Completed name harmonization

[tmarble]

• Complex (nested) root-task elaboration First symbol is HTN pclass, ultimate symbol is the method, and intermediate symbols (if any) are fields from the previous pclass. Arguments may be literals or fields qualified by pclass (and zero or more intermediate fields).
• HTN progagation proceeds normally when HTN and TPN are not hand-coded.
• HTN now has all the attributes required to generate the TPN :name :display-name ;; preformatted in camelCase without args :command (duplicate of :name) :args :argsmap :plantid :plant-part :interface
• TPN activities now have all plant instance details (:id :plant-part :interface)
• Delays are represented as type :delay-activity
• Temporal constraints for activities on attached to the activity (rather than the begin node).
• Fixed jenkins.sh
• Updated documents in doc/

Several new methods to specify HTN's via root-task as explained in four use cases:

1. Plant instance referred in HTN method via field as an instanciated plant in the HTN pclass.

(pamela "-i" "test/pamela/biased-coin.pamela"
"-t" "(main.flip-3)" "-o" "flip3" "htn")

2. Plant instance as an argument to the HTN pclass constructor (plant as a pclass param).

(pamela "-i" "test/pamela/regression/simple-plant.pamela"
"-t" "(simple-plant-demo.run.main)" "-o" "simple" "htn")

3. Plant instance as an argument to the HTN pclass constructor. (plant as field, initialized by pclass param).

(pamela "-i" "test/pamela/regression/isr-htn.pamela"
"-t" "(isr-htn-demo.htn.main \"A\" \"B\" \"C\" \"D\")" "-o" "isr" "htn")

4. Root task specifies instanciated plant instances passed to the top level HTN method.

(pamela "-i" "test/pamela/quadcopter.pamela"
"-t" "(qc-waypoints.waypoints qc-demo.qc1 qc-demo.qc2 qc-demo.qc3)"
"-o" "qc" "htn")

Rendered in PLANVIZ

./bin/planviz -i ../pamela/qc.htn.edn=../pamela/qc.tpn.edn -i ../pamela/isr.htn.edn=../pamela/isr.tpn.edn -i ../pamela/flip3.htn.edn=../pamela/flip3.tpn.edn -i ../pamela/simple.htn.edn=../pamela/simple.tpn.edn

NEXT STEPS

1. pamela

   • remove HTN :label slot (use :name instead)
   • document that HTN methods can only have ONE top level parallel or sequence

2. planviz

   • needs to be updated to take advantage of the new slots
   • UI option to show display-name (default) else name
   • UI option to show args (default) or not

Signed-off-by: Tom Marble tmarble@info9.net

[pmdoll]

plant-id attribute is not there in generated htn and tpn jsons.