Merge branch 'pddl' into 'main'

Добавлены pddl спецификации

See merge request robossembler/cnc/motor-wire-winder!2

pddl/printer.pddl

@@ -0,0 +1,163 @@
+;Header and description
+
+(define (domain printer)
+
+;remove requirements that are not needed
+(:requirements :strips :fluents :durative-actions :timed-initial-literals :typing :conditional-effects :negative-preconditions :duration-inequalities :equality)
+
+(:types
+    printer table filament_storage - zone
+    task - gcode
+    observer - hooman
+    filament - resource
+    
+
+;todo: enumerate types and their hierarchy here, e.g. car truck bus - vehicle
+)
+
+; un-comment following line if constants are needed
+;(:constants )
+
+(:predicates 
+    (printer_available ?p - printer) ; принтер занят печатью
+    (printer_ready ?p - printer) ; принтер готов
+    (table_ready ?p - printer  ?t - table) ; готовность рабочего стола данного принтера
+    (plastic_ready ?p - printer ?fstrg - filament_storage ) ;готовность пластика к печати
+    (defined_task ?p - printer ) ;задание загружено в принтер
+    (observer_free ?h - hooman) ;человек свободен
+    (task_in ?t - task ?p - printer) ; задача на принтере
+    (task_failed ?p ?t) ; печать провалена
+    (task_ready ?p ?t) ; печать выполнена
+; предикаты - принтер готов, пластик в наличии, пластика хватит на задание
+; установить задание, посчитать пластик на него
+; задание завершено
+; рабочий стол принтера освобожден
+
+;todo: define predicates here
+)
+
+
+(:functions 
+
+
+;todo: define numeric functions here
+)
+
+;define actions here
+
+
+(:durative-action printer_check
+    :parameters (?p - printer ?h - hooman)
+    :duration (= ?duration 1)
+    :condition (and 
+        (at start (not(printer_ready ?p )))
+        (at start (observer_free ?h ))
+    )
+
+    :effect (and 
+        (at start (and 
+            (not (observer_free ?h))  
+        ))
+        (at end (and
+            (observer_free ?h)
+            (printer_ready ?p) 
+        ))
+    )
+)
+
+
+
+
+(:durative-action printer_preparing
+    :parameters (?p - printer ?h - hooman ?fstrg - filament_storage ?t - table)
+    :duration (= ?duration 1)
+    :condition (and 
+        (at start (and
+            (printer_available ?p)
+            (observer_free ?h)
+            (or
+                (not(plastic_ready ?p ?fstrg ))
+                (not(table_ready ?p  ?t))
+            )
+            
+            )
+        ))
+
+    
+    :effect (and 
+        (at start (and
+            (not(observer_free ?h))
+            (not(printer_available ?p))
+
+        ))
+        (at end (and
+            (observer_free ?h)
+            (printer_available ?p)
+            (printer_ready ?p)
+        ))
+    )
+)
+
+
+
+(:durative-action start_task
+    :parameters (?p - printer ?h - hooman ?fstrg - filament_storage ?t - gcode)
+    :duration (= ?duration 1)
+    :condition (and 
+        (at start (and
+            (observer_free ?h)
+            (printer_ready ?p)
+            (printer_available ?p)
+            (plastic_ready ?p ?fstrg)
+            ))
+
+    )
+    :effect (and 
+        (at start (and
+            (not (observer_free ?h))
+            
+        ))
+        (at end (and
+            (not(printer_available ?p))
+            (task_in ?t ?p)
+            (not(table_ready ?p  ?t))
+            (observer_free ?h)
+        ))
+    )
+
+)
+
+
+
+
+(:durative-action end_printing
+    :parameters (?p - printer ?h - hooman ?fstrg - filament_storage ?t - gcode)
+    :duration (= ?duration print_eta ?t)
+    :condition (and 
+        (at start (and
+            (observer_free ?h)
+            (or
+                (task_ready ?p ?t)
+                (task_failed ?p ?t)
+                       
+            )
+        ))
+
+    )
+    :effect (and 
+        (at start (and
+            (not(observer_free ?h))
+            (not(printer_available ?p))
+
+        ))
+        (at end (and
+            (observer_free ?h)
+            (printer_available ?p)
+            (printer_ready ?p)
+            (table_ready ?p  ?t)
+        ))
+    )
+)
+
+
+

pddl/winder.pddl

@@ -0,0 +1,155 @@
+;Header and description
+
+(define (domain winder)
+
+;remove requirements that are not needed
+(:requirements :strips :fluents :durative-actions :timed-initial-literals :typing :conditional-effects :negative-preconditions :duration-inequalities :equality)
+
+(:types
+    winder stnest wrnest - zone
+    stator - part
+    observer - hooman
+    wire - resource
+    
+
+;todo: enumerate types and their hierarchy here, e.g. car truck bus - vehicle
+)
+
+; un-comment following line if constants are needed
+;(:constants )
+
+(:predicates 
+    (winder_available ?w - winder) ; станок занят печатью
+    (winder_ready ?w - winder) ; станок готов
+    (stator_placed ?w - winder  ?t - table) ; статор установлен
+    (wire_ready ?w - winder ?wstrg - wire_storage ) ;готовность провода к печати
+    (observer_free ?h - hooman) ;человек свободен
+    (stator_ready ?p ?t) ; статор намотан
+
+
+;todo: define predicates here
+)
+
+
+(:functions 
+
+
+;todo: define numeric functions here
+)
+
+;define actions here
+
+
+(:durative-action winder_check
+    :parameters (?w - winder ?h - hooman)
+    :duration (= ?duration 1)
+    :condition (and 
+        (at start (not(winder_ready ?w )))
+        (at start (observer_free ?h ))
+    )
+
+    :effect (and 
+        (at start (and 
+            (not (observer_free ?h))  
+        ))
+        (at end (and
+            (observer_free ?h)
+            (winder_ready ?w) 
+        ))
+    )
+)
+
+
+
+
+(:durative-action winder_preparing
+    :parameters (?w - winder ?h - hooman ?wstrg - wire_storage ?st - stator)
+    :duration (= ?duration 1)
+    :condition (and 
+        (at start (and
+            (winder_available ?w)
+            (observer_free ?h)
+            (or
+                (not(wire_ready ?w ?wstrg ))
+                (not(stator_placed ?w  ?t))
+            )
+            
+            )
+        ))
+
+    
+    :effect (and 
+        (at start (and
+            (not(observer_free ?h))
+            (not(winder_available ?w))
+
+        ))
+        (at end (and
+            (observer_free ?h)
+            (winder_available ?w)
+            (winder_ready ?w)
+        ))
+    )
+)
+
+
+
+(:durative-action start_task
+    :parameters (?w - winder ?h - hooman ?wstrg - filament_storage )
+    :duration (= ?duration 1)
+    :condition (and 
+        (at start (and
+            (observer_free ?h)
+            (winder_ready ?w)
+            (winder_available ?w)
+            (wire_ready ?w ?wstrg)
+            ))
+
+    )
+    :effect (and 
+        (at start (and
+            (not (observer_free ?h))
+            
+        ))
+        (at end (and
+            (not(winder_available ?w))
+            (observer_free ?h)            
+        ))
+    )
+
+)
+
+
+
+
+(:durative-action end_winding ; извлечение статора
+    :parameters (?w - winder ?h - hooman )
+    :duration (= ?duration print_eta ?t)
+    :condition (and 
+        (at start (and
+            (observer_free ?h)
+            (or
+                (task_ready ?w ?t)
+                (task_failed ?w ?t)
+                       
+            )
+        ))
+
+    )
+    :effect (and 
+        (at start (and
+            (not(observer_free ?h))
+            (not(winder_available ?w))
+
+        ))
+        (at end (and
+            (observer_free ?h)
+            (winder_available ?w)
+            (winder_ready ?w)
+            (stator_ready ?p  ?st)
+        ))
+    )
+)
+
+
+