today's update

missions/lisp/IeeeJOE2018PaperBasicExample/IeeeJOE2018HumanDirectedAllPathsSearch.cl

 
 ;This code written in ANSI Common Lisp, Allegro 10.1 enhancement, from Franz, Inc., by
 ;Prof. Robert B. McGhee (robertbmcghee@gmail.com) at the Naval Postgraduate School,
-; , CA 93943. Date of latest update: 11 June 2020.
+; , CA 93943. Date of latest update: 30 June 2020.
 
 ;The mission coded below is taken from Fig. 7, pg. 434, in "Ethical Mission Definition
 ;and Execution for Maritime Robots Under Human Supervision", IEEE Journal of Oceanic
@@ -48,6 +48,11 @@
 
 (defvar *current-paths-to-goal* nil)
 (defvar *path-to-goal* '(s s s s))
+(defvar *all-algorithmic-paths* nil)
+(defvar *mission-execution-scenario* nil)
+(defvar *all-human-directed-paths* '((X X) (X F) (X S) (F X X) (F X F) (F X S) (F F X) (F F F) (F F S) (F S X) (F S F)
+  (F S S) (S X X) (S X F) (S X S) (S F) (S S X X) (S S X F) (S S X S) (S S F X) (S S F F) (S S F S) (S S S X) (S S S F)
+  (S S S S)))    ;From 6/22/20 results emailed to NPS team.
 (defvar agent1)
 (defvar agent2)
 (defvar phase1)
@@ -70,6 +75,16 @@
    (successor-list-index :accessor successor-list-index :initform 1)
    (current-outcome-sequence :accessor current-outcome-sequence :initform nil)))
 
+(defclass DAG-find-all-paths-agent ()
+  ((current-search-phase :accessor current-search-phase :initform 'phase1)
+   (successor-list :accessor successor-list :initform nil)
+   (successor-list-index :accessor successor-list-index :initform 0)
+   (all-paths-to-frontier :accessor all-paths-to-frontier :initform nil)
+   (all-paths-to-goal :accessor all-paths-to-goal :initform nil)
+   (new-paths-list-length :accessor new-paths-list-length :initform nil)
+   (new-paths-list :accessor new-paths-list :initform nil)
+   (new-path-segments-list :accessor new-path-segments-list :initform nil)))
+
 (defun create-5-mission-phases ()
   (setf phase1 (make-instance 'mission-phase)
         phase2 (make-instance 'mission-phase)
@@ -224,15 +239,6 @@
 ;;;;;;;;;;;;;;;;;;;;;;Algorithmic Proof of Correctness by Breadth First Exhaustive Search;;;;;;;;;;;;;;;;;;;;;
 
 
-(defclass DAG-find-all-paths-agent ()
-  ((current-search-phase :accessor current-search-phase :initform 'phase1)
-   (successor-list :accessor successor-list :initform nil)
-   (successor-list-index :accessor successor-list-index :initform 0)
-   (all-paths-to-frontier :accessor all-paths-to-frontier :initform nil)
-   (all-paths-to-goal :accessor all-paths-to-goal :initform nil)
-   (new-paths-list-length :accessor new-paths-list-length :initform nil)
-   (new-paths-list :accessor new-paths-list :initform nil)
-   (new-path-segments-list :accessor new-path-segments-list :initform nil)))
 
 ;DAG means "Directed Acyclic Graph".
 
@@ -319,3 +325,17 @@
 
 (defun results ()  
   (pprint (all-paths-to-goal agent2)))
+
+(defun save-results ()  
+  (setf *all-algorithmic-paths* (all-paths-to-goal agent2)
+        *mission-execution-scenario* (first *all-algorithmic-paths*)))
+
+(defun convert-path-element-to-symbol (x)
+  (cond ((equal x "Success.") 's)
+        ((equal x "Failure.") 'f)
+        ((equal x "Exception.") 'x)))
+
+(defun abbreviate-scenario-element ()
+  (let* ((element (pop *mission-execution-scenario*))
+         (symbol (convert-path-element-to-symbol element)))
+    (list element symbol)))
\ No newline at end of file