From c6d6e4955a622a737f695d12d3c434fb7e17f36d Mon Sep 17 00:00:00 2001 From: Tarik Viehmann Date: Sat, 20 Jul 2024 08:15:32 +0200 Subject: [PATCH] rcll-central: also reduce goal counter after retry failure --- src/clips-specs/rcll-central/execution-monitoring.clp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/clips-specs/rcll-central/execution-monitoring.clp b/src/clips-specs/rcll-central/execution-monitoring.clp index 42b75c4fd..91cf59897 100644 --- a/src/clips-specs/rcll-central/execution-monitoring.clp +++ b/src/clips-specs/rcll-central/execution-monitoring.clp @@ -608,13 +608,14 @@ (type ACHIEVE) (sub-type SIMPLE) (mode SELECTED) (parent ?pa-id&~nil) ) - (goal-meta (goal-id ?goal-id) (assigned-to ?robot&:(neq ?robot nil))) + ?gm <- (goal-meta (goal-id ?goal-id) (assigned-to ?robot&:(neq ?robot nil)) (retries ?retries)) => (retract ?high-prio) (delayed-do-for-all-facts ((?retry wm-fact)) (and (wm-key-prefix ?retry:key (create$ monitoring goal retry robot counter)) (eq (wm-key-arg ?retry:key r) ?robot)) (modify ?retry (value (max (- ?retry:value ?*GOAL-RETRY-MAX*) 0))) ) + (modify ?gm (retries (max (- ?retries ?*GOAL-RETRY-MAX*) 0))) ) ; ----------------------- HANDLE WP CHECK FAIL --------------------------------