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Check action finished #217

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merged 5 commits into from
Apr 14, 2022
Merged

Check action finished #217

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909b9c3
check-action-finished: Do not declare failure in check_overall_req_no…
jjzapf Apr 13, 2022
76664a2
check-action-finished: Fixing problem_expert.wait_overall_req_test in…
jjzapf Apr 13, 2022
6982e3c
check-action-finished: Reverting previous changes. Adding checks to W…
jjzapf Apr 13, 2022
ed8d42a
check-action-finished: Use distinct names for temporary predicate/fun…
jjzapf Apr 14, 2022
4017fbf
check-action-finished: Putting leftover requirement check after state…
jjzapf Apr 14, 2022
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20 changes: 11 additions & 9 deletions plansys2_executor/src/plansys2_executor/BTBuilder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -385,13 +385,6 @@ BTBuilder::get_graph(const plansys2_msgs::msg::Plan & current_plan)
}
}

remove_existing_requirements(requirements, predicates, functions);
for (const auto & req : requirements) {
std::cerr << "[ERROR] requirement not met: [" <<
parser::pddl::toString(req) << "]" << std::endl;
}
assert(requirements.empty());

// Look for contradicting parallel actions
// A1 and A2 cannot run in parallel if the effects of A1 contradict the requirements of A2
auto contradictions = get_node_contradict(graph, new_node);
Expand All @@ -414,12 +407,21 @@ BTBuilder::get_graph(const plansys2_msgs::msg::Plan & current_plan)
// Compute the state up to the new node
// The effects of the new node are not applied
std::list<GraphNode::Ptr> used_nodes;
auto predicates = problem_client_->getPredicates();
auto functions = problem_client_->getFunctions();
predicates = problem_client_->getPredicates();
functions = problem_client_->getFunctions();
get_state(new_node, used_nodes, predicates, functions);
new_node->predicates = predicates;
new_node->functions = functions;

// Check any requirements that do not have satisfying nodes.
// These should be satisfied by the initial state.
remove_existing_requirements(requirements, predicates, functions);
for (const auto & req : requirements) {
std::cerr << "[ERROR] requirement not met: [" <<
parser::pddl::toString(req) << "]" << std::endl;
}
assert(requirements.empty());

action_sequence.erase(action_sequence.begin());
}

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4 changes: 3 additions & 1 deletion plansys2_executor/src/plansys2_executor/behavior_tree/wait_action_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,9 @@ WaitAction::tick()
}

if ((*action_map_)[action].action_executor != nullptr &&
(*action_map_)[action].action_executor->is_finished())
(*action_map_)[action].action_executor->is_finished() &&
(*action_map_)[action].at_start_effects_applied &&
(*action_map_)[action].at_end_effects_applied)
{
return BT::NodeStatus::SUCCESS;
} else {
Expand Down