Add the .goto action for PyGomas

spade_bdi/bdi.py

 # -*- coding: utf-8 -*-
-from spade.behaviour import CyclicBehaviour
+import asyncio
+import json
+from ast import literal_eval
+from loguru import logger
 import pyson
 import pyson.runtime
 import pyson.stdlib
-import asyncio
+from spade.behaviour import CyclicBehaviour
 from spade.agent import Agent
 from spade.template import Template
 from spade.message import Message
-import json
-from ast import literal_eval
-from loguru import logger
+from .ontology import X, Y, Z
 
 PERCEPT_TAG = frozenset(
     [pyson.Literal("source", (pyson.Literal("percept"), ))])
+PRECISION_Z = 0.5
+PRECISION_X = 0.5
 
 
 class BDIAgent(Agent):
@@ -62,6 +65,19 @@ class BDIAgent(Agent):
                 msg = Message(to=receiver, body=body, metadata=mdata)
                 self.agent.submit(self.send(msg))
                 yield
+#
+
+            @self.agent.bdi_actions.add(".goto", 3)
+            def _goto(agent, term, intention):
+                """Sets the PyGomas destination. Expects args to be x,y,z"""
+                args = pyson.grounded(term.args, intention.scope)
+
+                absx = abs(args[0] - self.agent.movement.position.x)
+                absz = abs(args[2] - self.agent.movement.position.z)
+                if (absx < PRECISION_X) and (absz < PRECISION_Z):
+                    self.agent.movement.position.x = args[0]
+                    self.agent.movement.position.z = args[2]
+                yield
 
             @self.agent.bdi_actions.add(".custom_action", 1)
             def _custom_action(agent, term, intention):

spade_bdi/ontology.py

+TEAM_NONE: int = 0
+TEAM_ALLIED: int = 100
+TEAM_AXIS: int = 200
+PERFORMATIVE: str = "performative"
+NAME: str = "name"
+TYPE: str = "type"
+TEAM: str = "team"
+MAP: str = "map"
+QTY: str = "qty"
+ANGLE: str = "angle"
+DISTANCE: str = "distance"
+HEALTH: str = "health"
+AMMO: str = "ammo"
+DEC_HEALTH: str = "dec_health"
+AIM: str = "aim"
+SHOTS: str = "shots"
+X: str = "x"
+Y: str = "y"
+Z: str = "z"
+VEL_X: str = "velx"
+VEL_Y: str = "vely"
+VEL_Z: str = "velz"
+HEAD_X: str = "headx"
+HEAD_Y: str = "heady"
+HEAD_Z: str = "headz"
+FOV: str = "FOV"
+PACKS: str = "PACKS"
+MEDIC_SERVICE: str = "medic"
+AMMO_SERVICE: str = "ammo"
+BACKUP_SERVICE: str = "backup"
+PERFORMATIVE_BDI: str = "bdi"
+PERFORMATIVE_GAME: str = "game"
+PERFORMATIVE_PACK_TAKEN: str = "pack_taken"
+PERFORMATIVE_PACK: str = "pack"
+PERFORMATIVE_SERVICES: str = "services"
+PERFORMATIVE_INFORM: str = "inform"
+PERFORMATIVE_PACK_LOST: str = "pack_lost"
+PERFORMATIVE_SHOT: str = "shot"
+PERFORMATIVE_SIGHT: str = "sight"
+PERFORMATIVE_DATA: str = "data"
+MANAGEMENT_SERVICE: str = "management"
+PERFORMATIVE_INIT: str = "init"
+PERFORMATIVE_OBJECTIVE: str = "objective"
+PERFORMATIVE_GET: str = "get"
+PERFORMATIVE_CFM: str = "cfm"
+PERFORMATIVE_CFA: str = "cfa"
+PERFORMATIVE_CFB: str = "cfb"
+ACTION: str = "ACTION"
+CREATE: str = "CREATE"
+DESTROY: str = "DESTROY"
+PERFORMATIVE_REGISTER_AGENT: str = "register_agent"
+PERFORMATIVE_DEREGISTER_AGENT: str = "deregister_agent"
+PERFORMATIVE_REGISTER_SERVICE: str = "register"
+PERFORMATIVE_DEREGISTER_SERVICE: str = "deregister_service"