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-test-scenario-goal-classes has been updated discards 522e74598e2fb84ce372c90a659d8f33f808d2e6 (commit) discards 4a99e649ba85a0fa4d5585720ef806c932719269 (commit) discards 493e31cc27dab065d03bc69ddb7f3dbf063fe1fa (commit) discards 5970f9d203056cd8a6d409ccf32313ac61fb4a54 (commit) discards 9d7a9785b28bfa1ed5e2cdde0f46e14fb517aa05 (commit) discards 27a24d7a0f51fe4517eb56f02ccb5e9385af09f1 (commit) discards 747eb5a5fd57211d0f36f5969575113f7942c0fd (commit) discards 8ad030d45b2a2e8f2eacece4d43fb6e87a5c7165 (commit) discards c1d2509dbecd8f36957b7568acd9e7e0a75d6858 (commit) discards 4c31e8376e86723693ac2243a302f8be8270905d (commit) discards 1792ab72268212fa000ff6d854aa9db1c3dd374b (commit) discards dcf4e81b3ecaa7f1a6515665dfbf9d8d89eff928 (commit) discards 235916d7961a20243eaefa828ed7317dbe0c1ea3 (commit) to c2c3b5917c11a240ef8005f525ef56dbc14001a1 (commit) via 3af0e597ddad292571c83f71b852d9e5e810561e (commit) via 0b9229a767c51ae13426648432bd556dd90889ee (commit) This update added new revisions after undoing existing revisions. That is to say, the old revision is not a strict subset of the new revision. This situation occurs when you --force push a change and generate a repository containing something like this: * -- * -- B -- O -- O -- O (522e74598e2fb84ce372c90a659d8f33f808d2e6) \ N -- N -- N (c2c3b5917c11a240ef8005f525ef56dbc14001a1) When this happens we assume that you've already had alert emails for all of the O revisions, and so we here report only the revisions in the N branch from the common base, B. http://git.fawkesrobotics.org/fawkes.git/timn/clips-executive-test-scenario-goal-classes 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 0b9229a767c51ae13426648432bd556dd90889ee Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> AuthorDate: Sat Mar 24 23:06:05 2018 +0100 Commit: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> CommitDate: Fri Apr 13 18:38:41 2018 +0200 clips-executive: default object type should be object It was set to 'obj' before which is not really a thing. http://git.fawkesrobotics.org/fawkes.git/commit/0b9229a http://trac.fawkesrobotics.org/changeset/0b9229a - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 3af0e597ddad292571c83f71b852d9e5e810561e Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> AuthorDate: Sat Mar 24 23:06:35 2018 +0100 Commit: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> CommitDate: Fri Apr 13 18:38:41 2018 +0200 clips-executive: set dispatch time to -1 to signal unavailability http://git.fawkesrobotics.org/fawkes.git/commit/3af0e59 http://trac.fawkesrobotics.org/changeset/3af0e59 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit c2c3b5917c11a240ef8005f525ef56dbc14001a1 Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> AuthorDate: Sat Mar 24 23:07:25 2018 +0100 Commit: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> CommitDate: Fri Apr 13 18:38:41 2018 +0200 clips-executive: properly use goal classes in test scenario http://git.fawkesrobotics.org/fawkes.git/commit/c2c3b59 http://trac.fawkesrobotics.org/changeset/c2c3b59 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- cfg/conf.d/metrics.yaml | 12 - src/libs/blackboard/internal/notifier.cpp | 3 +- src/libs/interfaces/.gitignore | 1 - src/libs/webview/reply.cpp | 18 - src/libs/webview/reply.h | 2 - src/plugins/metrics/Makefile | 63 --- src/plugins/metrics/aspect/Makefile | 40 -- src/plugins/metrics/aspect/metrics.cpp | 62 --- src/plugins/metrics/aspect/metrics.h | 54 --- src/plugins/metrics/aspect/metrics_inifin.cpp | 91 ---- src/plugins/metrics/aspect/metrics_inifin.h | 57 --- src/plugins/metrics/aspect/metrics_manager.cpp | 59 --- src/plugins/metrics/aspect/metrics_manager.h | 49 -- src/plugins/metrics/aspect/metrics_supplier.cpp | 43 -- src/plugins/metrics/aspect/metrics_supplier.h | 43 -- src/plugins/metrics/interfaces/Makefile | 24 - .../metrics/interfaces/MetricCounterInterface.cpp | 187 -------- .../interfaces/MetricCounterInterface.h_ext | 81 ---- .../interfaces/MetricCounterInterface.tolua | 67 --- .../metrics/interfaces/MetricCounterInterface.xml | 23 - .../metrics/interfaces/MetricFamilyInterface.cpp | 247 ---------- .../metrics/interfaces/MetricFamilyInterface.h_ext | 100 ---- .../metrics/interfaces/MetricFamilyInterface.tolua | 78 --- .../metrics/interfaces/MetricFamilyInterface.xml | 42 -- .../metrics/interfaces/MetricGaugeInterface.cpp | 187 -------- .../metrics/interfaces/MetricGaugeInterface.h_ext | 81 ---- .../metrics/interfaces/MetricGaugeInterface.tolua | 67 --- .../metrics/interfaces/MetricGaugeInterface.xml | 23 - .../interfaces/MetricHistogramInterface.cpp | 412 ---------------- .../interfaces/MetricHistogramInterface.h_ext | 109 ----- .../interfaces/MetricHistogramInterface.tolua | 79 ---- .../interfaces/MetricHistogramInterface.xml | 51 -- .../metrics/interfaces/MetricUntypedInterface.cpp | 184 -------- .../interfaces/MetricUntypedInterface.h_ext | 81 ---- .../interfaces/MetricUntypedInterface.tolua | 67 --- .../metrics/interfaces/MetricUntypedInterface.xml | 20 - src/plugins/metrics/metrics_plugin.cpp | 45 -- src/plugins/metrics/metrics_processor.cpp | 256 ---------- src/plugins/metrics/metrics_processor.h | 51 -- src/plugins/metrics/metrics_thread.cpp | 495 -------------------- src/plugins/metrics/metrics_thread.h | 143 ------ src/plugins/metrics/protobuf/Makefile | 25 - src/plugins/metrics/protobuf/metrics.proto | 81 ---- 43 files changed, 1 insertions(+), 3902 deletions(-) delete mode 100644 cfg/conf.d/metrics.yaml delete mode 100644 src/plugins/metrics/Makefile delete mode 100644 src/plugins/metrics/aspect/Makefile delete mode 100644 src/plugins/metrics/aspect/metrics.cpp delete mode 100644 src/plugins/metrics/aspect/metrics.h delete mode 100644 src/plugins/metrics/aspect/metrics_inifin.cpp delete mode 100644 src/plugins/metrics/aspect/metrics_inifin.h delete mode 100644 src/plugins/metrics/aspect/metrics_manager.cpp delete mode 100644 src/plugins/metrics/aspect/metrics_manager.h delete mode 100644 src/plugins/metrics/aspect/metrics_supplier.cpp delete mode 100644 src/plugins/metrics/aspect/metrics_supplier.h delete mode 100644 src/plugins/metrics/interfaces/Makefile delete mode 100644 src/plugins/metrics/interfaces/MetricCounterInterface.cpp delete mode 100644 src/plugins/metrics/interfaces/MetricCounterInterface.h_ext delete mode 100644 src/plugins/metrics/interfaces/MetricCounterInterface.tolua delete mode 100644 src/plugins/metrics/interfaces/MetricCounterInterface.xml delete mode 100644 src/plugins/metrics/interfaces/MetricFamilyInterface.cpp delete mode 100644 src/plugins/metrics/interfaces/MetricFamilyInterface.h_ext delete mode 100644 src/plugins/metrics/interfaces/MetricFamilyInterface.tolua delete mode 100644 src/plugins/metrics/interfaces/MetricFamilyInterface.xml delete mode 100644 src/plugins/metrics/interfaces/MetricGaugeInterface.cpp delete mode 100644 src/plugins/metrics/interfaces/MetricGaugeInterface.h_ext delete mode 100644 src/plugins/metrics/interfaces/MetricGaugeInterface.tolua delete mode 100644 src/plugins/metrics/interfaces/MetricGaugeInterface.xml delete mode 100644 src/plugins/metrics/interfaces/MetricHistogramInterface.cpp delete mode 100644 src/plugins/metrics/interfaces/MetricHistogramInterface.h_ext delete mode 100644 src/plugins/metrics/interfaces/MetricHistogramInterface.tolua delete mode 100644 src/plugins/metrics/interfaces/MetricHistogramInterface.xml delete mode 100644 src/plugins/metrics/interfaces/MetricUntypedInterface.cpp delete mode 100644 src/plugins/metrics/interfaces/MetricUntypedInterface.h_ext delete mode 100644 src/plugins/metrics/interfaces/MetricUntypedInterface.tolua delete mode 100644 src/plugins/metrics/interfaces/MetricUntypedInterface.xml delete mode 100644 src/plugins/metrics/metrics_plugin.cpp delete mode 100644 src/plugins/metrics/metrics_processor.cpp delete mode 100644 src/plugins/metrics/metrics_processor.h delete mode 100644 src/plugins/metrics/metrics_thread.cpp delete mode 100644 src/plugins/metrics/metrics_thread.h delete mode 100644 src/plugins/metrics/protobuf/Makefile delete mode 100644 src/plugins/metrics/protobuf/metrics.proto - *Diffs* ------------------------------------------------------------- - *commit* 0b9229a767c51ae13426648432bd556dd90889ee - - - - - - - - - - Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> Date: Sat Mar 24 23:06:05 2018 +0100 Subject: clips-executive: default object type should be object 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 aec9c6b..6de8b0e 100644 --- a/src/plugins/clips-executive/clips/domain.clp +++ b/src/plugins/clips-executive/clips/domain.clp @@ -101,7 +101,7 @@ names of an existing operator and an existing type respectively." (slot name) (slot operator (type SYMBOL)) - (slot type (type SYMBOL) (default obj)) + (slot type (type SYMBOL) (default object)) ) (deftemplate domain-precondition - *commit* 3af0e597ddad292571c83f71b852d9e5e810561e - - - - - - - - - - Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> Date: Sat Mar 24 23:06:35 2018 +0100 Subject: clips-executive: set dispatch time to -1 to signal unavailability 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 b32ade4..a2c5f81 100644 --- a/src/plugins/clips-executive/clips/plan.clp +++ b/src/plugins/clips-executive/clips/plan.clp @@ -117,7 +117,7 @@ (multislot param-names) (multislot param-values) (slot duration (type FLOAT)) - (slot dispatch-time (type FLOAT)) + (slot dispatch-time (type FLOAT) (default -1.0)) (slot status (type SYMBOL) (allowed-values FORMULATED PENDING WAITING RUNNING EXECUTION-SUCCEEDED SENSED-EFFECTS-WAIT SENSED-EFFECTS-HOLD EFFECTS-APPLIED FINAL EXECUTION-FAILED FAILED)) (slot executable (type SYMBOL) (allowed-values TRUE FALSE) (default FALSE)) ) - *commit* c2c3b5917c11a240ef8005f525ef56dbc14001a1 - - - - - - - - - - Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> Date: Sat Mar 24 23:07:25 2018 +0100 Subject: clips-executive: properly use goal classes in test scenario .../clips/test-scenario/fixed-sequence.clp | 15 ++++++----- .../clips/test-scenario/goal-reasoner.clp | 27 +++++++++++--------- 2 files changed, 23 insertions(+), 19 deletions(-) _Diff for modified files_: 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 acac024..0e1ce72 100644 --- a/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp +++ b/src/plugins/clips-executive/clips/test-scenario/fixed-sequence.clp @@ -1,26 +1,27 @@ (defrule goal-expander-create-sequence - ?g <- (goal (mode SELECTED) (id TESTGOAL)) + ?g <- (goal (mode SELECTED) (id ?goal-id) (class TESTGOAL)) => + (bind ?plan-id (sym-cat ?goal-id -PLAN)) (assert - (plan (id TESTGOAL-PLAN) (goal-id TESTGOAL)) - (plan-action (id 1) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (plan (id ?plan-id) (goal-id ?goal-id)) + (plan-action (id 1) (goal-id ?goal-id) (plan-id ?plan-id) (duration 4.0) (action-name say-hello) (param-names name) (param-values peggy)) - (plan-action (id 2) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (plan-action (id 2) (goal-id ?goal-id) (plan-id ?plan-id) (duration 4.0) (action-name print) (param-names severity text) (param-values warn "This is a print test")) - (plan-action (id 3) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (plan-action (id 3) (goal-id ?goal-id) (plan-id ?plan-id) (duration 4.0) (action-name say-goodbye) (param-values peggy)) - (plan-action (id 4) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (plan-action (id 4) (goal-id ?goal-id) (plan-id ?plan-id) (duration 4.0) (action-name say-hello-again) (param-names name) (param-values peggy)) - (plan-action (id 5) (goal-id TESTGOAL) (plan-id TESTGOAL-PLAN) + (plan-action (id 5) (goal-id ?goal-id) (plan-id ?plan-id) (duration 4.0) (action-name say-cleanup)) ) diff --git a/src/plugins/clips-executive/clips/test-scenario/goal-reasoner.clp b/src/plugins/clips-executive/clips/test-scenario/goal-reasoner.clp index d74ee60..9d6c86b 100644 --- a/src/plugins/clips-executive/clips/test-scenario/goal-reasoner.clp +++ b/src/plugins/clips-executive/clips/test-scenario/goal-reasoner.clp @@ -15,7 +15,7 @@ (not (goal-already-tried)) (domain-facts-loaded) => - (assert (goal (id TESTGOAL))) + (assert (goal (id (sym-cat TESTGOAL- (gensym*))) (class TESTGOAL))) ; This is just to make sure we formulate the goal only once. ; In an actual domain this would be more sophisticated. (assert (goal-already-tried)) @@ -26,7 +26,7 @@ ; We can choose one or more goals for expansion, e.g., calling ; a planner to determine the required steps. (defrule goal-reasoner-select - ?g <- (goal (id ?goal-id) (mode FORMULATED)) + ?g <- (goal (id ?goal-id) (class TESTGOAL) (mode FORMULATED)) => (modify ?g (mode SELECTED)) (assert (goal-meta (goal-id ?goal-id))) @@ -37,7 +37,7 @@ ; different planners. This step would allow to commit one out of these ; plans. (defrule goal-reasoner-commit - ?g <- (goal (mode EXPANDED)) + ?g <- (goal (class TESTGOAL) (mode EXPANDED)) => (modify ?g (mode COMMITTED)) ) @@ -48,14 +48,14 @@ ; orders. It is then up to action selection and execution to determine ; what to do when. (defrule goal-reasoner-dispatch - ?g <- (goal (mode COMMITTED)) + ?g <- (goal (class TESTGOAL) (mode COMMITTED)) => (modify ?g (mode DISPATCHED)) ) ; # Goal Monitoring (defrule goal-reasonder-completed - ?g <- (goal (id ?goal-id) (mode FINISHED) (outcome COMPLETED)) + ?g <- (goal (id ?goal-id) (class TESTGOAL) (mode FINISHED) (outcome COMPLETED)) ?gm <- (goal-meta (goal-id ?goal-id)) => (printout t "Goal '" ?goal-id "' has been completed, cleaning up" crlf) @@ -63,7 +63,7 @@ ) (defrule goal-reasoner-failed - ?g <- (goal (id ?goal-id) (mode FINISHED) (outcome FAILED)) + ?g <- (goal (id ?goal-id) (class TESTGOAL) (mode FINISHED) (outcome FAILED)) ?gm <- (goal-meta (goal-id ?goal-id) (num-tries ?num-tries)) => (printout error "Goal '" ?goal-id "' has failed, cleaning up" crlf) @@ -87,14 +87,17 @@ (defrule goal-reasoner-cleanup - ?g <- (goal (id ?goal-id) (mode EVALUATED)) + ?g <- (goal (id ?goal-id) (class TESTGOAL) (mode EVALUATED) (outcome ?outcome)) ?gm <- (goal-meta (goal-id ?goal-id) (num-tries ?num-tries)) => - (delayed-do-for-all-facts ((?p plan)) (eq ?p:goal-id ?goal-id) - (delayed-do-for-all-facts ((?a plan-action)) (eq ?a:plan-id ?p:id) - (retract ?a) + (if (eq ?outcome FAILED) + then + (delayed-do-for-all-facts ((?p plan)) (eq ?p:goal-id ?goal-id) + (delayed-do-for-all-facts ((?a plan-action)) (eq ?a:plan-id ?p:id) + (retract ?a) + ) + (retract ?p) ) - (retract ?p) + (retract ?g ?gm) ) - (retract ?g ?gm) ) -- 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
