CX: integrate basic storage station usage

[TarikViehmann]

This PR updates the agent to the latest changes of the refbox regarding the storage station introduced by robocup-logistics/rcll-refbox#91.

The MachineInfo message processing is updated to deal with the status_ss field, which provides the storage status of every single storage station slot.

New Predicates

This leads to the introduction of three new sensed predicates, namely ss-stored-wp, ss-shelf-slot-free and ss-new-wp-at that are updated according to the content of status_ss. The first two are simply reflecting whether a workpiece can be found on a slot. ss-new-wp-at contains information on workpieces that are unknown to the agent and stored in the SS by decoding the additional information field that is sent. This allows to receive info on pre-stored workpieces. The paradigm here is that the agent fully trusts the workpiece descriptions sent by the refbox. Hence this info is updated to reflect the agents knowledge to a format of <wp-id> <wp-base-color> <wp-ring1-color> <wp-ring2-color> <wp-ring3-color> <wp-cap-color>, always containing exactly 6 words.

New Actions

To interact with the SS the agent can use the refbox actions prepare-ss-to-store, prepare-ss-to-retrieve and prepare-ss-to-assign-wp, the former two are accompanied by the followup actions store-wp and retrieve-wp. prepare-ss-to-assign-wp is special as it triggers an instantaneous change in the refbox without direct feedback in form of a mps state change. Rather, the success can be determined through sensing the updated workpiece descriptions in the MachineInfo messages. Hence, the feedback about the success of sending the prepare message and the updated worldmodel changes occur simultaneously and no split between prepare message and worldmodel update action is made.
Lastly a new action modeling the assignment of a workpiece to an order is introduced with assign-wp-to-order. This gives us a clean way to bind workpieces to orders when it becomes necessary outside of the regular dispense-for-order action.

New Goals

SS-SPAWN-C0 that spawned a C0 at the SS output for the 2019 rule set is replaced by SS-ASSIGN-WP that can assign a pre-stored product to the C0 order where quantity-requested > 1.
STORE-WP stores a finished product if delivery-begin > 180s away. If the begin is closer than that, then our existing behavior is applied (pick up the product if it blocks another product from being finished, deliver once the delivery begin approaches).
GET-STORED-WPretrieves a product from the storage station once its delivery begin approaches, which makes sense if we only use the storage station for finished products as assumed for now.

[morxa]

Have you had a look at the build failures?