Thread: [Jason-developers] SF.net SVN: jason: [1266] trunk/applications/jason-team/src

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Revision: 1266
          http://jason.svn.sourceforge.net/jason/?rev=1266&view=rev
Author:   bordini
Date:     2008-04-26 14:45:22 -0700 (Sat, 26 Apr 2008)

Log Message:
-----------
target allocation for herding formation and sharing of information about cow locations

Modified Paths:
--------------
    trunk/applications/jason-team/src/asl/exploration.asl
    trunk/applications/jason-team/src/asl/gaucho.asl
    trunk/applications/jason-team/src/asl/goto.asl
    trunk/applications/jason-team/src/asl/herding.asl
    trunk/applications/jason-team/src/team-os.xml

Modified: trunk/applications/jason-team/src/asl/exploration.asl
===================================================================

--- trunk/applications/jason-team/src/asl/exploration.asl	2008-04-26 20:32:39 UTC (rev 1265)
+++ trunk/applications/jason-team/src/asl/exploration.asl	2008-04-26 21:45:22 UTC (rev 1266)
@@ -3,9 +3,9 @@
 
 /* -- initial beliefs -- */
 
-// missions I can commit to
-desired_mission(exploring, mexplorer).
-desired_mission(exploring, mscouter).
+// missions I can commit to depend on the roles I adopt
+desired_mission(explore_sch, explore) :- desired_role(exploration_grp, explorer).
+desired_mission(explore_sch, scout) :- desired_role(exploration_grp, scouter).
 
 
 /* -- initial goals -- */
@@ -21,7 +21,7 @@
 
 /* plans for agent 1 */
 
-+gsize(_Weight,_Height)                  // new match've started
++gsize(_Weight,_Height)                  // new match has started
    : .my_name(gaucho1)                   // agent 1 is responsible for the team creation 
   <- //.print("oooo creating team group"); 
      .if( group(team,Old), {
@@ -78,13 +78,15 @@
      
      // adopt role explorer in the group
      jmoise.adopt_role(explorer,G);
+	 +desired_role(exploration_grp, explorer);  // needed for moise-common plans
+	 +desired_role(herding_grp, herder);        // explorers will also be herders
      !find_scouter(LSOdd, G).
      
 +!find_scouter([],_)
-  <- .print("ooo I do not find a scouter to work with me!").
+  <- .print("ooo I did not find a scouter to work with me!").
 +!find_scouter([ag_d(_,AgName)|_],GId)
   <- .print("ooo Ask ",AgName," to play scouter");
-     .send(AgName, achieve, play_role(scouter,GId));
+     .send(AgName, achieve, play_role(scouter,GId,exploration_grp));
      .wait("+play(Ag,scouter,GId)",2000).  
 -!find_scouter([_|LSOdd],GId) // in case the wait fails, try next agent
   <- .print("ooo find_scouter failure, try another agent.");
@@ -99,17 +101,24 @@
 
 /* plans for the others */
 
-+!play_role(Role,Group)[source(Ag)]
++!play_role(Role,Group,Group_Spec)[source(Ag)]
   <- .print("ooo Adopting role ",Role,", asked by ",Ag);
-     jmoise.adopt_role(Role,Group).
-     
-     
+     jmoise.adopt_role(Role, Group);
+	 +desired_role(Group_Spec, Role).
+
+// to keep plan above generic...
+// scouters will be herdboys
+// and need to tell t
++desired_role(exploration_grp, scouter)
+  <- +desired_role(herding_grp, herdboy).
+
+
 /* -- plans for the goals of role explorer -- */
 
 // TODO: make a pattern for organisational maintainance goal
 
 +!goto_near_unvisited[scheme(Sch)]
-  <- .print("ooo I should find the near unvisited location and go there!");
+  <- .print("ooo I should find the nearest unvisited location and go there!");
      .my_name(Me); 
      ?play(Me,explorer,GroupId);   // get the group where I play explorer
      ?group_area(_,GroupId, Area);  // get the area of this group
@@ -136,9 +145,15 @@
 
 /* -- plans for the goals of all roles -- */
 
-+!share_cows[scheme(Sch)]
++!share_seen_cows[scheme(Sch)]
   <- .print("ooo I should share cows!");
-     // TODO:
+     ?cows_to_inform(C);
+	 jmoise.broadcast(Sch, tell, C);
      .wait("+pos(_,_,_)"); // wait next cycle
-     !!share_cows[scheme(Sch)].
+     !!share_seen_cows[scheme(Sch)].
 
++cell(X,Y,cow(Id))
+  <- +cow(Id,X,Y); //Jomi, tu nao vai gostar disso :D
+     ?cows_to_inform(C);
+	 -+cows_to_inform([cow(Id,X,Y)|C]).
+

Modified: trunk/applications/jason-team/src/asl/gaucho.asl
===================================================================
--- trunk/applications/jason-team/src/asl/gaucho.asl	2008-04-26 20:32:39 UTC (rev 1265)
+++ trunk/applications/jason-team/src/asl/gaucho.asl	2008-04-26 21:45:22 UTC (rev 1266)
@@ -18,18 +18,26 @@
 
 /* -- initial beliefs -- */
 
-agent_id(gaucho1,0).
-agent_id(gaucho2,1).
-agent_id(gaucho3,2).
-agent_id(gaucho4,3).
-agent_id(gaucho5,4).
-agent_id(gaucho6,5).
+agent_id(gaucho1,1).
+agent_id(gaucho2,2).
+agent_id(gaucho3,3).
+agent_id(gaucho4,4).
+agent_id(gaucho5,5).
+agent_id(gaucho6,6).
 
 ag_perception_ratio(8). // ratio of perception of the agent
 cow_perception_ratio(4).
 
 /* -- initial goals -- */
 
+/* Testing alloc
+alloc_target(a1,pos(10,10)).
+alloc_target(a2,pos(20,20)).
+alloc_target(a3,pos(30,30)).
+!test.
++!test <- !alloc_all([a1,a2,a3],[pos(31,31),pos(21,21),pos(11,11)]).
+*/
+
 /* -- plans -- */
 
 +?pos(X, Y, S)       <- .wait("+pos(X,Y,S)").
@@ -47,7 +55,7 @@
 
 /* -- includes -- */
 
-{ include("goto.asl") }         // include plans for movimentation
+{ include("goto.asl") }         // include plans for moving around
 { include("exploration.asl") }  // include plans for exploration
 { include("herding.asl") }      // include plans for herding
 { include("moise-common.asl") } // include common plans for MOISE+ agents

Modified: trunk/applications/jason-team/src/asl/goto.asl
===================================================================
--- trunk/applications/jason-team/src/asl/goto.asl	2008-04-26 20:32:39 UTC (rev 1265)
+++ trunk/applications/jason-team/src/asl/goto.asl	2008-04-26 21:45:22 UTC (rev 1266)
@@ -53,5 +53,6 @@
   
 // in case of failure, move
 -!move
-   <- .current_intention(I); .println("failure in move, intention: ",I);
+   <- .current_intention(I); .println("failure in moving; intention was: ",I);
       !move.
+

Modified: trunk/applications/jason-team/src/asl/herding.asl
===================================================================
--- trunk/applications/jason-team/src/asl/herding.asl	2008-04-26 20:32:39 UTC (rev 1265)
+++ trunk/applications/jason-team/src/asl/herding.asl	2008-04-26 21:45:22 UTC (rev 1266)
@@ -3,8 +3,8 @@
 /* -- initial beliefs -- */
 
 // missions I can commit to
-desired_mission(exploring, mherder).
-desired_mission(exploring, mherdboy).
+desired_mission(herd_sch, herd) :- desired_role(herding_grp, herder).
+desired_mission(herd_sch, help_herder) :- desired_role(herding_grp, herdboy).
 
 
 /* -- plans for the goals of role herder -- */
@@ -18,13 +18,46 @@
 
 +!define_formation[scheme(Sch)]
   <- .print("ooo I should define the formation of my group!");
-     jia.herd_position(2,L); // formation in two (TODO: get the number of players in the group or scheme)
+     ?my_group(G, herder);
+     .length(G,NumP);
+     jia.herd_position(NumP,L);
      .print("ooo formation is ",L);
-     // TODO: allocate and share the formation
+	 !alloc_all(G,L);
      .wait("+pos(_,_,_)"); // wait next cycle
      !!define_formation[scheme(Sch)].
 
+// get the list G of participants of the group where I play R
++?my_group(G,R) 
+  <- .my_name(Me);
+     play(Me,R,Gid);
+     .findall(P, play(P,_,Gid), G);
+     +my_group(G,R).
+// TODO, IMPORTANT: Quando tiver mudanca no grupo, apagar essa crenca
+// pra deixar esse plano rodar de novo.
 
++!alloc_all([],LA).
++!alloc_all([HA|TA],LA)
+  <- !find_closest(HA,LA,pos(X,Y),NLA);
+     .send(HA,tell,target(X,Y));
+	 -+alloc_target(HA,Alloc);
+     !alloc_all(TA,NLA).
+
++!find_closest(Ag, List, Alloc, Rest)
+  <- ?alloc_target(Ag,pos(X,Y));
+     !closest(List,[],Sorted,pos(X,Y),9999);
+	 Sorted = [Alloc|Rest];
+	 .print("FIND CLOSEST: ",Sorted).
+
++!closest([],S,S,P,D).
++!closest([pos(XH,YH)|T],Aux,S,pos(XP,YP),LD)
+  :  jia.dist(XH,YH,XP,YP,D) & D < LD
+  <- !closest(T,[pos(XH,YH)|Aux],S,pos(XP,YP),D).
++!closest([pos(XH,YH)|T],Aux,S,pos(XP,YP),LD)
+  <- .concat(Aux,[pos(XH,YH)],Aux2);
+     !closest(T,Aux2,S,pos(XP,YP),LD).
+
++?alloc_target(Ag,X,Y) <- .send(Ag, askOne, pos(X,Y,_), pos(X,Y,_)).
+
 /* -- plans for the goals of all roles (herder and herdboy) -- */
 
 +!be_in_formation[scheme(Sch)]

Modified: trunk/applications/jason-team/src/team-os.xml
===================================================================
--- trunk/applications/jason-team/src/team-os.xml	2008-04-26 20:32:39 UTC (rev 1265)
+++ trunk/applications/jason-team/src/team-os.xml	2008-04-26 21:45:22 UTC (rev 1266)
@@ -38,19 +38,20 @@
 
             <sub-groups>
                 
-                <group-specification id="exploration" min="3" max="3" >
+                <group-specification id="exploration_grp" min="3" max="3" >
                     <roles>
                         <role id="explorer" min="1" max="1"/>
                         <role id="scouter"  min="0" max="1"/>
                     </roles>
                 </group-specification>
 
-                <group-specification id="herding" min="0" max="6" >
+                <group-specification id="herding_grp" min="0" max="6" >
                     <roles>
                         <role id="herder"  min="1" max="1"/>
                         <role id="herdboy" min="0" max="3"/>
                     </roles>
                 </group-specification>
+
             </sub-groups>
 
             <formation-constraints>
@@ -64,53 +65,53 @@
 
 
     <functional-specification>
-        <scheme id="exploring" >
+        <scheme id="explore_sch" >
             <goal id="find_cows" >
               <plan operator="parallel">
                 <goal id="goto_near_unvisited" ds="go to the near unvisited location inside the area of the group" type="maintenance"/>
-                <goal id="share_cows"          ds="share seen cows with other agents in the scheme" type="maintenance"/>
+                <goal id="share_seen_cows"     ds="share seen cows with other agents in the scheme" type="maintenance"/>
                 <goal id="follow_leader"       ds="follows the leader of the scheme/group" type="maintenance"/>
               </plan>
             </goal>
             
-            <mission id="mexplorer" min="1">
+            <mission id="explore" min="1">
                 <goal id="goto_near_unvisited" />
-                <goal id="share_cows" />
+                <goal id="share_seen_cows" />
             </mission>
-            <mission id="mscouter" >
+            <mission id="scout" >
                 <goal id="follow_leader" />
-                <goal id="share_cows" />
+                <goal id="share_seen_cows" />
             </mission>
         </scheme>
         
-        <scheme id="herding" >
+        <scheme id="herd_sch" >
             <goal id="herd_cows" >
               <plan operator="parallel">
                 <goal id="recruit"          ds="recruit more herdboys depending on the size of the cows cluster" type="maintenance"/>
                 <goal id="define_formation" ds="compute the ideal location of each member of the group and share this information with them" type="maintenance"/>
                 <goal id="be_in_formation"  ds="go to the place allocated to the agent in the formation" type="maintenance"/>
-                <goal id="share_cows"       ds="share seen cows with other agents in the scheme" type="maintenance"/>
+                <goal id="share_seen_cows"  ds="share seen cows with other agents in the scheme" type="maintenance"/>
               </plan>
             </goal>
             
-            <mission id="mherder" min="1">
+            <mission id="herd" min="1">
                 <goal id="recruit" />
                 <goal id="define_formation" />
                 <goal id="be_in_formation" />
-                <goal id="share_cows" />
+                <goal id="share_seen_cows" />
             </mission>
-            <mission id="mherdboy" >
+            <mission id="help_herder" >
                 <goal id="be_in_formation" />
-                <goal id="share_cows" />
+                <goal id="share_seen_cows" />
             </mission>
         </scheme>
     </functional-specification>
 
     <deontic-specification>
-        <deontic-relation type="obligation" role="explorer"  mission="mexplorer" />
-        <deontic-relation type="obligation" role="scouter"   mission="mscouter" />
-        <deontic-relation type="obligation" role="herder"    mission="mherder" />
-        <deontic-relation type="obligation" role="herdboy"   mission="mherdboy" />
+        <deontic-relation type="obligation" role="explorer" mission="mexplore" />
+        <deontic-relation type="obligation" role="scouter"  mission="mscout" />
+        <deontic-relation type="obligation" role="herder"   mission="mherd" />
+        <deontic-relation type="obligation" role="herdboy"  mission="mhelp_herder" />
     </deontic-specification>
 </organisational-specification>
 


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Thread: [Jason-developers] SF.net SVN: jason: [1266] trunk/applications/jason-team/src

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