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, thofmann/clips-executive-nonunique-action-ids has been created at 6721a9095d76e5f50fc365ce2fa5c9bde90b608d (commit) http://git.fawkesrobotics.org/fawkes.git/thofmann/clips-executive-nonunique-action-ids - *Log* --------------------------------------------------------------- commit 222a1ae737b3e77fe4ad6c4262302843986f3f41 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Wed Mar 7 18:51:42 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Wed Mar 7 19:31:26 2018 +0100 clips-executive: action IDs are only unique for a fixed goal and plan Action IDs are no longer unique globally, but for a given goal and plan. Similarly, plan IDs are no longer unique globally, but only for a given goal. Adapt precondition grounding and checking and effect application such that it always checks the goal ID and plan ID. All plan-actions now always need to refer to a goal and a plan. Also modify the test scenario and all tests to the change and add a test that checks that we only apply effects for the right action, even if there is a second action with the same action ID. http://git.fawkesrobotics.org/fawkes.git/commit/222a1ae http://trac.fawkesrobotics.org/changeset/222a1ae - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 6721a9095d76e5f50fc365ce2fa5c9bde90b608d Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Wed Mar 7 19:19:16 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Wed Mar 7 19:31:42 2018 +0100 clips-executive: add goal-ids to plan-actions of PDDL plans When parsing the result of the planner, also fill the goal-id slot of the plan-action so a plan-action is always associated with a goal. Since we no longer need to have globally unique action IDs, remove the offset computation for the action IDs for PDDL actions. http://git.fawkesrobotics.org/fawkes.git/commit/6721a90 http://trac.fawkesrobotics.org/changeset/6721a90 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-executive/clips/pddl.clp | 11 ++--------- 1 files changed, 2 insertions(+), 9 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 222a1ae737b3e77fe4ad6c4262302843986f3f41 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Wed Mar 7 18:51:42 2018 +0100 Subject: clips-executive: action IDs are only unique for a fixed goal and plan src/plugins/clips-executive/clips/domain.clp | 108 ++++++++++++++------ src/plugins/clips-executive/clips/plan.clp | 2 + .../clips/test-scenario/fixed-sequence.clp | 15 ++- .../clips-executive/clips/tests/blocksworld.clp | 8 +- .../clips/tests/conditional_say.clp | 4 +- .../clips-executive/clips/tests/test_domain.cpp | 47 ++++++++- 6 files changed, 139 insertions(+), 45 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/domain.clp b/src/plugins/clips-executive/clips/domain.clp index 090e929..ae3a807 100644 --- a/src/plugins/clips-executive/clips/domain.clp +++ b/src/plugins/clips-executive/clips/domain.clp @@ -80,6 +80,10 @@ (deftemplate domain-pending-sensed-fact "An action effect of a sensed predicate that is still pending." (slot name (type SYMBOL) (default ?NONE)) + (slot goal-id (type SYMBOL)) + (slot plan-id (type SYMBOL)) + ; TODO: Rename to action for consistency. Do this when we no longer need to + ; stay compatible with lab course code. (slot action-id (type INTEGER)) (slot type (type SYMBOL) (allowed-values POSITIVE NEGATIVE) (default POSITIVE)) @@ -116,6 +120,10 @@ precondition belongs to. Note that grounded should always be yes if the action is not nil." (slot part-of (type SYMBOL)) + (slot goal-id (type SYMBOL)) + (slot plan-id (type SYMBOL)) + ; TODO: Rename to action for consistency. Do this when we no longer need to + ; stay compatible with lab course code. (slot grounded-with (type INTEGER) (default 0)) (slot name (type SYMBOL) (default-dynamic (gensym*))) (slot type (type SYMBOL) (allowed-values conjunction negation)) @@ -133,6 +141,10 @@ See the tests for an example. " (slot part-of (type SYMBOL)) + (slot goal-id (type SYMBOL)) + (slot plan-id (type SYMBOL)) + ; TODO: Rename to action for consistency. Do this when we no longer need to + ; stay compatible with lab course code. (slot grounded-with (type INTEGER) (default 0)) (slot name (type SYMBOL) (default-dynamic (gensym*))) (slot predicate (type SYMBOL)) @@ -203,31 +215,35 @@ "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) (goal-id ?g) (plan-id ?p) (id ?action-id)) ?precond <- (domain-precondition (name ?precond-name) (part-of ?op) (grounded FALSE)) - (not (domain-precondition - (name ?precond-name) (grounded-with ?action-id) (grounded TRUE))) + (not (domain-precondition (name ?precond-name) (goal-id ?g) (plan-id ?p) + (grounded-with ?action-id) (grounded TRUE))) => - (duplicate ?precond (grounded-with ?action-id) (grounded TRUE)) + (duplicate ?precond + (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) + (grounded TRUE)) ) (defrule domain-ground-effect-precondition "Ground a non-atomic precondition. Grounding here merely means that we duplicate the precondition and tie it to one specific effect-id." (not (domain-wm-update)) - (plan-action (action-name ?op) (id ?action-id) (status EXECUTION-SUCCEEDED)) + (plan-action (action-name ?op) (id ?action-id) (goal-id ?g) (plan-id ?p) + (status EXECUTION-SUCCEEDED)) (domain-effect (name ?effect-name) (part-of ?op)) ?precond <- (domain-precondition (name ?precond-name) (part-of ?effect-name) (grounded FALSE)) - (not (domain-precondition - (name ?precond-name) (grounded-with ?action-id) (grounded TRUE))) + (not (domain-precondition (name ?precond-name) (goal-id ?g) (plan-id ?p) + (grounded-with ?action-id) (grounded TRUE))) => - (duplicate ?precond (grounded-with ?action-id) (grounded TRUE)) + (duplicate ?precond (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) + (grounded TRUE)) ) (defrule domain-ground-nested-precondition @@ -238,13 +254,17 @@ (name ?precond-name) (part-of ?parent) (grounded FALSE)) - (domain-precondition (name ?parent) (grounded-with ?action-id&~0)) + (domain-precondition (name ?parent) (goal-id ?g&~nil) (plan-id ?p&~nil) + (grounded-with ?action-id&~0)) (not (domain-precondition (name ?precond-name) + (goal-id ?g) + (plan-id ?p) (grounded-with ?action-id) (grounded TRUE))) => - (duplicate ?precond (grounded-with ?action-id) (grounded TRUE)) + (duplicate ?precond (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) + (grounded TRUE)) ) (defrule domain-ground-atomic-precondition @@ -255,7 +275,7 @@ (param-names $?action-param-names) (id ?action-id) (param-values $?action-values)) - (domain-precondition (name ?parent) + (domain-precondition (name ?parent) (goal-id ?g&~nil) (plan-id ?p&~nil) (grounded-with ?action-id&~0) (grounded TRUE)) ?precond <- (domain-atomic-precondition (part-of ?parent) @@ -265,6 +285,8 @@ (grounded FALSE) ) (not (domain-atomic-precondition + (goal-id ?g) + (plan-id ?p) (grounded-with ?action-id) (name ?precond-name) (grounded TRUE))) @@ -288,7 +310,8 @@ ) ) (duplicate ?precond - (param-values ?values) (grounded-with ?action-id) (grounded TRUE)) + (param-values ?values) (goal-id ?g) (plan-id ?p) + (grounded-with ?action-id) (grounded TRUE)) ) (deffunction intersect @@ -305,6 +328,7 @@ (defrule domain-check-if-atomic-precondition-is-satisfied ?precond <- (domain-atomic-precondition + (goal-id ?g) (plan-id ?p) (is-satisfied FALSE) (predicate ?pred) (param-values $?params) @@ -321,14 +345,18 @@ ?precond <- (domain-precondition (type negation) (grounded TRUE) + (goal-id ?g) + (plan-id ?p) (grounded-with ?action-id) (name ?pn) (is-satisfied FALSE)) (or (domain-atomic-precondition + (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) (part-of ?pn) (grounded TRUE) (is-satisfied FALSE) ) (domain-precondition + (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) (part-of ?pn) (grounded TRUE) (is-satisfied FALSE) ) @@ -343,14 +371,18 @@ ?precond <- (domain-precondition (type negation) (name ?pn) + (goal-id ?g) + (plan-id ?p) (grounded-with ?action-id) (is-satisfied TRUE) (grounded TRUE)) (or (domain-atomic-precondition + (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) (part-of ?pn) (grounded TRUE) (is-satisfied TRUE) ) (domain-precondition + (goal-id ?g) (plan-id ?p) (grounded-with ?action-id) (part-of ?pn) (grounded TRUE) (is-satisfied TRUE) ) @@ -364,13 +396,17 @@ ?precond <- (domain-precondition (name ?pn) (type conjunction) + (goal-id ?g) + (plan-id ?p) (grounded-with ?action-id) (grounded TRUE) (is-satisfied FALSE)) (not (domain-atomic-precondition + (goal-id ?g) (plan-id ?p) (part-of ?pn) (grounded TRUE) (grounded-with ?action-id) (is-satisfied FALSE))) (not (domain-precondition + (goal-id ?g) (plan-id ?p) (part-of ?pn) (grounded TRUE) (grounded-with ?action-id) (is-satisfied FALSE))) => @@ -383,14 +419,18 @@ ?precond <- (domain-precondition (name ?pn) (type conjunction) + (goal-id ?g) + (plan-id ?p) (grounded-with ?action-id) (grounded TRUE) (is-satisfied TRUE)) (or (domain-atomic-precondition + (goal-id ?g) (plan-id ?p) (part-of ?pn) (grounded TRUE) (grounded-with ?action-id) (is-satisfied FALSE) ) (domain-precondition + (goal-id ?g) (plan-id ?p) (part-of ?pn) (grounded TRUE) (grounded-with ?action-id) (is-satisfied FALSE) ) @@ -420,27 +460,30 @@ (return ?values) ) +; TODO: ?action-name should be ?op (defrule domain-effects-check-for-sensed "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)) + ?pa <- (plan-action (id ?id) (goal-id ?g) (plan-id ?p) (action-name ?op) + (status EXECUTION-SUCCEEDED) + (param-names $?action-param-names) + (param-values $?action-param-values)) (domain-operator (name ?action-name) (wait-sensed TRUE)) => (bind ?next-state SENSED-EFFECTS-HOLD) - (do-for-all-facts ((?e domain-effect) (?p domain-predicate)) - (and ?p:sensed (eq ?e:part-of ?op) (eq ?e:predicate ?p:name)) - + (do-for-all-facts ((?e domain-effect) (?pred domain-predicate)) + (and ?pred:sensed (eq ?e:part-of ?op) (eq ?e:predicate ?pred:name)) ; apply if this effect is unconditional or the condition is satisfied (if (or (not (any-factp ((?cep domain-precondition)) (eq ?cep:part-of ?e:name))) (any-factp ((?cep domain-precondition)) (and (eq ?cep:part-of ?e:name) ?cep:is-satisfied - ?cep:grounded (eq ?cep:grounded-with ?id)))) + (eq ?cep:goal-id ?g) (eq ?cep:plan-id ?p) + ?cep:grounded (eq ?cep:grounded-with ?id)))) then (bind ?values (domain-ground-effect ?e:param-names ?e:param-constants ?action-param-names ?action-param-values)) - (assert (domain-pending-sensed-fact (name ?p:name) (action-id ?id) + (assert (domain-pending-sensed-fact (name ?pred:name) (action-id ?id) (param-values ?values) (type ?e:type))) (bind ?next-state SENSED-EFFECTS-WAIT) ) @@ -450,8 +493,7 @@ (defrule domain-effects-ignore-sensed "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)) + ?pa <- (plan-action (id ?id) (action-name ?op) (status EXECUTION-SUCCEEDED)) (domain-operator (name ?action-name) (wait-sensed FALSE)) => (modify ?pa (status SENSED-EFFECTS-HOLD)) @@ -460,18 +502,21 @@ ; Atomically assert all effects of an action after it has been executed. (defrule domain-effects-apply "Apply effects of an action after it succeeded." - ?pa <- (plan-action (id ?id) (action-name ?op) (status SENSED-EFFECTS-HOLD) - (param-names $?action-param-names) (param-values $?action-param-values)) + ?pa <- (plan-action (id ?id) (goal-id ?g) (plan-id ?p) (action-name ?op) + (status SENSED-EFFECTS-HOLD) + (param-names $?action-param-names) + (param-values $?action-param-values)) (domain-operator (name ?action-name)) => - (do-for-all-facts ((?e domain-effect) (?p domain-predicate)) - (and (not ?p:sensed) (eq ?e:part-of ?op) (eq ?e:predicate ?p:name)) + (do-for-all-facts ((?e domain-effect) (?pred domain-predicate)) + (and (not ?pred:sensed) (eq ?e:part-of ?op) (eq ?e:predicate ?pred:name)) ; apply if this effect is unconditional or the condition is satisfied (if (or (not (any-factp ((?cep domain-precondition)) (eq ?cep:part-of ?e:name))) (any-factp ((?cep domain-precondition)) (and (eq ?cep:part-of ?e:name) ?cep:is-satisfied - ?cep:grounded (eq ?cep:grounded-with ?id)))) + (eq ?cep:goal-id ?g) (eq ?cep:plan-id ?p) + ?cep:grounded (eq ?cep:grounded-with ?id)))) then (bind ?values (domain-ground-effect ?e:param-names ?e:param-constants @@ -479,9 +524,10 @@ (if (eq ?e:type POSITIVE) then - (assert (domain-fact (name ?p:name) (param-values ?values))) + (assert (domain-fact (name ?pred:name) (param-values ?values))) else - (assert (domain-retracted-fact (name ?p:name) (param-values ?values))) + (assert (domain-retracted-fact (name ?pred:name) + (param-values ?values))) ) ) ) @@ -553,8 +599,10 @@ (defrule domain-check-if-action-is-executable "If the precondition of an action is satisfied, the action is executable." - ?action <- (plan-action (id ?action-id) (executable FALSE)) - (domain-precondition (grounded-with ?action-id) (is-satisfied TRUE)) + ?action <- (plan-action (id ?action-id) (goal-id ?g) (plan-id ?p) + (executable FALSE)) + (domain-precondition (plan-id ?p) (goal-id ?g) (grounded-with ?action-id) + (is-satisfied TRUE)) => (modify ?action (executable TRUE)) ) diff --git a/src/plugins/clips-executive/clips/plan.clp b/src/plugins/clips-executive/clips/plan.clp index f52729c..bced465 100644 --- a/src/plugins/clips-executive/clips/plan.clp +++ b/src/plugins/clips-executive/clips/plan.clp @@ -22,8 +22,10 @@ (slot cost (type FLOAT)) ) +; TODO: Rename slots (deftemplate plan-action (slot id (type INTEGER)) + (slot goal-id (type SYMBOL)) (slot plan-id (type SYMBOL)) (slot action-name (type SYMBOL)) (multislot param-names) 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 3e65024..d42548e 100644 --- a/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp +++ b/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp @@ -4,18 +4,23 @@ => (assert (plan (id TESTGOAL-PLAN) (goal-id TESTGOAL)) - (plan-action (id 1) (plan-id TESTGOAL-PLAN) (duration 4.0) + (plan-action (id 1) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (duration 4.0) (action-name say-hello) (param-names name) (param-values "Peggy")) - (plan-action (id 2) (plan-id TESTGOAL-PLAN) (duration 4.0) + (plan-action (id 2) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (duration 4.0) (action-name print) (param-names severity text) (param-values warn "This is a print test")) - (plan-action (id 3) (plan-id TESTGOAL-PLAN) (duration 4.0) + (plan-action (id 3) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (duration 4.0) (action-name say-goodbye)) - (plan-action (id 4) (plan-id TESTGOAL-PLAN) (duration 4.0) + (plan-action (id 4) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (duration 4.0) (action-name say-hello-again) (param-names name) (param-values "Peggy")) - (plan-action (id 5) (plan-id TESTGOAL-PLAN) (duration 4.0) + (plan-action (id 5) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (duration 4.0) (action-name say-cleanup)) ) (modify ?g (mode EXPANDED)) diff --git a/src/plugins/clips-executive/clips/tests/blocksworld.clp b/src/plugins/clips-executive/clips/tests/blocksworld.clp index 7c2bc73..7b1915b 100644 --- a/src/plugins/clips-executive/clips/tests/blocksworld.clp +++ b/src/plugins/clips-executive/clips/tests/blocksworld.clp @@ -55,18 +55,18 @@ ; world model (domain-fact (name handempty)) (domain-fact (name clear) (param-values b1)) - (plan-action (id 1) (plan-id p0) (action-name pick-up) (param-names x) + (plan-action (id 1) (goal-id g0) (plan-id p0) (action-name pick-up) (param-names x) (param-values b1)) (domain-fact (name on) (param-values b1 b2)) - (plan-action (id 2) (plan-id p0) (action-name unstack) + (plan-action (id 2) (goal-id g0) (plan-id p0) (action-name unstack) (param-names x y) (param-values b1 b2)) ) (defrule apply-action "Pseudo-execute action by changing its state to EXECUTION-SUCCEEDED ." - ?aa <- (apply-action ?action-id) - ?pa <- (plan-action (id ?action-id)) + ?aa <- (apply-action ?goal-id ?plan-id ?action-id) + ?pa <- (plan-action (id ?action-id) (goal-id ?goal-id) (plan-id ?plan-id)) => (modify ?pa (status EXECUTION-SUCCEEDED)) (retract ?aa) diff --git a/src/plugins/clips-executive/clips/tests/conditional_say.clp b/src/plugins/clips-executive/clips/tests/conditional_say.clp index 5e993d6..3e86a2b 100644 --- a/src/plugins/clips-executive/clips/tests/conditional_say.clp +++ b/src/plugins/clips-executive/clips/tests/conditional_say.clp @@ -37,8 +37,8 @@ (defrule apply-action "Pseudo-execute action by changing its state to FINAL." - ?aa <- (apply-action ?action-id) - ?pa <- (plan-action (id ?action-id)) + ?aa <- (apply-action ?goal-id ?plan-id ?action-id) + ?pa <- (plan-action (id ?action-id) (goal-id ?goal-id) (plan-id ?plan-id)) => (modify ?pa (status EXECUTION-SUCCEEDED)) (retract ?aa) diff --git a/src/plugins/clips-executive/clips/tests/test_domain.cpp b/src/plugins/clips-executive/clips/tests/test_domain.cpp index 5056cc3..dae8370 100644 --- a/src/plugins/clips-executive/clips/tests/test_domain.cpp +++ b/src/plugins/clips-executive/clips/tests/test_domain.cpp @@ -183,7 +183,7 @@ TEST_F(BlocksworldDomainTest, ApplyEffects) EXPECT_TRUE(has_fact("((?p domain-fact))", "(eq ?p:name handempty)")); EXPECT_TRUE(has_fact("((?p domain-fact))", "(and (eq ?p:name clear) (eq ?p:param-values (create$ b1)))")); - env.assert_fact("(apply-action 1)"); + env.assert_fact("(apply-action g0 p0 1)"); env.run(); EXPECT_TRUE(has_fact("((?p domain-fact))", "(and (eq ?p:name holding) (eq ?p:param-values (create$ b1)))")); @@ -204,7 +204,7 @@ TEST_F(BlocksworldDomainTest, ApplyContradictingEffectsWithDifferentParams) "(and (eq ?p:name clear) (eq ?p:param-values (create$ b1)))")); EXPECT_FALSE(has_fact("((?p domain-fact))", "(and (eq ?p:name clear) (eq ?p:param-values (create$ b2)))")); - env.assert_fact("(apply-action 2)"); + env.assert_fact("(apply-action g0 p0 2)"); env.run(); EXPECT_FALSE(has_fact("((?p domain-fact))", "(and (eq ?p:name clear) (eq ?p:param-values (create$ b1)))")); @@ -243,6 +243,7 @@ TEST_F(DomainTest, WaitForSensedEffects) env.assert_fact("(domain-object (name obj1))"); env.assert_fact("(domain-fact (name holding) (param-values obj1))"); env.assert_fact("(plan-action" + " (goal-id g0) (plan-id p0)" " (id 1)" " (status EXECUTION-SUCCEEDED)" " (action-name drop)" @@ -295,6 +296,7 @@ TEST_F(DomainTest, OnlyWaitForEffectsIfWaitSensedIsTRUE) env.assert_fact("(domain-fact (name holding) (param-values obj1))"); env.assert_fact("(plan-action" " (id 1)" + " (goal-id g0) (plan-id p0)" " (status EXECUTION-SUCCEEDED)" " (action-name drop)" " (param-names o)" @@ -312,6 +314,7 @@ TEST_F(DomainTest, PreconditionWithConstant) env.reset(); env.assert_fact("(plan-action" " (id 1)" + " (goal-id g0) (plan-id p0)" " (action-name op1)" " (param-names y)" " (param-values b))"); @@ -347,6 +350,7 @@ TEST_F(DomainTest, PreconditionWithConstantInSecondSlot) env.reset(); env.assert_fact("(plan-action" " (id 1)" + " (goal-id g0) (plan-id p0)" " (action-name op1)" " (param-names x)" " (param-values b))"); @@ -382,6 +386,7 @@ TEST_F(DomainTest, PreconditionWithUnknownParameter) env.reset(); env.assert_fact("(plan-action" " (id 1)" + " (goal-id g0) (plan-id p0)" " (action-name op1)" " (param-names x)" " (param-values b))"); @@ -407,6 +412,37 @@ TEST_F(DomainTest, ActionHasADomainOperator) "(eq ?e:error-type operator-of-action-does-not-exist)")); } +/** Action IDs are only unique within the same plan and goal. + * Create multiple actions with the same ID but different plans, and test + * if they are treated correctly. + */ +TEST_F(BlocksworldDomainTest, NonUniqueActionIDs) +{ + env.reset(); + env.assert_fact("(plan-action (id 1) (goal-id g0) (plan-id p1)" + " (action-name unstack)" + " (param-names x y) (param-values b1 b2))"); + env.run(); + // The action pick-up with ID 1 in plan p0 of goal g0. This should be + // executable, and the executable state should not be copied to the other + // actions. + EXPECT_TRUE(has_fact("((?a plan-action))", + "(and (eq ?a:id 1) (eq ?a:goal-id g0) (eq ?a:plan-id p0)" + " (eq ?a:executable TRUE))" + )); + EXPECT_TRUE(has_fact("((?a plan-action))", + "(and (eq ?a:id 1) (eq ?a:goal-id g0) (eq ?a:plan-id p1)" + " (eq ?a:executable FALSE))" + )); + env.assert_fact("(plan-action (id 1) (goal-id g1) (plan-id p0)" + " (action-name unstack)" + " (param-names x y) (param-values b1 b2))"); + EXPECT_TRUE(has_fact("((?a plan-action))", + "(and (eq ?a:id 1) (eq ?a:goal-id g1) (eq ?a:plan-id p0)" + " (eq ?a:executable FALSE))" + )); +} + /** Test with the conditional-say domain. */ class ConditionalSayDomainTest : public DomainTest { @@ -424,11 +460,12 @@ TEST_F(ConditionalSayDomainTest, DoNotApplyCondEffectIfCondDoesNotHold) env.reset(); env.assert_fact("(plan-action" " (id 1)" + " (goal-id g0) (plan-id p0)" " (action-name say)" " (param-names s t)" " (param-values front_speaker hello)" ")"); - env.assert_fact("(apply-action 1)"); + env.assert_fact("(apply-action g0 p0 1)"); env.run(); EXPECT_FALSE(has_fact("((?fact domain-fact))", "(and (eq ?fact:name said) (eq ?fact:param-values (create$ hello)))")); @@ -440,14 +477,16 @@ TEST_F(ConditionalSayDomainTest, ApplyCondEffectIfCondHolds) env.reset(); env.assert_fact("(plan-action" " (id 1)" + " (goal-id g0) (plan-id p0)" " (action-name say)" " (param-names s t)" " (param-values front_speaker hello)" ")"); - env.assert_fact("(apply-action 1)"); + env.assert_fact("(apply-action g0 p0 1)"); env.assert_fact( "(domain-fact (name speaker-ready) (param-values front_speaker))"); env.run(); + EXPECT_TRUE(has_fact("((?a plan-action))", "(eq ?a:status FINAL)")); EXPECT_TRUE(has_fact("((?fact domain-fact))", "(and (eq ?fact:name said) (eq ?fact:param-values (create$ hello)))")); } - *commit* 6721a9095d76e5f50fc365ce2fa5c9bde90b608d - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Wed Mar 7 19:19:16 2018 +0100 Subject: clips-executive: add goal-ids to plan-actions of PDDL plans src/plugins/clips-executive/clips/pddl.clp | 11 ++--------- 1 files changed, 2 insertions(+), 9 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..af7742d 100644 --- a/src/plugins/clips-executive/clips/pddl.clp +++ b/src/plugins/clips-executive/clips/pddl.clp @@ -82,13 +82,6 @@ (modify ?p (status PLANNED)) ) -(deffunction pddl-get-max-action-id () - "Get the max ID of all current action" - (bind ?i 0) - (do-for-all-facts ((?a plan-action)) (> ?a:id ?i) (bind ?i ?a:id)) - (return ?i) -) - (defrule pddl-expand-goal "Fetch the resulting plan from robot memory and expand the goal." ?g <- (goal (id ?goal-id) (mode SELECTED)) @@ -101,7 +94,6 @@ ) => (printout t "Fetched a new plan!" crlf) - (bind ?id-offset (pddl-get-max-action-id)) (progn$ (?action (bson-get-array (bson-get ?obj "o") "actions")) (bind ?action-name (sym-cat (bson-get ?action "name"))) ; FF sometimes returns the pseudo-action REACH-GOAL. Filter it out. @@ -120,7 +112,8 @@ (assert (plan (id ?plan-id) (goal-id ?goal-id)) (plan-action - (id (+ ?action-index ?id-offset)) + (id ?action-index) + (goal-id ?goal-id) (plan-id ?plan-id) (action-name ?action-name) (param-values ?param-values) -- 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
