Update Continuous calls in Car_linear and Turtlebot domains

Maumagnaguagno · Dec 16, 2023 · a7c75a3 · a7c75a3
1 parent e2fb635
commit a7c75a3
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Showing 2 changed files with 15 additions and 34 deletions.
diff --git a/examples/car_linear/car_linear.ujshop b/examples/car_linear/car_linear.ujshop
@@ -18,9 +18,10 @@
     ()
     (
       (engine_running)
-      (call process_effect)
-      (call process increase d displacement ?start ?finish)
-      (call process increase v moving_custom ?start ?finish)
+      (call processes (
+        (increase d displacement  ?start ?finish)
+        (increase v moving_custom ?start ?finish)
+      ))
     )
   )
 
@@ -33,10 +34,7 @@
       (call = (call function a ?time) 0)
     )
     ((engine_running))
-    (
-      (call event_effect)
-      (call event assign v 0 ?time)
-    )
+    ((call event assign v 0 ?time))
   )
 
   (:operator (!accelerate ?time)
@@ -45,10 +43,7 @@
       (call < (call function a ?time) (call function max_acceleration))
     )
     ()
-    (
-      (call event_effect)
-      (call event increase a 1 ?time)
-    )
+    ((call event increase a 1 ?time))
   )
 
   (:operator (!decelerate ?time)
@@ -57,10 +52,7 @@
       (call > (call function a ?time) (call function min_acceleration))
     )
     ()
-    (
-      (call event_effect)
-      (call event decrease a 1 ?time)
-    )
+    ((call event decrease a 1 ?time))
   )
 
   (:operator (!!test_destination ?min_destination ?max_destination ?time)

diff --git a/examples/turtlebot/turtlebot.ujshop b/examples/turtlebot/turtlebot.ujshop
@@ -19,37 +19,25 @@
   (:operator (!increment_velocity_x ?robot ?time)
     ()
     ()
-    (
-      (call event_effect)
-      (call event increase (vx ?robot) 1 ?time)
-    )
+    ((call event increase (vx ?robot) 1 ?time))
   )
 
   (:operator (!decrement_velocity_x ?robot ?time)
     ()
     ()
-    (
-      (call event_effect)
-      (call event decrease (vx ?robot) 1 ?time)
-    )
+    ((call event decrease (vx ?robot) 1 ?time))
   )
 
   (:operator (!turn_clockwise ?robot ?angle ?time)
     ()
     ()
-    (
-      (call event_effect)
-      (call event assign (a ?robot) ?angle ?time)
-    )
+    ((call event assign (a ?robot) ?angle ?time))
   )
 
   (:operator (!turn_counter_clockwise ?robot ?angle ?time)
     ()
     ()
-    (
-      (call event_effect)
-      (call event assign (a ?robot) ?angle ?time)
-    )
+    ((call event assign (a ?robot) ?angle ?time))
   )
 
   (:operator (!!set ?robot ?pos)
@@ -74,9 +62,10 @@
     ()
     ()
     (
-      (call process_effect)
-      (call process increase (x ?robot) displacement_x ?start ?finish)
-      (call process increase (y ?robot) displacement_y ?start ?finish)
+      (call processes (
+        (increase (x ?robot) displacement_x ?start ?finish)
+        (increase (y ?robot) displacement_y ?start ?finish)
+      ))
     )
   )