED))
   (slot parent (type SYMBOL))
 )
 

- *commit* 3c6965b3f0ed2ed3952ef8da398415326dab7c6a - - - - - - - - - -
Author:  Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
Date:    Tue Mar 6 18:02:50 2018 +0100
Subject: clips-executive: add informative message for goals

 src/plugins/clips-executive/clips/plan.clp |    1 +
 1 files changed, 1 insertions(+), 0 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/clips-executive/clips/plan.clp 
b/src/plugins/clips-executive/clips/plan.clp
index 672447b..fbce20a 100644
--- a/src/plugins/clips-executive/clips/plan.clp
+++ b/src/plugins/clips-executive/clips/plan.clp
@@ -15,6 +15,7 @@
        (slot mode (type SYMBOL) (allowed-values FORMULATED SELECTED EXPANDED
                                                                                
                                                                                
         COMMITTED DISPATCHED COMPLETED FAILED REJECTED))
   (slot parent (type SYMBOL))
+       (slot message (type STRING))
 )
 
 (deftemplate plan

- *commit* ca93cc82d368339bd16849e94ec59febbc3a6b4c - - - - - - - - - -
Author:  Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
Date:    Tue Mar 6 18:03:02 2018 +0100
Subject: clips-executive: add documentation for goals

 src/plugins/clips-executive/clips/plan.clp |   58 +++++++++++++++++++++++++++-
 1 files changed, 57 insertions(+), 1 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/clips-executive/clips/plan.clp 
b/src/plugins/clips-executive/clips/plan.clp
index fbce20a..c2f9eea 100644
--- a/src/plugins/clips-executive/clips/plan.clp
+++ b/src/plugins/clips-executive/clips/plan.clp
@@ -7,8 +7,64 @@
 ;  Licensed under GPLv2+ license, cf. LICENSE file
 ;---------------------------------------------------------------------------
 
-; This is just a dummy until we have a full spec
 (deftemplate goal
+       "Goal specification.
+   A goal is the top-most entity to structure the flow of execution. It
+   follows a goal lifecycle indicated by the mode of the goal.
+
+   There are two types of goals:
+   ACHIEVE:  a certain target condition is to be achieved through the
+             generation and execution of a (possibly ordered) set of actions.
+   MAINTAIN: a certain condition is to be maintained during the existence
+             of the goal. This may be used for monitoring (the goal fails if
+             the condition no longer holds) or for active maintenance
+             (sub-goals may be generated to re-achieve the condition).
+
+   The goal lifecycle roughly has the following stages:
+   - FORMULATED
+     The goal has just come into existence and is to be considered.
+   - SELECTED
+     The goal has been selected for expansion, that is, a set of actions
+     (possibly a sequence or a temporal network) is to be generated
+     (for example using a planner, or through a static plan) that
+     intends to achieve the given goal.
+   - EXPANDED
+     The goal has been expanded, that is, there exists at least one plan
+     intended to achieve the desired goal.
+   - COMMITTED
+     The goal and (one of) its plan(s) is intended to be executed to achieve
+     the respective goal. Committing may require to obtain specific resources
+     indicated by the plan.
+   - DISPATCHED
+     An execution mechanism has started to execute the plan associated with
+     the goal, for example issuing action commands.
+   - COMPLETED
+     The goal has been achieved and plan execution finished successfully.
+   - FAILED
+     The goal has failed and can no longer be pursued unless being reset.
+   - REJECTED
+     The goal reasoner deemed this goal not to be feasible or desirable
+     (any more). A goal may only be rejected from the FORMULATED, SELECTED,
+     or EXPANDED mode. Once we have COMMITTED to a goal it can only be stopped
+     by completion or failure.
+
+   A goal has a unique ID (which must be globally unique among all goals). It
+   may be associated to a specific class of goals. That is, there may be
+   multiple instances of a certain class of goals, but these must have
+   different IDs. A goal ID may appear only once during the lifetime of the
+   executive.
+
+   A goal may have a parent goal. This allows for the creation of goal
+   hierarchies and sub-goals can contribute to the completion or failure
+   of the parent goal. A goal shall fail if any of its sub-goals fails.
+   If an ACHIEVE goal has any sub-goals, it shall be COMPLETED once all of
+   its sub-goals have been COMPLETED. MAINTAIN goals shall fail if a sub-goal
+   fails, but stay COMMITTED or DISPATCHED if a sub-goal is COMPLETED.
+
+   Goals can contain an informative message. This message is intended to
+   explain the goal mode to the user. For example, when a goal is REJECTED
+   it should state the reason for rejection.
+  "
        (slot id (type SYMBOL))
        (slot class (type SYMBOL))
   (slot type (type SYMBOL) (allowed-values ACHIEVE MAINTAIN) (default ACHIEVE))




-- 
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

Reply via email to