Merge pull request #17 from loonwerks/Year_3

Year 3 Integration

agents/IAS_Agent with Learning Mode and Auth Change Sensor/alert-handling/handle-alert.soar

@@ -41,12 +41,12 @@ sp {top-state*elaborate*error-info*current-value*imu
 
 
 sp {top-state*elaborate*user-response*agree
-    (state <s> ^io.input-link.flightdata.sensor-alert-accepted yes)
+    (state <s> ^io.input-link.flightdata.pilot-decision yes)
 -->
     (<s> ^user-response yes)
     }
 sp {top-state*elaborate*user-response*disagree
-    (state <s> ^io.input-link.flightdata.sensor-alert-accepted no)
+    (state <s> ^io.input-link.flightdata.pilot-decision no)
 -->
     (<s> ^user-response no)
     }
@@ -89,7 +89,7 @@ proc generateSafetyWarnCondition { types } {
    }
 }
 
-generateSafetyWarnCondition { gps lidar imu }
+generateSafetyWarnCondition { gps imu lidar }
 
 ##########################
 ### Detect high warn-condition for a sensor
@@ -108,7 +108,7 @@ proc generateHighWarnCondition { types } {
             "
    }
 }
-generateHighWarnCondition { gps lidar imu }
+generateHighWarnCondition { gps imu lidar }
 
 ##########################
 ### Detect low warn-condition for a sensor
@@ -121,16 +121,16 @@ proc generateLowWarnCondition { types } {
                          ^${type}-error-info <ei>)
               (<ei> ^current-value >= <nv>)
               (<ei> ^current-value < <hv>)
-              
-              
+
+
 	      #(<ei> -^warn-condition safety)
 	      #(<ei> -^warn-condition high)
             -->
               (<ei> ^warn-condition low)
             "
    }
 }
-generateLowWarnCondition { gps lidar imu }
+generateLowWarnCondition { gps imu lidar }
 
 proc generateDisplayWarnCondition { types } {
    foreach type $types {
@@ -143,7 +143,7 @@ proc generateDisplayWarnCondition { types } {
             "
    }
 }
-#generateDisplayWarnCondition { gps lidar imu }
+#generateDisplayWarnCondition { gps imu lidar }
 
 
 ######################
@@ -165,7 +165,7 @@ proc generateNormalWarnCondition { types } {
    }
 }
 
-generateNormalWarnCondition { gps lidar imu }
+generateNormalWarnCondition { gps imu lidar }
 
 ########################
 ### Any time one of the error values changes, record the change and set the ^error-changed flag
@@ -185,7 +185,7 @@ proc generateRecordChangedErrorPropose { types } {
             "
    }
 }
-generateRecordChangedErrorPropose { gps lidar imu }
+generateRecordChangedErrorPropose { gps imu lidar }
 
 
 ############################
@@ -219,7 +219,7 @@ proc generateDecisionPropose { types } {
    }
 }
 
-generateDecisionPropose { gps lidar imu }
+generateDecisionPropose { gps imu lidar }
 
 sp {warn*propose
     (state <s> ^ready-to-decide yes)
@@ -247,14 +247,14 @@ proc generateRecordUserResponsePropose { types } {
               (state <s> ^${type}-error-info <ei>)
 	      (<s> ^flight-mode horizontal)
 	      (<s> ^warning-issued ${type})
-	      (<s> ^user-response <x> <> nil)
+	      (<s> ^user-response <x> <> none)
 	      (<ei> -^warning-accepted)
             -->
-              (<s> ^operator <o> + >,=)
+          (<s> ^operator <o> + >,=)
 	      (<o> ^name record-user-response)
 	      (write (crlf) |Pilot response: | <x>)
             "
    }
 }
 
-generateRecordUserResponsePropose { gps lidar imu }
+generateRecordUserResponsePropose { gps imu lidar }

agents/IAS_Agent with Learning Mode and Auth Change Sensor/alert-handling/learning-rewards.soar

@@ -39,7 +39,7 @@ proc generateRewardAccepted { types } {
             (state <s> ^reward-link <rl>
                 ^${type}-error-info.warning-accepted yes)
             (<s> ^io.input-link.flightdata <fd>)
-            (<fd> ^learning_mode on)
+            (<fd> ^learning-mode on)
         -->
             (write (crlf) |User accepted warning. Reward value is 1.0 for ${type} |)
             (<rl> ^reward <rr>)
@@ -48,15 +48,15 @@ proc generateRewardAccepted { types } {
    }
 }
 
-generateRewardAccepted { gps lidar imu }
+generateRewardAccepted { gps imu lidar }
 
 proc generateRewardRejected { types } {
    foreach type $types {
       sp "reward-link*elaborate*reward*rejected-warning*${type}
             (state <s> ^reward-link <rl>
                 ^${type}-error-info.warning-accepted no)
             (<s> ^io.input-link.flightdata <fd>)
-            (<fd> ^learning_mode on)
+            (<fd> ^learning-mode on)
         -->
             (write (crlf) |User rejected warning. Reward value is -1.0 for ${type} |)
             (<rl> ^reward <rr>)
@@ -65,4 +65,4 @@ proc generateRewardRejected { types } {
    }
 }
 
-generateRewardRejected { gps lidar imu }
+generateRewardRejected { gps imu lidar }

agents/IAS_Agent with Learning Mode and Auth Change Sensor/alert-handling/operators/do-not-warn.soar

@@ -44,6 +44,7 @@ sp {do-not-warn*apply*warning-accepted*remove*gps
 -->
     (<ei> ^warning-accepted <x> -)
     (<s> ^ready-to-decide yes -)
+    (write (crlf) |Warning Accepted|)
     }
 
 sp {do-not-warn*apply*warning-accepted*remove*lidar
@@ -82,6 +83,7 @@ sp {do-not-warn*apply*value-changed*remove*gps
 -->
     (<ei> ^value-changed true -)
     (<s> ^ready-to-decide yes -)
+    (write (crlf) |Value Changed|)
 
     }
 

agents/IAS_Agent with Learning Mode and Auth Change Sensor/alert-handling/operators/record-user-response.soar

@@ -18,12 +18,13 @@ proc generateRecordUserResponseYesApply { types } {
 		-->
 		    (<ei> ^warning-accepted yes)
 		    (<s> ^warning-issued ${type} -)
-		    (<out> ^clear-sensor-alert-response yes)
+		    (<out> ^clear-pilot-response-for-error yes)
+			(write (crlf) |User Response Yes|)
 		"
     	}
 }
 
-generateRecordUserResponseYesApply { gps lidar imu }
+generateRecordUserResponseYesApply { gps imu lidar }
 
 proc generateRecordUserResponseNoApply { types } {
 	foreach type $types {
@@ -38,12 +39,13 @@ proc generateRecordUserResponseNoApply { types } {
 		-->
 		    (<ei> ^warning-accepted no)
 		    (<s> ^warning-issued ${type} -)
-		    (<out> ^clear-sensor-alert-response yes)
+		    (<out> ^clear-pilot-response-for-error no)
+			(write (crlf) |User Response No|)
 		"
     	}
 }
 
-generateRecordUserResponseNoApply { gps lidar imu }
+generateRecordUserResponseNoApply { gps imu lidar }
 
 
 #sp {record-user-response*apply*gps

agents/IAS_Agent with Learning Mode and Auth Change Sensor/alert-handling/operators/warn.soar

@@ -30,6 +30,7 @@ sp {warn*apply*warning-accepted*remove*gps
 -->
     (<ei> ^warning-accepted <x> -)
     (<s> ^ready-to-decide yes -)
+    (write (crlf) |Warning Accepted so Removed|)
     }
 
 sp {warn*apply*warning-accepted*remove*lidar
@@ -78,6 +79,7 @@ sp {warn*apply*issue-warning*gps
     (<s> ^warning-issued gps)
     (<ei> ^value-changed true -)
     (<s> ^ready-to-decide yes -)
+    (write (crlf) |Warning Issued|)
     }
 
 sp {warn*apply*issue-warning*lidar

agents/IAS_Agent with Learning Mode and Auth Change Sensor/alert-handling/selection.soar

@@ -21,7 +21,7 @@ proc generateWarnBestSafetyCondition { types } {
         "
     }
 }
-generateWarnBestSafetyCondition { gps lidar imu }
+generateWarnBestSafetyCondition { gps imu lidar }
 
 ### Always choose NOT to warn in the normal condition
 
@@ -36,11 +36,10 @@ proc generateDoNotWarnBestNormalCondition { types } {
             (<ei> ^warn-condition <wc>)
         -->
             (<s> ^operator <o> >,=)
-            (write (crlf) |proposed do-not-warn in selection for ${type} | <wc> | condition |)
         "
     }
 }
-generateDoNotWarnBestNormalCondition { gps lidar imu }
+generateDoNotWarnBestNormalCondition { gps imu lidar }
 
 ################################
 ### Learning conditions

agents/IAS_Agent with Learning Mode and Auth Change Sensor/error-handling/handle-error.soar

@@ -4,7 +4,7 @@
 # @created rjones 20210118
 
 echo "\nLoading handle-error.soar"
-#change_sensor_auth
+#change-sensor-auth
 ### Original code commented out, refactored code below
 #sp {propose*detect*gps*error
 #    (state <s> ^flight-mode horizontal)
@@ -66,7 +66,7 @@ echo "\nLoading handle-error.soar"
 #     }
 
 
-# Previous Code  
+# Previous Code
 # sp {top-state*elaborate*sensor-error-detected*lidar
 #     (state <s> ^flight-mode horizontal
 #                ^sensor-unreliable no
@@ -79,7 +79,7 @@ echo "\nLoading handle-error.soar"
 #     (write (crlf) |LIDAR is Unreliable!|)
 #     (<s> ^sensor-error-detected lidar)
 #     }
-# Previous Code  
+# Previous Code
 # sp {top-state*elaborate*sensor-error-detected*imu
 #     (state <s> ^flight-mode horizontal
 #                ^sensor-unreliable no
@@ -100,7 +100,8 @@ proc generateSensorErrorDetected { types } {
                     ^sensor-unreliable no
                     ^${type}-error-info <ei>
                     ^io.input-link.flightdata <fd>)
-            (<fd> ^change_sensor_auth on)
+            (<fd> ^change-sensor-auth on
+                  ^learning-mode off )
             (<ei> ^warning-accepted yes)
         -->
             (write (crlf) |${type} is Unreliable!|)
@@ -109,7 +110,7 @@ proc generateSensorErrorDetected { types } {
     	}
 }
 
-generateSensorErrorDetected { gps lidar imu }
+generateSensorErrorDetected { gps imu lidar }
 
 
 sp {propose*sensor-error-over-limit
@@ -127,7 +128,8 @@ sp {propose*pilot-agrees
                ^sensor-unreliable yes
               -^error-handling-complete yes)
     (<s> ^io.input-link.flightdata <fd>)
-    (<fd> ^pilot_decision agree)
+    (<fd> ^learning-mode off )
+    (<fd> ^pilot-decision-to-change yes)
 -->
     (write (crlf) |Pilot agrees.|)
 
@@ -141,7 +143,8 @@ sp {propose*pilot-disagrees
                ^sensor-unreliable yes
               -^error-handling-complete yes)
     (<s> ^io.input-link.flightdata <fd>)
-    (<fd> ^pilot_decision disagree)
+    (<fd> ^learning-mode off )
+    (<fd> ^pilot-decision-to-change no)
 -->
     (write (crlf) |Pilot disagrees.|)