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--- tutorials:intermediate:performing_plans [2016/07/21 15:18] – 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.
@@ Line 8: / Line 8: @@
 <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
 </code>
@@ Line 15: / Line 15: @@
 <code lisp>
-CL-USER> (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 22: / Line 23: @@
 <code lisp>
-CL-USER> (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 35: @@
 <code lisp>
 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:
@@ Line 44: / Line 49: @@
 <code lisp>
 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 67: @@
 CL-USER> (defparameter *pizza-eaten-p* nil)
 *PIZZA-EATEN-P*
-CL-USER> (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)
            (setf *pizza-eaten-p* t))
-STYLE-WARNING: redefining COMMON-LISP-USER::EAT in DEFUN
+; in: CRAM-LANGUAGE-IMPLEMENTATION:DEF-CRAM-FUNCTION EAT
+;     (TYPE (OR STRING NULL) ?YUMMY)
+;
+; 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:<- (cram-plan-occasions-events::object-eaten ?object)
+           (prolog:<- (:object-eaten ?object)
              (prolog:symbol-value *pizza-eaten-p* ?eaten)
              (prolog:lisp-pred identity ?eaten)))
@@ 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.**