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--- tutorials:intermediate:performing_plans [2016/07/21 15:10] – gkazhoya
+++ tutorials:intermediate:performing_plans [2022/03/30 21:26] (current) – [Plan goals] schimpf
@@ Line 1: / Line 1: @@
-====== Performing Activities ======
+====== Performing Actions ======
-==== Basic functionality ====
+===== Basic functionality =====
 This is a short tutorial to showcase how to call plans through performing action designators.
-Let's first load the plan library system and switch to its corresponding Lisp package:
+Let's first load the CRAM plan library system:
 <code lisp>
-CL-USER> (ros-load:load-system "cram_plan_library" :cram-plan-library)
+CL-USER> (ros-load:load-system "cram_executive" :cram-executive)
-;; or ,r-l-s RET cram_plan_library RET RET
+;; or ,r-l-s RET cram_executive RET RET
-CL-USER> (in-package :cram-plan-library)
 </code>
@@ Line 16: / Line 15: @@
 <code lisp>
-PLAN-LIB> (cpl:def-cram-function eat (stuff)
+CL-USER> (cpl:def-cram-function eat (&key ((:yummy ?yummy)) &allow-other-keys)
-            (format t "hmmm... nomnomnom... ~a~%" stuff))
+           (declare (type (or string null) ?yummy))
+           (format t "hmmm... nomnomnom... ~a~%" ?yummy))
 </code>
@@ Line 23: / Line 23: @@
 <code lisp>
-PLAN-LIB> (prolog:def-fact-group eating-plans (desig:action-desig)
+CL-USER> (prolog:def-fact-group eating-plans (desig:action-grounding)
-            (prolog:<- (desig:action-desig ?action-designator (eat ?object))
+             (prolog:<- (desig:action-grounding ?action-designator (eat ?action-designator))
-              (desig:desig-prop ?action-designator (:to :eat))
+                        (desig:desig-prop ?action-designator (:to :eat))
-              (desig:desig-prop ?action-designator (:yummy ?object))))
+                        (desig:desig-prop ?action-designator (:yummy ?object))))
 </code>
@@ Line 34: / Line 34: @@
 <code lisp>
-PLAN-LIB> (cpl:top-level
+CL-USER> (cpl:top-level
-            (plan-lib:perform (desig:an action (to eat) (yummy pizza))))
+           (exe:perform (desig:an action (to eat) (yummy pizza))))
 hmmm... nomnomnom... PIZZA
+NIL
+#<A ACTION
+    (TO EAT)
+    (YUMMY PIZZA)>
 </code>
-==== Plan goals ====
+===== Plan goals =====
 Now, let's assume that our action has an explicit effect we would like to follow:
 <code lisp>
-PLAN-LIB> (cpl:top-level
+CL-USER> (cpl:top-level
-            (plan-lib:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza)))))
+           (exe:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza)))))
 WARNING:
    Trying to prove goal (OBJECT-EATEN
@@ Line 62: / Line 65: @@
 <code lisp>
-PLAN-LIB> (defparameter *pizza-eaten-p* nil)
+CL-USER> (defparameter *pizza-eaten-p* nil)
 *PIZZA-EATEN-P*
-PLAN-LIB> (cpl:def-cram-function eat (stuff)
+CL-USER> (cpl:def-cram-function eat (&key ((:yummy ?yummy)) &allow-other-keys)
-            (format t "hmmm... nomnomnom... ~a~%" stuff)
+           (declare (type (or string null) ?yummy))
-            (setf *pizza-eaten-p* t))
+           (format t "hmmm... nomnomnom... ~a~%" ?yummy)
-STYLE-WARNING: redefining CRAM-PLAN-LIBRARY::EAT in DEFUN
+           (setf *pizza-eaten-p* t))
-PLAN-LIB> (prolog:def-fact-group eating-occasions ()
+; in: CRAM-LANGUAGE-IMPLEMENTATION:DEF-CRAM-FUNCTION EAT
-            (prolog:<- (cram-plan-occasions-events::object-eaten ?object)
+;     (TYPE (OR STRING NULL) ?YUMMY)
-              (prolog:lisp-pred identity *pizza-eaten-p*)))
+;
+; caught WARNING:
+;   undefined variable: COMMON-LISP-USER::?YUMMY
+;
+; compilation unit finished
+;   Undefined variable:
+;     ?YUMMY
+;   caught 1 WARNING condition
+WARNING: redefining COMMON-LISP-USER::EAT in DEFUN
+EAT
+CL-USER> (prolog:def-fact-group eating-occasions ()
+           (prolog:<- (:object-eaten ?object)
+             (prolog:symbol-value *pizza-eaten-p* ?eaten)
+             (prolog:lisp-pred identity ?eaten)))
 </code>
@@ Line 79: / Line 95: @@
 <code lisp>
 PLAN-LIB> (cpl:top-level
-            (plan-lib:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza)))))
+            (exe:perform (desig:an action (to eat) (yummy pizza) (goal (object-eaten pizza)))))
 hmmm... nomnomnom... PIZZA
+NIL
 </code>
+===== Restrictions =====
+Please keep in mind that if there are multiple solutions to a particular action designator, i.e. it resolves to different plans, the first one that is defined will be executed. Ordering is not yet implemented and should probably be taken care of explicitly in the plans anyway.
+Summary: **make sure an action designator you use for plans can only be resolved to one unique CRAM plan.**