Dispatch the runs of a policy that were never ordered

eplansys_demo/CMakeLists.txt

@@ -50,7 +50,26 @@ target_link_libraries(survey_mission
 )
 target_compile_definitions(survey_mission PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
+add_executable(survey_sites_actions src/survey_sites_actions.cpp)
+target_link_libraries(survey_sites_actions
+  plansys2_executor::plansys2_executor
+  rclcpp::rclcpp
+)
+target_compile_definitions(survey_sites_actions PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+add_executable(survey_sites_mission src/survey_sites_mission.cpp)
+target_link_libraries(survey_sites_mission
+  plansys2_executor::plansys2_executor
+  plansys2_planner::plansys2_planner
+  plansys2_problem_expert::plansys2_problem_expert
+  plansys2_domain_expert::plansys2_domain_expert
+  ${plansys2_msgs_TARGETS}
+  rclcpp::rclcpp
+)
+target_compile_definitions(survey_sites_mission PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 install(TARGETS corridor_actions corridor_mission survey_actions survey_mission
+  survey_sites_actions survey_sites_mission
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

eplansys_demo/epddl/survey-sites-problem.epddl

@@ -0,0 +1,68 @@
+(define (problem two-site-survey)
+
+  ;; Four robots at the depot. `north` and `south` are the two scouts, `relay`
+  ;; is the team member the findings have to reach, and `observer` is the
+  ;; machine the team does not control and the mission excludes.
+  ;;
+  ;; Neither site's state is given. Two atoms are left open, so the model
+  ;; designates four worlds and the policy branches twice.
+  ;;
+  ;; Each scout carries the instrument its own site needs, and only the site's
+  ;; instrument reads it. That is what keeps the two halves in different hands:
+  ;; without it the cheapest policy sends one robot to both sites, which is a
+  ;; correct answer to the mission and not the one this problem is posed to
+  ;; produce.
+
+  (:domain survey-sites)
+
+  (:requirements
+    :equality :list-comprehensions
+    :finitary-S5-theories :modal-goals :knowing-whether
+    :multi-pointed-models :negative-preconditions
+  )
+
+  (:agents north south relay observer)
+
+  (:init
+    (:and
+      ;; Who carries what, settled and common knowledge. Every agent is named
+      ;; for every instrument: an atom the initial state leaves out is an atom
+      ;; the model has to be uncertain about, and eight such atoms would
+      ;; designate two hundred and fifty-six worlds to say what four say here.
+      ([C. All] (instrument-north north))
+      ([C. All] (not (instrument-north south)))
+      ([C. All] (not (instrument-north relay)))
+      ([C. All] (not (instrument-north observer)))
+      ([C. All] (instrument-south south))
+      ([C. All] (not (instrument-south north)))
+      ([C. All] (not (instrument-south relay)))
+      ([C. All] (not (instrument-south observer)))
+      (:forall (?i - agent)
+        ([C. All] (not (on-north ?i))))
+      (:forall (?i - agent)
+        ([C. All] (not (on-south ?i))))
+      (:forall (?i - agent)
+        ([C. All] (<Kw. ?i> (contaminated-north))))
+      (:forall (?i - agent)
+        ([C. All] (<Kw. ?i> (contaminated-south))))
+    )
+  )
+
+  ;; Six conjuncts, three per site, and the two triples share nothing. Each
+  ;; site has to be visited, its finding has to reach `relay` over a channel
+  ;; the observer cannot hear, and the observer has to end ignorant of it.
+  ;;
+  ;; The two halves are what this problem is for. They are independent in the
+  ;; model --- no action of one appears in a precondition of the other --- so
+  ;; any serial policy for the mission is twice as long as the work requires.
+  (:goal
+    (and
+      ([Kw. north] (contaminated-north))
+      ([Kw. relay] (contaminated-north))
+      (<Kw. observer> (contaminated-north))
+      ([Kw. south] (contaminated-south))
+      ([Kw. relay] (contaminated-south))
+      (<Kw. observer> (contaminated-south))
+    )
+  )
+)

eplansys_demo/epddl/survey-sites.epddl

@@ -0,0 +1,297 @@
+(define (domain survey-sites)
+
+  ;; Two sites, and a team large enough to survey both at once.
+  ;;
+  ;; This is `survey-team` with the site made plural. Everything that domain
+  ;; says about audiences holds here unchanged: a scanning robot learns the
+  ;; answer, the others learn only that it scanned, the open channel reaches
+  ;; the observer and the team link does not.
+  ;;
+  ;; What the second site adds is independence. Nothing a robot does at the
+  ;; north site bears on the south one: the two findings are separate atoms,
+  ;; the two drives are separate effects, and no action at one site appears in
+  ;; any precondition at the other. A policy for this mission therefore holds
+  ;; two halves that could run at the same time and, dispatched a node at a
+  ;; time, do not.
+  ;;
+  ;; EPDDL parameters are agents, so a site cannot be one. The two halves are
+  ;; written out instead of quantified, which is verbose and exact.
+
+  (:requirements
+    :equality :partial-observability :list-comprehensions :lists
+    :ontic-actions :group-modalities
+    :negative-preconditions :modal-preconditions :knowing-whether
+  )
+
+  (:action-type-libraries intermediate)
+
+  (:predicates
+    (contaminated-north)         ; the north site is contaminated
+    (contaminated-south)         ; the south site is contaminated
+    (on-north ?i - agent)        ; ?i is close enough to scan the north site
+    (on-south ?i - agent)        ; ?i is close enough to scan the south site
+    (instrument-north ?i - agent); ?i carries the instrument the north site needs
+    (instrument-south ?i - agent); ?i carries the instrument the south site needs
+  )
+
+  (:event nil)
+
+  ;--------------------DRIVE TO A SITE------------------
+  ;
+  ; Ontic and public, as in the one-site mission: the team tracks its members
+  ; and the observer watches them move.
+
+  (:event e-goto-north
+    :parameters (?i - agent)
+    :precondition (not (on-north ?i))
+    :effects (on-north ?i)
+  )
+
+  (:action goto-north
+    :parameters (?i - agent)
+    :action-type (public-ontic (e-goto-north ?i))
+    :observability-conditions (default Fully)
+  )
+
+  (:event e-goto-south
+    :parameters (?i - agent)
+    :precondition (not (on-south ?i))
+    :effects (on-south ?i)
+  )
+
+  (:action goto-south
+    :parameters (?i - agent)
+    :action-type (public-ontic (e-goto-south ?i))
+    :observability-conditions (default Fully)
+  )
+
+  ;--------------------SCAN A SITE------------------
+  ;
+  ; Semi-private sensing. The scanning robot learns whether that site is
+  ; contaminated; everyone else learns that it scanned.
+
+  (:event e-scan-north-dirty
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (instrument-north ?i)
+        (on-north ?i)
+        (contaminated-north)
+        (<Kw. ?i> (contaminated-north)) )
+  )
+
+  (:event e-scan-north-clean
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (instrument-north ?i)
+        (on-north ?i)
+        (not (contaminated-north))
+        (<Kw. ?i> (contaminated-north)) )
+  )
+
+  (:action scan-north
+    :parameters (?i - agent)
+    :action-type (semi-private-sensing
+      (e-scan-north-dirty ?i)
+      (e-scan-north-clean ?i) )
+    :observability-conditions
+      (:and
+        (?i Fully)
+        (default Partially) )
+  )
+
+  (:event e-scan-south-dirty
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (instrument-south ?i)
+        (on-south ?i)
+        (contaminated-south)
+        (<Kw. ?i> (contaminated-south)) )
+  )
+
+  (:event e-scan-south-clean
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (instrument-south ?i)
+        (on-south ?i)
+        (not (contaminated-south))
+        (<Kw. ?i> (contaminated-south)) )
+  )
+
+  (:action scan-south
+    :parameters (?i - agent)
+    :action-type (semi-private-sensing
+      (e-scan-south-dirty ?i)
+      (e-scan-south-clean ?i) )
+    :observability-conditions
+      (:and
+        (?i Fully)
+        (default Partially) )
+  )
+
+  ;--------------------REPORT ON THE OPEN CHANNEL------------------
+  ;
+  ; The trap, once per site: it informs the team in one step and hands the
+  ; finding to the observer, which the goal forbids.
+
+  (:event e-open-north-dirty
+    :parameters (?i - agent)
+    :precondition ([?i] (contaminated-north))
+  )
+
+  (:event e-not-open-north-dirty
+    :parameters (?i - agent)
+    :precondition (not ([?i] (contaminated-north)))
+  )
+
+  (:action broadcast-north-dirty
+    :parameters (?i - agent)
+    :action-type (public-announcement
+      (e-open-north-dirty ?i)
+      (e-not-open-north-dirty ?i) )
+    :observability-conditions (default Fully)
+  )
+
+  (:event e-open-north-clean
+    :parameters (?i - agent)
+    :precondition ([?i] (not (contaminated-north)))
+  )
+
+  (:event e-not-open-north-clean
+    :parameters (?i - agent)
+    :precondition (not ([?i] (not (contaminated-north))))
+  )
+
+  (:action broadcast-north-clean
+    :parameters (?i - agent)
+    :action-type (public-announcement
+      (e-open-north-clean ?i)
+      (e-not-open-north-clean ?i) )
+    :observability-conditions (default Fully)
+  )
+
+  (:event e-open-south-dirty
+    :parameters (?i - agent)
+    :precondition ([?i] (contaminated-south))
+  )
+
+  (:event e-not-open-south-dirty
+    :parameters (?i - agent)
+    :precondition (not ([?i] (contaminated-south)))
+  )
+
+  (:action broadcast-south-dirty
+    :parameters (?i - agent)
+    :action-type (public-announcement
+      (e-open-south-dirty ?i)
+      (e-not-open-south-dirty ?i) )
+    :observability-conditions (default Fully)
+  )
+
+  (:event e-open-south-clean
+    :parameters (?i - agent)
+    :precondition ([?i] (not (contaminated-south)))
+  )
+
+  (:event e-not-open-south-clean
+    :parameters (?i - agent)
+    :precondition (not ([?i] (not (contaminated-south))))
+  )
+
+  (:action broadcast-south-clean
+    :parameters (?i - agent)
+    :action-type (public-announcement
+      (e-open-south-clean ?i)
+      (e-not-open-south-clean ?i) )
+    :observability-conditions (default Fully)
+  )
+
+  ;--------------------REPORT ON THE TEAM CHANNEL------------------
+  ;
+  ; The action the mission needs, once per site and per polarity: the speaker
+  ; and the named listener learn, and nobody else learns that anything was
+  ; said.
+
+  (:event e-team-north-dirty
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (on-north ?i)
+        ([?i] (contaminated-north)) )
+  )
+
+  (:action relay-north-dirty
+    :parameters (?i ?j - agent)
+    :action-type (private-announcement
+      (e-team-north-dirty ?i)
+      (nil) )
+    :observability-conditions
+      (:and
+        (?i Fully)
+        (?j Fully)
+        (default Oblivious) )
+  )
+
+  (:event e-team-north-clean
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (on-north ?i)
+        ([?i] (not (contaminated-north))) )
+  )
+
+  (:action relay-north-clean
+    :parameters (?i ?j - agent)
+    :action-type (private-announcement
+      (e-team-north-clean ?i)
+      (nil) )
+    :observability-conditions
+      (:and
+        (?i Fully)
+        (?j Fully)
+        (default Oblivious) )
+  )
+
+  (:event e-team-south-dirty
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (on-south ?i)
+        ([?i] (contaminated-south)) )
+  )
+
+  (:action relay-south-dirty
+    :parameters (?i ?j - agent)
+    :action-type (private-announcement
+      (e-team-south-dirty ?i)
+      (nil) )
+    :observability-conditions
+      (:and
+        (?i Fully)
+        (?j Fully)
+        (default Oblivious) )
+  )
+
+  (:event e-team-south-clean
+    :parameters (?i - agent)
+    :precondition
+      (and
+        (on-south ?i)
+        ([?i] (not (contaminated-south))) )
+  )
+
+  (:action relay-south-clean
+    :parameters (?i ?j - agent)
+    :action-type (private-announcement
+      (e-team-south-clean ?i)
+      (nil) )
+    :observability-conditions
+      (:and
+        (?i Fully)
+        (?j Fully)
+        (default Oblivious) )
+  )
+)