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(Fawkes Robotics Software Framework)

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The branch, master has been updated
        to  7a2458b8d95d6190f7dd5fa32053e5f904d49303 (commit)
      from  7db06755ec3e9fe5ca8af9e75d576dc5e3d52efa (commit)

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- *Log* ---------------------------------------------------------------
commit 7a2458b8d95d6190f7dd5fa32053e5f904d49303
Author:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
AuthorDate: Fri Apr 13 20:21:05 2018 +0200
Commit:     Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
CommitDate: Fri Apr 13 20:21:05 2018 +0200

    clips-executive: fix skill ID handling

http://git.fawkesrobotics.org/fawkes.git/commit/7a2458b
http://trac.fawkesrobotics.org/changeset/7a2458b

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


- *Summary* -----------------------------------------------------------
 .../clips-executive/clips/skills-actions.clp       |   15 +++++++++------
 1 files changed, 9 insertions(+), 6 deletions(-)


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

- *commit* 7a2458b8d95d6190f7dd5fa32053e5f904d49303 - - - - - - - - - -
Author:  Tim Niemueller <niemuel...@kbsg.rwth-aachen.de>
Date:    Fri Apr 13 20:21:05 2018 +0200
Subject: clips-executive: fix skill ID handling

 .../clips-executive/clips/skills-actions.clp       |   15 +++++++++------
 1 files changed, 9 insertions(+), 6 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 a6a4706..5f5dc8d 100644
--- a/src/plugins/clips-executive/clips/skills-actions.clp
+++ b/src/plugins/clips-executive/clips/skills-actions.clp
@@ -52,20 +52,22 @@
 )
 
 (defrule skill-action-running
-       ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) 
(status WAITING))
+       ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id)
+                                                                               
        (action-name ?action-name) (status WAITING))
        ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id)
                                                                                
                                                (action-id ?id) (skill-id 
?skill-id))
-       (skill (skill-id ?skill-id) (status S_RUNNING))
+       (skill (id ?skill-id) (status S_RUNNING))
        =>
        (printout t "Action " ?action-name " is running" crlf)
        (modify ?pa (status RUNNING))
 )
 
 (defrule skill-action-final
-       ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) 
(status WAITING))
+       ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id)
+                                                                               
        (action-name ?action-name) (status RUNNING))
        ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id)
                                                                                
                                                (action-id ?id) (skill-id 
?skill-id))
-       ?sf <- (skill (skill-id ?skill-id) (status S_FINAL))
+       ?sf <- (skill (id ?skill-id) (status S_FINAL))
        =>
        (printout t "Execution of " ?action-name " completed successfully" crlf)
        (modify ?pa (status EXECUTION-SUCCEEDED))
@@ -73,10 +75,11 @@
 )
 
 (defrule skill-action-failed
-       ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id) 
(status WAITING))
+       ?pa <- (plan-action (goal-id ?goal-id) (plan-id ?plan-id) (id ?id)
+                                                                               
        (action-name ?action-name) (status RUNNING))
        ?pe <- (skill-action-execinfo (goal-id ?goal-id) (plan-id ?plan-id)
                                                                                
                                                (action-id ?id) (skill-id 
?skill-id))
-       ?sf <- (skill (skill-id ?skill-id) (status S_FAILED) (error-msg ?error))
+       ?sf <- (skill (id ?skill-id) (status S_FAILED) (error-msg ?error))
        =>
        (printout warn "Execution of " ?action-name " FAILED (" ?error ")" crlf)
        (modify ?pa (status EXECUTION-FAILED))




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Fawkes Robotics Framework                 http://www.fawkesrobotics.org
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