106 lines
1.8 KiB
Plaintext
106 lines
1.8 KiB
Plaintext
//sequence:
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// act action1()
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// act action2(2, 2.3, True)
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//
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// parallel 2:
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// act action3(int a, float b)
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// act action4()
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sequence{
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selector{
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cond CoffeeCupFound()
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task FindCoffeeCup()
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sequence{
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cond SeqTest()
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task Move(1.2, 2, 2.3, True)
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task Grasp()
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parallel 3 {
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cond Istask()
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task TestTask()
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}
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}
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}
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selector{
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cond CoffeeCupGrasped()
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task GraspCoffeeCup()
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}
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selector{
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cond DestinationAReached()
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task ReachDestinationA()
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}
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selector{
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cond CoffeeCupPlaced()
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task PlaceCoffeeCup()
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}
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}
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sequence{
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cond NotAt(Coffee,Table)
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selector{
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cond Holding(Coffee)
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sequence{
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selector{
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cond At(Bar)
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task MoveTo(Bar)
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}
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task Grasp(Coffee)
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}
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}
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selector{
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cond At(Table)
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task MoveTo(Table)
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}
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Put(Coffee)
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}
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selector{
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sequence{
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cond At(Table)
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cond Holding(Coffee)
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task Put(Table)
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}
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sequence{
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cond NotHolding(Coffee)
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task MoveTo(Table)
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}
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sequence{
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cond At(Bar)
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task Grasp(Coffee)
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}
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task MoveTo(Table)
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sequence{
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cond Coffee()
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task FindCoffeeCup()
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sequence{
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cond SeqTest()
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task Move(1.2, 2, 2.3, True)
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task Grasp()
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parallel 3 {
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cond Istask()
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task TestTask()
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}
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}
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}
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selector{
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cond At(Table,Coffee)
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task GraspCoffeeCup()
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}
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selector{
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cond DestinationAReached()
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task ReachDestinationA()
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}
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selector{
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cond CoffeeCupPlaced()
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task PlaceCoffeeCup()
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}
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}
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