clips-executive.yaml

%YAML 1.2
%TAG ! tag:fawkesrobotics.org,cfg/
---
doc-url: !url http://trac.fawkesrobotics.org/wiki/Plugins/clips-executive
---
clips-executive:
  # If true, will enable watching of facts and rules
  debug:
    enable: true
    # debug level is a number of: 0 ~ none, 1 ~ minimal, 2 ~ more, 3 ~ maximum
    level: 3

    # If CLIPS debugging is enabled, certain rules and facts can be excluded
    # from watching, e.g. if they are showing up at too high frequencies or
    # are not of interest.
    unwatch-facts: ["time"]
    unwatch-rules: ["time-retract", "blackboard-read"]

  # Currently not working in clips-executive!
  #
  # If true, simulate skills (assuming they always succeed) instead of
  # actually executing the skills. The time indicates how long it should
  # take to declare success on skill execution. Note that this cannot
  # simulate side effects, like a called component writing to an interface
  # skill-sim: true
  # skill-sim-time: 2.0

  # automatically pre-require redefine-warning feature? Enabling
  # this in the plugin instead of in the initial code (init.clp) is
  # beneficial because it already catches errors in said file.
  request-redefine-warning-feature: true

  # Automatically assert the (start) fact after successful initialization,
  # otherwise wait until the an enable message has been received
  # auto-start: true

  # If set to true, will trigger the assertion of a (time (now)) fact in
  # each loop. This can be used to trigger loop events in CLIPS.
  assert-time-each-loop: true

  # If set to true will force the acquisition of the skiller control.
  # This is particularly useful to kick an SkillGUI which is holding
  # the lock just due to an oversight.
  steal-skiller-control: true

  # Directory where to look for CLIPS files
  clips-dirs: ["@BASEDIR@/src/clips-specs"]

  # Agent name. On startup the clips-agent will try to resolve a file named
  # <agent name>.clp. It must be in the CLIPS path directories.
  spec: rcll-central

  specs:
    rcll-central:
      init:
        stage-1:
          - name: pddl-parser
          - name: motor-switch
          - name: navgraph
          - name: protobuf
          - name: tf
        stage-3:
          - name: utils
            file: rcll-central/utils.clp
          - name: worldmodel
            files:
              - rcll-central/init.clp
              - rcll-central/blackboard-init.clp
              - rcll-central/game-worldmodel.clp
          - name: communication
            files:
              - rcll-central/refbox-comm-init.clp
              - rcll-central/refbox-worldmodel.clp
          - name: domain
            file: rcll-central/domain.clp
          - name: goal-reasoner
            files:
              - goals/retry.clp
              - goals/run-all.clp
              - goals/run-one.clp
              - goals/run-parallel.clp
              - goals/timeout.clp
              - goals/try-all.clp
              - goal-tree.clp
              - rcll-central/goals/run-endless.clp
              - rcll-central/goals/simple.clp
              - rcll-central/goals/central-run-all.clp
              - rcll-central/goals/central-run-one.clp
              - rcll-central/goals/central-run-parallel.clp
              - rcll-central/goal-reasoner.clp
              - rcll-central/goal-dependencies.clp
              - rcll-central/goal-production.clp
              - rcll-central/production-strategy.clp
              - rcll-central/exploration.clp
          - name: goal-expander
            file: rcll-central/fixed-sequence.clp
          - name: action-selection
            file: rcll-central/action-selection.clp
          - name: action-execution
            files:
              - skills-actions.clp
              - rcll-central/noop-actions.clp
              - rcll-central/refbox-actions.clp
              - rcll-central/wait-actions.clp
          - name: execution-monitoring
            file: rcll-central/execution-monitoring.clp
          - name: simtest
            file: rcll-central/simtest.clp

      action-mapping:
        enter-field: >
          drive_into_field{team=?(team-color)S,
                           wait=0.0}
        explore-zone: explore_zone{zone=?(z)s}
        move-node: goto{place=?(z)s}
        move: goto{place="?(to)Y-?(to-side|/OUTPUT/O/|/INPUT/I/)Y"}
        move-wp-get: goto{place="?(to)Y-?(to-side|/OUTPUT/O/|/INPUT/I/)Y"}
        move-wp-put: goto{place="?(to)Y-?(to-side|/OUTPUT/O/|/INPUT/I/)Y"}
        go-wait: goto{place="?(to)Y"}
        wp-get-shelf: get_product_from{place=?(m)S, shelf=?(spot)S}
        wp-put: bring_product_to{place=?(m)S,
                                 side=?(side|/INPUT/input/|/OUTPUT/output/)s}
        wp-put-slide-cc: bring_product_to{place=?(m)S, slide="TRUE"}
        wp-get: >
          get_product_from{place=?(m)S,
                           side=?(side|/INPUT/input/|/OUTPUT/output/)s}
        wp-discard: discard{}
      parameters:
        simtest:
          enabled: false
          testbed: ENTER-FIELD
        rcll:
          peer-address: 172.26.255.255
          peer-port: 4444
          cyan-port: 4441
          magenta-port: 4442

          team-name: Carologistics
          crypto-key: randomkey
          cipher: "aes-128-cbc"
          pick-and-place-challenge: false

          challenge-flip-insertion: true
          use-static-navgraph: false

          start-with-waiting-robots: true
          exploration:
            # Reduce navigator velocity while traveling the field so we can
            # find laser-lines more reliably
            low-velocity: 0.4
            low-rotation: 0.5

            # Increased speed and rotation when exploring a zone
            max-velocity: 1.0
            max-rotation: 1.0

            # Center of a laser-line must be this far from the zone border
            # before we start investigating it further (i.e. call the
            # explore_zone skill on it)

            zone-margin: 0.15
            latest-send-last-report-time: 210  # =3:30

      blackboard-preload:
        - Position3DInterface
        - NavGraphWithMPSGeneratorInterface
        - NavGraphGeneratorInterface
        - NavigatorInterface
        - AX12GripperInterface
        - MotorInterface
        - LaserLineInterface
        - TagVisionInterface
        - ZoneInterface
        - RobotinoSensorInterface
        - RobotinoLightInterface

    test:
      domain: test-scenario/test-domain.clp
      goal-reasoner: test-scenario/goal-reasoner.clp
      goal-expander: test-scenario/fixed-sequence.clp
      action-selection: test-scenario/action-selection.clp
      # macro-expansion: test-scenario/action-selection.clp
      action-execution: plan-exec.clp
      execution-monitoring: test-scenario/execution-monitoring.clp

      action-mapping:
        say: say{text=?(text)s, wait=true}
        say-hello: say{text="Hello ?(name)y", wait=true}
        say-goodbye: say{text="Good bye", wait=true}
    visitall:
      domain: visit-all/visitall-domain.clp
      goal-reasoner: visit-all/goal-reasoner.clp
      goal-expander: visit-all/fixed-sequence.clp
      action-selection: visit-all/action-selection.clp
      # macro-expansion: visit-all/action-selection.clp
      action-execution: plan-exec.clp
      execution-monitoring: visit-all/execution-monitoring.clp
      state-estimation: visit-all/state-estimation-init.clp

      action-mapping:
        visit: ppgoto{place=?(m)S}
      blackboard-preload: ["Position3DInterface"]

    rcll:
      init:
        stage-1:
          - name: pddl-parser
          - name: motor-switch
          - name: navgraph
          - name: protobuf
          - name: tf
          - name: robmem-wait
            feature-request: false
            files: ["BATCH|robmem-wait-init.clp"]
            wait-for: robmem-initialized
          - name: robot_memory
        stage-3:
          - name: utils
            file: rcll/utils.clp
          - name: coordination
            file: coordination-mutex.clp
          - name: state-estimation
            file: rcll/state-estimation-init.clp
          - name: worldmodel
            files:
              - wm-robmem-sync.clp
              - rcll/init-wm-sync.clp
              - rcll/init-worldmodel.clp
              - rcll/game-worldmodel.clp
          - name: communication
            files:
              - rcll/refbox-comm-init.clp
              - rcll/refbox-worldmodel.clp
          - name: domain
            file: rcll/domain.clp
          - name: resource-locking
            file: resource-locks.clp
          - name: goal-reasoner
            files:
              - goals/retry.clp
              - goals/run-all.clp
              - goals/run-one.clp
              - goals/timeout.clp
              - goals/try-all.clp
              - goal-tree.clp
              - rcll/goals/run-endless.clp
              - rcll/goals/simple.clp
              - rcll/goal-reasoner.clp
              - rcll/goal-production.clp
              - rcll/production-strategy.clp
              - rcll/exploration.clp
              - rcll/goal-lock-expiration.clp
              - rcll/goal-class.clp
          - name: goal-expander
            file: rcll/fixed-sequence.clp
          - name: action-selection
            file: rcll/action-selection.clp
          - name: action-execution
            files:
              - skills-actions.clp
              - rcll/noop-actions.clp
              - rcll/refbox-actions.clp
              - rcll/lock-actions.clp
              - rcll/wait-actions.clp
          - name: execution-monitoring
            file: rcll/execution-monitoring.clp
          - name: simtest
            file: rcll/simtest.clp

      action-mapping:
        enter-field: >
          drive_into_field{team=?(team-color)S,
                           wait=?(r|/Icks/0.0/|/Upsilan/10.0/|/Set/20.0/)f}
        explore-zone: explore_zone{zone=?(z)s}
        move-node: goto{place=?(z)s}
        move: goto{place="?(to)Y-?(to-side|/OUTPUT/O/|/INPUT/I/)Y"}
        move-wp-get: goto{place="?(to)Y-?(to-side|/OUTPUT/O/|/INPUT/I/)Y"}
        move-wp-put: goto{place="?(to)Y-?(to-side|/OUTPUT/O/|/INPUT/I/)Y"}
        go-wait: goto{place="?(to)Y"}
        wp-get-shelf: get_product_from{place=?(m)S, shelf=?(spot)S}
        wp-put: bring_product_to{place=?(m)S}
        wp-put-slide-cc: bring_product_to{place=?(m)S, slide="TRUE"}
        wp-get: >
          get_product_from{place=?(m)S,
                           side=?(side|/INPUT/input/|/OUTPUT/output/)s}
        wp-discard: discard{}

      blackboard-preload:
        - Position3DInterface
        - NavGraphWithMPSGeneratorInterface
        - NavGraphGeneratorInterface
        - NavigatorInterface
        - AX12GripperInterface
        - MotorInterface
        - LaserLineInterface
        - TagVisionInterface
        - ZoneInterface
        - RobotinoSensorInterface
        - RobotinoLightInterface

      parameters:
        simtest:
          enabled: false
          # FAST checks only first minute of a game
          # DELIVERY tests until the first delivery happens
          # FULL checks whole game
          testbed: FULL
        coordination:
          mutex:
            renew-interval: 5
            max-age-sec: 30
        rcll:
          # real-world-setup:
          peer-address: 172.26.255.255
          peer-port: 4444
          cyan-port: 4441
          magenta-port: 4442

          team-name: Carologistics
          crypto-key: randomkey
          cipher: "aes-128-cbc"

          waitpoint-in-cyan: Icks
          waitpoint-in-magenta: Set

          route:
            CYAN:
              Icks: ["exp-12", "exp-11", "exp-22"]
              Upsilan: ["exp-22", "exp-23", "exp-31"]
              Set: ["exp-31", "exp-32", "exp-21"]
            MAGENTA:
              Icks: ["exp-11", "exp-12", "exp-21"]
              Upsilan: ["exp-22", "exp-21", "exp-32"]
              Set: ["exp-32", "exp-31", "exp-22"]

          exploration:
            # Reduce navigator velocity while traveling the field so we can find
            # laser-lines more reliably
            low-velocity: 0.4
            low-rotation: 0.5

            # Increased speed and rotation when exploring a zone
            max-velocity: 1.0
            max-rotation: 1.0

            # Center of a laser-line must be this far from the zone border
            # before we start investigating it further (i.e. call the
            # explore_zone skill on it)

            zone-margin: 0.15
            latest-send-last-report-time: 210  # =3:30

          max-velocity: 1.0
          max-rotation: 1.0
          master: Upsilan

          allowed-complexities: ["C0", "C2", "C3"]
          exclusive-complexities: []

          # If true, robots will not start big products after a certain time
          block-late-c2-c3: true

          # Priority to pursue competitive orders.
          # HIGH: Produce it as fast as possible.
          # DEFAULT: Treat competitive order just like normal ones
          # LOW: Try to avoid producing competitive orders

          competitive-order-priority: DEFAULT

          # If true, the standing c0 order is stored at the storage station
          # else, a C0 with the same base and opposite cap color as the
          # standing C0 is stored.

          store-standing-c0: true
          use-ss: false

          # Bots that are enabled can formulate production goals,
          # disabled bots only formulate wait goals

          enable-bot: true