rcll-central: moves robot out of the way when goal exceeds retry limit #707
Conversation
|
TODO: re-create retracted move-out-of-way goals after their completion |
| (assert (goal-retry-wait-timer (goal-id ?goal-id) (timeout-duration ?*GOAL-RETRY-TIMEOUT*) (start-time ?now))) | ||
| (assert (wm-fact (key monitoring goal-in-retry-wait-period args? goal-id ?goal-id robot ?robot))) | ||
| (modify ?gm (retries 0)) | ||
| (do-for-fact ((?robot wm-fact)) |
There was a problem hiding this comment.
why the do-for fact?
looks to me as if you can just put it in the precondition.
| => | ||
| (retract ?gt ?wf) | ||
| (delayed-do-for-all-facts ((?counter wm-fact)) | ||
| (and (wm-key-prefix ?counter:key (create$ monitoring goal retry robot counter)) |
There was a problem hiding this comment.
same here, this should e a lhs pattern not a rhs fact query
| to unblock the machine | ||
| " | ||
| (declare (salience ?*MONITORING-SALIENCE*)) | ||
| (wm-fact (key monitoring goal retry robot counter args? goal ?goal-id r ?robot) (value ?counter&:(> ?counter ?*GOAL-RETRY-MAX*))) |
There was a problem hiding this comment.
I think we should define a clear state hen this should happen, e.g., during executability checks for the robot that is exceeding the retry limit, or during goal evaluation.
Otherwise we might break some implicit assumptions if it defines at some arbitrary point during the execution cycle.
| @@ -758,6 +758,9 @@ | |||
| (mode FORMULATED) (parent ?pa-id&~nil) | |||
| (priority ?p&:(> ?p 0)) | |||
| ) | |||
| (goal-meta (goal-id ?goal-id) (assigned-to ?robot)) | |||
There was a problem hiding this comment.
This rule needs appropriate priority e.g., ?*SALIENCE-GOAL-EXECUTABLE-CHECK*, because otherwise it will be ignored on selection.
There was a problem hiding this comment.
Then you can also simplify this rule and remove the ?or, essentially just updating the rule during executability check
| @@ -551,6 +551,13 @@ | |||
| (modify ?gm (root-for-order nil)) | |||
| ) | |||
|
|
|||
| ;(defrule force-fail-goal | |||
| ; (declare (salience (+ 2 ?*SALIENCE-GOAL-FORMULATE*))) | |||
| ;if a move-out-of-the-way has urgent high priority, reset it on goal completion | ||
| (do-for-fact ((?f wm-fact)) | ||
| (wm-key-prefix ?f:key (create$ monitoring move-out-of-way high-prio)) | ||
| (do-for-all-facts ((?og goal) (?ogm goal-meta)) |
There was a problem hiding this comment.
do we actually need this?
The goal is not assigned to a robot anymore after this rule, this should trigger the priority reset already (rule goal-production-change-priority-move-out-of-way)
Hence i would remove the innder do-for-all-facts
TarikViehmann
force-pushed
the
skalra/goal-retry-counter-for-robot
branch
from
c6d6e49
to
98ba17b
Compare
No description provided.