cx_pddl_bringup: simplify tutorial further

Combine first and next selection

Author: TarikViehmann

extensions/pddl/cx_pddl_bringup/clips/cx_pddl_bringup/cx_pddl_clips_agent.clp

@@ -24,7 +24,7 @@
 (defrule cx-pddl-clips-agent-pddl-add-instance
 " Setup PDDL instance with an active goal to plan for "
   (pddl-manager (ros-comm-init TRUE))
-  =>
+=>
   (bind ?share-dir (ament-index-get-package-share-directory "cx_pddl_bringup"))
   (assert
     (pddl-instance
@@ -38,68 +38,58 @@
     (pddl-goal-fluent (instance test) (goal active-goal) (name on) (params a b))
     (pddl-goal-fluent (instance test) (goal active-goal) (name on) (params b c))
     (pddl-set-goals (instance test) (goal active-goal))
-    (pddl-plan (instance test) (goal active-goal) (plan-type TEMPORAL))
+    (pddl-plan (id test-plan) (instance test) (goal active-goal) (plan-type TEMPORAL))
   )
 )
 
 
 (defrule cx-pddl-clips-agent-select-action
 " Start executing the first action of the resulting plan "
-  (not (plan-start ?t))
-  ?pa <- (pddl-action (planned-start-time ?t) (state IDLE))
-  (not (pddl-action (planned-start-time ?ot&:(< ?ot ?t))))
-  =>
+  ?plan <- (pddl-plan (id ?plan-id) (plan-start ?p-start))
+  (not (pddl-action (state EXECUTING|SELECTED)))
+  ?pa <- (pddl-action (plan ?plan-id) (planned-start-time ?t) (state IDLE))
+  (not (pddl-action (plan ?plan-id) (state IDLE) (planned-start-time ?ot&:(< ?ot ?t))))
+=>
+  (if (= ?p-start 0.0) then (modify ?plan (plan-start (now))))
   (modify ?pa (state SELECTED))
-  (assert (plan-start (now)))
 )
 
 (defrule cx-pddl-clips-agent-check-action
 " Before executing an action check the condition to make sure it is feasible "
   (pddl-action (id ?id) (state SELECTED) (name ?name) (params $?params))
   (not (pddl-action-condition (action ?id)))
-  =>
+=>
   (assert (pddl-action-condition (instance test) (action ?id)))
 )
 
 (defrule cx-pddl-clips-agent-executable-action
 " Condition is satisfied, go ahead with execution "
-  (plan-start ?t)
+  (pddl-plan (id ?plan-id) (plan-start ?t))
   (pddl-action-condition (action ?action-id) (state CONDITION-SAT))
-  ?pa <- (pddl-action (id ?action-id) (name ?name) (params $?params) (state SELECTED))
-  =>
+  ?pa <- (pddl-action (id ?action-id) (plan ?plan-id) (name ?name) (params $?params) (state SELECTED))
+=>
   (modify ?pa (state EXECUTING) (actual-start-time (- (now) ?t)))
 )
 
 (defrule cx-pddl-clips-agent-execution-done
 " After the duration has elapsed, the action is done "
   (time ?now)
-  (plan-start ?t)
-  ?pa <- (pddl-action (id ?id) (state EXECUTING) (planned-duration ?d) (name ?name)
+  (pddl-plan (id ?plan-id) (plan-start ?t))
+  ?pa <- (pddl-action (id ?id) (plan ?plan-id) (state EXECUTING) (planned-duration ?d) (name ?name)
     (actual-start-time ?s&:(< (+ ?s ?d ?t) ?now)))
-  =>
+=>
   (bind ?duration (- (now) (+ ?s ?t)))
   (printout info "Executed action " ?name " in " ?duration " seconds" crlf)
   (modify ?pa (state DONE) (actual-duration ?duration))
   (assert (pddl-action-get-effect (action ?id) (apply TRUE)))
 )
 
-(defrule cx-pddl-clips-agent-select-next-action
-" Once an action is done, select one with lowest planned start time next "
-  (not (pddl-action (state EXECUTING|SELECTED)))
-  (not (pddl-action-get-effect (state ~DONE)))
-  (not (pddl-fluent-change))
-  ?pa <- (pddl-action (planned-start-time ?t) (state IDLE))
-  (not (pddl-action (state IDLE) (planned-start-time ?ot&:(< ?ot ?t))))
-  =>
-  (modify ?pa (state SELECTED))
-)
-
 (defrule cx-pddl-clips-agent-print-exec-times
 " Once everything is done, print out planned vs actual times "
   (pddl-action)
   (not (pddl-action (state ~DONE)))
   (not (printed))
-  =>
+=>
   (printout blue "Execution done" crlf)
   (do-for-all-facts ((?pa pddl-action)) TRUE
      (printout green "action " ?pa:name " "

extensions/pddl/cx_pddl_bringup/clips/cx_pddl_bringup/deftemplate-overrides.clp

@@ -28,3 +28,15 @@
   (slot actual-duration (type FLOAT))
   (slot state (type SYMBOL) (allowed-values IDLE SELECTED EXECUTING DONE))
 )
+
+(deftemplate pddl-plan
+  (slot instance (type SYMBOL))
+  (slot id (type SYMBOL))
+  (slot goal (type SYMBOL))
+  (slot goal-ptr (type EXTERNAL-ADDRESS))
+  (slot plan-type (type SYMBOL) (allowed-values CLASSICAL TEMPORAL) (default CLASSICAL))
+  (slot goal-handle (type EXTERNAL-ADDRESS))
+  (slot type (type SYMBOL) (allowed-values TEMPORAL CLASSICAL))
+  (slot state (type SYMBOL) (allowed-values PENDING WAITING PLANNING REQUEST-CANCELING CANCELING CANCELED SUCCESS FAILURE) (default PENDING))
+  (slot plan-start (type FLOAT) (default 0.0))
+)