fix bug with planner

acting/core/src/model/sym_table/mod.rs

@@ -17,7 +17,7 @@ use crate::ompas::manager::acting::acting_var::AsCst;
 use crate::planning::conversion::flow_graph::graph::Dot;
 use new_type::newtype;
 use ompas_language::exec::resource::{MAX_Q, QUANTITY};
-use ompas_language::exec::state::INSTANCE;
+use ompas_language::exec::state::{INSTANCE, UNKNOWN};
 use ompas_language::sym_table::*;
 use sompas_language::kind::{ERR, NIL};
 use sompas_structs::lnumber::LNumber;
@@ -180,6 +180,9 @@ impl SymTable {
             ),
         );
 
+        //Add unk as symbol
+        st.new_constant_symbol(UNKNOWN, Domain::any());
+
         st
     }
 

acting/core/src/planning/planner/encoding/domain.rs

@@ -37,6 +37,7 @@ use aries_planning::chronicles::{
 use aries_planning::parsing::pddl::TypedSymbol;
 use env_param::EnvParam;
 use function_name::named;
+use ompas_language::exec::state::UNKNOWN;
 use ompas_language::sym_table::*;
 use sompas_structs::lruntimeerror;
 use sompas_structs::lruntimeerror::LRuntimeError;
@@ -91,6 +92,8 @@ pub fn encode_ctx(
         }
     }
 
+    symbols.push(TypedSymbol::new(UNKNOWN, TYPE_OBJECT));
+
     for sf in &domain.sf {
         symbols.push(TypedSymbol::new(sf.get_label(), TYPE_STATE_FUNCTION));
     }

domains/gripper_door/base.scm

@@ -33,22 +33,22 @@
             ))))
 
     (def-command open (:params (?d door) (?r room) (?g gripper)))
-    (def-command-pddl-model open
+    (def-command-om-model open
         (:params (?d door) (?r room) (?g gripper))
-        (:pre-conditions
-            (= (at-robby) ?r)
-            (= (carry ?g) empty)
-            (is_door_of ?d ?r))
-        (:effects
-            (durative 5 'opened ?d true)))
+        (:body
+            (do
+                (check (= (at-robby) ?r))
+                (check (= (carry ?g) empty))
+                (check (is_door_of ?d ?r))
+                (durative-effect 5 'opened ?d true))))
 
     (def-command close (:params (?d door) (?r room) (?g gripper)))
-    (def-command-pddl-model close
+    (def-command-om-model close
         (:params (?d door) (?r room) (?g gripper))
-        (:pre-conditions
-            (= (at-robby) ?r)
-            (= (carry ?g) empty)
-            (is_door_of ?d ?r))
-        (:effects
-            (durative 5 'opened ?d false)))
+        (:body
+            (do
+                (check (= (at-robby) ?r))
+                (check (= (carry ?g) empty))
+                (check (is_door_of ?d ?r))
+                (durative-effect 5 'opened ?d false))))
 )

stat/src/stat/formatter.rs

@@ -186,7 +186,7 @@ impl From<&SystemStat> for SystemStatFormatter {
         let header = ConfigProblemStat::header(&value.config.fields);
         let header_len = header.len();
         let mut empty_info = vec![Cell::start("ND".to_string()); header_len - 1];
-        empty_info.push(Cell::double("".to_string()));
+        empty_info.push(Cell::double("ND".to_string()));
         for config_name in &config_order {
             first_line.push(Cell {
                 info: config_name.format(),

stat/statos.bash

@@ -1 +1,2 @@
-cargo run --bin statos -- -c config.yml > /home/jeremy/Bureau/result.txt
+#cargo run --bin statos -- -c config.yml > /home/jeremy/Bureau/result.txt
+cargo run --bin statos -- -c config_debug.yml > /home/jeremy/Bureau/result.txt