Goal-Eclipse User Manual - Interactive Intelligence group
Contents
1. Runtime General gt Android Code stepping Ant Call to a module gt Code Recommenders V Entry of the event module gt Dynamic Languages Y Entry of the main module 4 GOAL Entry of the init module Logging Entry of a user defined module imime Evaluation of rule conditions Templates A r sa Help Evaluation of action preconditions Install Update Evaluation of user specified action preconditions Java _ Built in actions that have been executed JavaScript User specified actions that have been executed Maven Mylyn Other gt Plug in Development Prefix agent names with MAS name Prolog Default KR language Run Debug E Server swiprolog v Team Y Print message when a new entity appears Validation Always run the middleware locally Web WindowBuilder High performance XML Sleep agents when they do no actions Remove agents when they are killed Learning Enable learning Learned behaviour file Browse Restore Defaults Apply OK Cancel Figure 5 1 Setting the Code Stepping points e Step Into F5 Step to the next evaluation point By default you will step to the next rule action or module that will be executed Step Over F6 Jumps to the next module or rule and does not show any intermediate steps of course all code is evaluated as usual at all times Fo2. Please note that only files that are in the sub directory of the selected mas2g file will be copied or directly used in the new project Any external files will have to be moved into the project manually by using the file system or the steps as explained in Section 3 1 2 3 2 1 Renaming Moving and Deleting a File The name of a file can be changed by right clicking on it and selecting Refactor Rename Note that a file can also be moved through the Refactor menu Deleting a file can simply be done by right clicking on it and selecting Delete A warning is in place however Changing a file name or location that is part of a MAS project does not modify the contents of the file itself When changing an agent file name or moving or deleting it you need to manually change the agentfiles section of the MAS file All of these operations can also be done on the file system itself 3 2 2 Automatic Completion Automatic code completion is fully supported Chapter 4 Running a Multi Agent System This chapter explains how to run a MAS project Running a multi agent system means launching or connecting to the environment the agents perform their actions in if any and launching the agents when appropriate As explained in Section 3 1 3 which environment is launched depends on the environment section of the MAS file that is being run Which agents are launched depends on the launch policy specified in the same MAS file 4 1 Launching a Mu
3. 54 Debugpug s 2 45 20 wis Pe Sek mo FR URGE RA we Ed 3 eh Be ena ee Sr Action History 20 5m wewer Abs cacaos oe Se ed oe ARUBA Customizing the Logging occse soad sas dorae o i 5 Setting Breakpoint sea sa 9k t dos Rom oor 9 455 E 0x ck EEEE EEE E 5 5 2 Setting Code Line Breakpoints 5 6 Prolog Level Debugging ae nn go 9 ron 561 Prolog Exceptions oce ag xr d xS Ea 5 7 Runtime Preference Settings 00 1 1 11 11 13 13 14 15 15 16 16 17 17 18 19 19 4 CONTENTS 6 Known Issues and Workarounds 29 pl Reporting Bus 24 2 44 eG A A A Regen a ar o 30 Chapter 1 Introduction This user manual describes and explains how to e Install the GOAL platform e Start and use the GOAL plug in for the Eclipse IDE and e Run or debug a MAS This document does not introduce the agent programming language GOAL itself For this we refer the reader to the GOAL Programming Guide 3 and GOAL s website 4 CHAPTER 1 INTRODUCTION Chapter 2 Installing the GOAL Platform This chapter explains how to install the GOAL platform We first describe the system requirements of the platform Please verify that your system meets the minimal system require
4. BWAT2 BWATClient jar gt BWAT2 2 X insert proper initialization parameters values on the next line or remove it init ome RES clientport 2000 serverip localhost serverport 8000 5 humancount ser false goal true 1 6 7 Sagentfiles 9 X insert list of agent file references below 10 robot goal name robot 1 12 15 Launchpolicy insert ate T ules for your environment and agents below 35 when ao robot of 16 17 Outline 11 M 70 4 environment BWAT2 WATCIient jar gt Q init 4 G agentfiles robotgoal 40 i gt 3 E Problems amp Console gt Description Resource Path Location Figure 3 3 Launch Policy of the BW4T example project 3 1 3 Adding a Launch Policy In order to create agents when a multi agent system is launched a launch policy for creating the agents is needed A launch policy is a set of rules which specify when to launch an agent A launch instruction creates and adds a new agent to the MAS when the MAS is launched A launch rule only creates an agent when a controllable entity in an environment becomes available i e when the GOAL platform is notified that an entity has been born Agent name and agent file name can but do not have to be different 3 2 MANAGING AN EXISTING MULTI AGENT PROJECT 15 Finally more than one agent can be connected to
5. a single entity The GOAL Programming Guide 3 provides a comprehensive explanation of launch policies 3 1 4 Importing Knowledge and Module Files When you start writing larger agent programs it is often useful to add more structure to the MAS project GOAL provides the import command to import contents from other files into an agent program An important reason for moving code to separate files and importing those files is to facilitate reuse A procedure very similar to that for knowledge files can also be used to move complete modules to separate module files with extension mod2g These are the two types of files that can be imported Files that contain modules and files that contain knowledge Even if an agent is not a very large program it sometimes is useful to put some of the code in a separate module or knowledge files to facilitate reuse The code in a knowledge section of an agent for example can be re used in another agent program Reusing the same code by creating a separate file that is used in multiple agent files prevents possible problems introduced by modifying the same code that appears at different places in only one location By using a dedicated file the code is needs to be maintained and modified in only one place 3 2 Managing an Existing Multi Agent Project Loading an existing multi agent system project can be done by means of the following steps 16 CHAPTER 3 CREATING AND MANAGING MULTI AGENT PROJECTS
6. actions that are sent to the environment as well built in actions provided by GOAL Apart from an overview of what has been done by agents the action history can also be used as a simple means for debugging It can be used for example to check whether a particular action added for debugging has been performed The idea is that you can add a dummy action with a particular content message to a rule and verify in the action log whether that action has been performed To do so include an action in the action specification of your agent named e g debug lt yourMessage gt with true as pre and post condition to ensure the action always can be performed and will not change the state of the agent but still will be printed in the action log output 5 5 SETTING BREAKPOINTS 23 Agent Console Upon launching an agent a dedicated tab is added for that agent This tab typically contains more detailed information about your agent The exact contents of the tab can be customized through the settings Various items that are part of the reasoning cycle of an agent can be selected for viewing If checked related reports will be produced in the debug tracer of an agent A more detailed explanation of these settings can be found in the next section Customizing the Logging The logging behavior can be modified from the preferences in Eclipse Access them through opening the GOAL category in Window Preferences and selecting the Logging page A timest
7. output produced in this case only provides a clue that the module is about to be evaluated Take it from here to step further through the module to produce more relevant debug output 5 6 Prolog Level Debugging GOAL does not support tracing of Prolog queries inside the Prolog inference engine If you need this level of detail while you are debugging an agent it is useful to be able to export the contents of a mental state to a separate file that can be imported into Prolog Then use the Prolog tracer to analyze the code 26 CHAPTER 5 DEBUGGING MULTLAGENT SYSTEM stackBuilder goal 5 moves a block on top of another block or to the table move X Y a block can only be moved elsewhere if that block and the place to move it to are both clear on X Z retrieves the current and soon to be old position where block X sits on not on X Y prevents an agent from moving a block on the table to another place on the table because a block cannot be put on top of itself not X Y is included in the precondition pre clear X clear Y on X Z not on X Y not X Y effect of moving block X on top of Y is that we have on X Y after moving block X is no longer on top of Z and we remove on X Z post not on X Z on X Y Decide on an action to perform in Blocks World main module exit nogoals e program define misplaced X a goal tower X T define constructiveMove X Y a goa
8. throw an exception which will be printed as a warning in the console tab The agent will proceed as if the action has been successfully executed Finally note that environments can be in running and paused mode but not in stepping mode 20 CHAPTER 4 RUNNING A MULTI AGENT SYSTEM Chapter 5 Debugging a Multi Agent System The GOAL runtime provides various options for debugging While running a mas GOAL provides a range of options for debugging which include the following 1 options for viewing and controlling debug output produced while running a mas 2 setting general and specific breakpoints to pause an agent on 3 agent introspectors for inspecting the mental state of an agent and percepts and messages received at runtime 4 a code stepping mechanism 5 1 Introspecting Agents A useful tool to trace what your agents are up to is the introspector An introspector allows you to inspect the mental state of an agent In the debug perspective the mental state of the currently selected agent is automatically shown at the right top Note that this is only possible when an agent is paused or stepping An agent introspector consists of various tabs that allow you to access the current contents of the agent s beliefs goals percepts and mails percepts This information is alphabetically sorted Searching is possible in all of these views Right click Find or Left click CTRL F 5 2 Querying a Mental State Ap
9. to goal ii tudelft nl Your help is appreciated To facilitate a quick resolution and to help us reproduce and locate the problem please include the following information in your error report 1 A short description of the problem 2 All relevant source files of the MAS project 3 Relevant warning or error messages from the Feedback area especially from the Console and or Parse Info tab Please also include Java details and stack trace information if avail able see Section 5 4 for adjusting settings to obtain this information 4 If possible a screen shot of the situation you ran into Bibliography Tristan Behrens Environment interface standard project http sourceforge net projects apleis Tristan Behrens Koen V Hindriks and Jrgen Dix Towards an environment interface standard for agent platforms Annals of Mathematics and Artificial Intelligence pages 1 35 2010 10 1007 s10472 010 9215 9 Koen V Hindriks GOAL Programming Guide Delft University of Technology 2014 http ii tudelft nl trac goal wiki WikiStart Documentation Koen V Hindriks The GOAL Agent Programming Language http ii tudelft nl trac goal 2014 31
10. 51 EE V table X b7 y Process any percepts the agent receives Sevent module e the Blocks World is fully observable insert on X Y forall bel on X Y not percept on X Y do delete on X Y 3 1 lt E Console f Action history El stackbuilder 91 tableagent stackbuilder Interactive Console ame Cycle 1 gt bel agent X Entering init module stackbuilder X stackbuilder X tableagent Performed adopt on b1 b5 on b2 table on b3 table on b4 b3 on b5 b2 on b6 b4 on b7 table Exiting init module Entering event module lt gt Figure 4 1 The GOAL Debug Perspective Figure 4 2 The Blocks World GUI after launching bw2agents mas2g 4 2 Running a Multi Agent System After an environment has been initialized a multi agent system can be run All processes including the environment and the agents must be in running mode to be able to run the complete multi agent system In running mode an agent will execute a complete reasoning cycle without pausing If the agents in a MAS are paused but the environment is not the environment still may be changing due to processes that are not controlled by the MAS or simply because actions take time durative actions Vice versa if an environment is paused but one or more agents in the MAS are 4 3 TERMINATING MAS AND OR ITS AGENTS 19 running typically you will see com
11. GOAL Eclipse User Manual Koen V Hindriks Wouter Pasman and Vincent Koeman September 22 2014 Contents Introduction Installing the GOAL Platform 2 1 System Requirements 22 uuo se oo doe qoe Ree Oa DR EGER eee a 2 Uninstalling 2o ion oso voe kao pex See ERED Ee ERR eee RES 24 ES Rr SU Whe P oes 24 ec 3 a Creating and Managing Multi Agent Projects 3 1 Creating a New Multi Agent Project 3 1 1 Adding an Agent File toa 5 3 1 2 Adding an Environment to a MAS Project 3 1 3 Adding a Launch Policy 2 46665 za A ia en 3 1 4 Importing Knowledge and Module Files 3 2 Managing an Existing Multi Agent Project 3 2 1 Renaming Moving and Deleting a File 3 2 2 Automatic Completion lt o s ace ca storo aoi Running a Multi Agent System 4 1 Launching a Multi Agent System 4 2 Running a Multi Agent System 4 3 Terminating a MAS and or Its Agents o a 4 4 Run Modes of a MAS and its Debugging a Multi Agent System 5 Inirpspecting Agonis 2 2 2 45 Re Eb xS 5 2 Querying a Mental State E E 5 3 Executing an Action manually 4o t gu
12. agentWithoutMessages goal 8 Y multiAgentmas2g init module standardAgent goal 1 em y i standardAgentKnowledge pl d El standardAgentKnowiedge pl E ampere is ande OAERTN dece 15 beliefs 15 navigation Stetus Destination Initially we are going nowhere 17 navigation none none 18 19 X The first direction the agent is looking to not known now 20 lookDirection none 21 The last time the agent has turned if the game starts 22 turnTine 0 2 24 The agent doesn t know its combatmode if the fight starts 25 conbathode unknown 256 combatMode verdedig 27 conbatMode aanval 28 listOfDirections north south west east 29 39 programi v gt tE ouine 4 initmodule A 0 errors 25 wamings O others 4 A knowledge E Description Resource Path Location Type 9 a 4 amp Warnings 25 items E O Unreallocia Action skip has been specified but is never used agenWithout multAgent agentWithoutMessagesgoak line 1 Problem navigation amp Action skip 0 has been specified but is never used standardAgent multiAgent standardAgentgoal line 135 Problem reached Action skip 0 has been specified but is never used test utl mod2g multiAgent Tests test utiLmod2g line 120 Problem O Unreallocia 8 Action skip O has been specified but is never used test utilmed2g multiAgent Tests testutilmod2g line 120 Problem test util mod2g multiAgent Tests tes
13. amp with millisecond accuracy can be added to each printed log by checking the Show log time checkbox The action history and dedicated logging tabs for agents can also be turned on or off here The write logs to file checkbox determines if GOAL writes all logs to separate files The files will be stored in a directory within the current ly executed project Logs for each agent the action log warnings results from GOAL log actions etc are all written to separate files Most logs are in XML format and each log entry contains a timestamp with millisecond accuracy Debug messages for each agent are written to lt agent gt log All actions are writ ten to historyOfActions log General info is written to goal tools logging InfoLog log Warn ings are written to goal tools errorhandling Warning log System bug reports are written to goal tools errorhandling SystemBug log Result of log actions are written to lt agent gt _ lt timestamp gt txt files Be careful with this option as many megabytes per second can be written new run gen erates new log files made unique by adding a number to the names By selecting Overwrite old log files a new run uses the same file names thus overwriting previously generated files The type of debug messages that are logged can be determined with the checkboxes in the Logging Options section In the Warnings section you can turn on stack traces and or detailed Java messages You can also set the ma
14. art from being able to view the contents of an agent s mental state when it is paused the debug perspective also allows you to pose queries for evaluation on the current mental state of the agent in Interactive Console at the right bottom How to evaluate mental state conditions e In the Debug panel select the agent to query e Enter a mental state condition in the Interactive Console e Press Enter All solutions for the query performed are shown in the interactive console as a list of substitu tions for variables Consult the GOAL Programming Guide 3 for a detailed explanation of mental state conditions 21 22 CHAPTER 5 DEBUGGING A MULTLAGENT SYSTEM 5 3 Executing an Action manually You can also execute actions from the same Interactive Console The actions that can be executed include 1 mental state actions which change the mental state of the agent adopt drop insert delete and ii user specified environment actions that are executed in the environment You cannot execute other actions such as combined actions sending messages or modules Any input in the interactive console is automatically recognized as either an action or a query How to execute an action manually e In the Debug panel select the agent that should perform the action e Enter the action in the Interactive Console e Press Enter Make sure that the action is closed i e has no free variables To execute an environment action make sure th
15. at the environment is running You may also need to figure out whether the agent that should execute the action is allowed to perform an action at the time you want to perform the action e g it is the turn of that agent Note that an environment action is sent to the environment without checking its preconditions The post condition of the action also is not processed nor are any percepts related to the action passed to the agent Finally no feedback is provided whether an action was successfully performed or not 5 4 Debugging Output In debug mode the bottom area contains various tabs for inspecting agents and the actions they perform see Figure 4 1 Besides the main console tab an action history tab is present that provides an overview of actions that have been performed by all running agents In addition when an agent is launched a dedicated console is added for that agent for inspecting various aspects of the agent program during runtime Consoles The main console shows all important messages warnings and errors that may occur These messages include those generated by GOAL at runtime but possibly also messages produced by environments and other components When something goes wrong it is always useful to inspect the console tab for any new messages Action History The action history tab shows the actions that have been performed by running agents that are part of the multi agent system These actions include both user defined
16. ers Vincent GOAL GOALagents HelloWorta H Browse BE Outline 11 n An outline is not available Problems Bl Console Android Test Figure 3 1 The New Project Dialogue Window Eile Edit Source Refactor Navigate Search Project CodePro Run Wi Help om _ A Script Explorer 1 SS E 3E SO Testmas2g 21 ewm Lagentfiles Helloworld 2 a Test 3 9 Testmas2g 5 agentfies a z teuncheok tert launchpolicy 7 f WumpusAgents S Outline 1 eA agentfiles launchpolicy amp TELT default package Testmas2g Test Figure 3 2 A new MAS File 3 1 CREATING A NEW MULTI AGENT PROJECT 13 3 1 1 Adding an Agent File to a MAS Project A new agent file is automatically loaded with a corresponding template Again warnings are displayed for a new file because the main module s program section is empty 3 1 2 Adding an Environment to a MAS Project An environment is added to a MAS project by first adding it to the project which can be done for a new project or an existing one and then editing the environment section in a MAS file Note that the environment section is optional and that a multi agent system can be run without an environment Please note that you can also manually place the JAR file within the actual project location on your hard drive Eclipse will automatically update your project or right click the projec
17. ey repeat same action enables GOAL to skip agents that seem to be idle which relocates CPU time to other agents that really are working on something GOAL guesses that an agent is idle if the agent is receiving the same percepts and mails as last step on the input and picks the same actions as output The sleep is canceled when the percepts mails of the agent change This setting is on by default IMPORTANT with sleep agents selected your agent may go to sleep when it is repeating actions This may be counter intuitive and may cause GOAL programs to malfunction In doubt you should turn off this option To remove agents automatically after they have been killed select the Remove agents when they are killed option This option is useful in environments where large numbers of agents appear and disappear while GOAL is running Finally in the learning section agent learning can be turned on Optionally a global learned behavior file can be set here as well 28 CHAPTER 5 DEBUGGING A MULTLAGENT SYSTEM Chapter 6 Known Issues and Workarounds Below we have listed some known issues and possible workarounds when available Nothing happens when pressing the Step and Run buttons There are a number of possible explanations for this you can check 1 First make sure that the environment is ready to run For example when using the Elevator environment the environment will respond to GOAL only if you selected GOAL Contro
18. h Eclipse to this perspective for the first time through Windows Open Perspective gt Other GOAL A shortcut will be placed in the top right corner Furthermore we recommend changing the following preferences in Eclipse Window Preferences 7 8 CHAPTER 2 INSTALLING THE GOAL PLATFORM Please note that if you are having performance issues whilst debugging e g with many agents the console buffer size can be reduced The consoles for each agents and or the action history can even be entirely disabled in the GoAL Logging preference category where the logging itself can be fully tweaked as well File Edit Source Navigate Search Project Run Window Help SoriptExpbrer 2 S EG 7 D f standardAgent goal gt betweenFlags 1 inport Modules aanval mod2g 2 import Modules verdedig mod2g X Import the attack module into the standardAgent X Import the defend module into the standardAgent BlocksWorid ee 3 import Modules vlagzoeken mod2 X Import the vlagzoek module into the standardAgent irri M 4 import Modules standardilesseges mod2e X Inport the stendardMessages module into the egent 5 import Hodules navigateltodule mod2e Import the navigateModule into the agent 8 Modules 6 import Modules Strength strengthModule mod2g 3 Import the strenghtModule into the agent vB Tests 7 inport Modules selfDefend nod2g X Import the selfDefendModule into the agent
19. ich has arity 2 and is part of the system module and the _1425 refers to the free variable which apparently was even anonymous hence is not of much help Note that these messages commonly contain pure functional notation where you might be more used to the infix notation For instance system X appears as system X and gt 2 appears as gt 2 3 representation_error the form of the predicate was not appropriate for instance a bound variable was found while an unbound variable was expected 4 permission error you have insufficient permissions to execute the predicate Typically this occurs if you try to redefine system predicates 5 resource_error there are not enough resources of the given type 5 7 RUNTIME PREFERENCE SETTINGS 27 5 7 Runtime Preference Settings Most settings can be modified from the preferences in Eclipse Access them through opening the GOAL category in Window Preferences and selecting the Runtime page This section discusses those settings The Other section offers the option to always run the middleware locally This checkbox is by default disabled If you turn on this checkbox the default localhost will be used as middleware host The Default KR Language selection allows you to choose between the default swiprolog im plementation and any alternative language Currently only swiprolog is actively supported In the High performance section selecting the sleep agents when th
20. l tower X Y T bel tower Y T a if constructiveMove X Y then move X Y a if misplaced X then move X table Figure 5 2 An ALWAYS and CONDITIONAL Breakpoint added to the BlocksWorld example 5 6 1 Prolog Exceptions When an exception occurs in the Prolog engine SWI Prolog error messages may get a bit hard to decipher This section explains how to read such messages A typical PrologException will show up typically like this WARNING jpl PrologException PrologException error instantiation error context system gt 2 _1425 query true beliefbase6 openRequestOnRoute L D T The first of the two lines indicates the message that Prolog gave us The second line shows the query that caused the warning To read the first line notice the part error CAUSE DETAILS inside it The CAUSE part gives the reason for the failure the DETAILS gives the context of the error Several types of CAUSE can occur amongst others 1 type_error X Y an object of type X was expected but Y was found For instance in the context of arithmetic X can be evaluable and Y a non arithmic function 2 instantiation_error the arguments for an operator are insufficiently instantiated For exam ple if we ask X gt 8 with X a free variable we will get an error like the example above The context in such a case would be context system gt 2 1425 The first part system gt 2 refers to the gt operator wh
21. licking in the left border of the editor GOAL will automatically allocate placed breakpoints to their appropriate position when the MAS is started by attaching any placed breakpoint to the first suitable location after its current position There are two types of breakpoints the ALWAYS and the CONDITIONAL type A CONDI TIONAL breakpoint shows as an orange icon in the left border It can only attach to the action part of an action rule The ALWAYS type shows as a red icon in the left border and attaches to the other three types An ALWAYS breakpoint can be changed into a CONDITIONAL breakpoint by double clicking on it again Double clicking on a CONDITIONAL breakpoint will remove the breakpoint An overview of breakpoints that have been set can be seen in the Debug Perspective by opening the Breakpoints tab in the top left window Note that explicit breakpoints that have been added to a file are not permanently saved upon closing Eclipse all breakpoints set are lost This is an easy way to clear all breakpoints An example of two breakpoints that were added to a file is illustrated in Figure5 2 Different from the built in breakpoints even if a multi agent system is put in run mode the system will halt on any explicit breakpoints that have been set Breakpoints that are associated with action specifications and action rules provide useful output in the agent s console immediately This is not the case however for breakpoints set on modules The
22. ller available in this environment 2 You may be stepping an agent that is suspended somehow e g the environment may be refusing to serve that agent or it may be the turn of another agent The environment does not work as expected Check the documentation that comes with the environment Most environments need to be set up before the agents can connect and perform actions The Wumpus environment hangs when the agent shoots an arrow The Wumpus World always has to be enclosed by means of walls If an agent shoots an arrow into open space the arrow will continue forever causing the system to hang I do not see an environment after launching a MAS The environment may be hidden behind another window This is due to a known bug in Java for Windows You need to install Java 7 or higher to fix this issue Java 7 is available from http download java net jdk7 binaries For problems specific with the Eclipse interface these two steps can be taken Reset the GOAL and or GOAL Debug perspective s by selecting Window Reset Perspec tive when the perspective is opened Restore the default GOAL preferences through Window Preferences GOAL gt Logging Restore Defaults Apply and do the same for the Runtime category 29 30 CHAPTER 6 KNOWN ISSUES AND WORKAROUNDS 6 1 Reporting Issues If you discover anything you believe to be an error or have any other issues you run into please report the error or issue
23. lti Agent System Launching a MAS means e Launching an environment referenced in the MAS file if any and e Creating agents in line with the launch policy of the MAS How to launch a MAS e Right click a MAS file in the Script Explorer e Select Debug As GOAL Debug As will automatically switch to the GOAL Debug Perspective and place a shortcut to this perspective in the top right corner if it was not there yet If you use the GOAL Debug Perspective for the first time you will be asked if you want to open it You should select Remember my decision and Yes in this case in order to debug properly In the debug perspective the Debug panel is shown at the top as illustrated in Figure 4 1 This panel shows the processes that have been created by launching the MAS In the Blocks World example an environment process is started labeled Blocks World as well as two agent processes named stackbuilder and tableagent Also the Blocks World GUI shown in Figure 4 2 should appear All processes that are created are paused initially which is indicated by the label just after the process names Before launching a MAS make sure to check that the MAS project is clean That is make sure no warnings or errors have been produced When you launch a multi agent system GOAL will not start the system when one or more program files contains an error Apart from the need to remove parsing errors it is also better to clean up program files a
24. ments 2 1 System Requirements The GOAL platform runs on Windows Macintosh OSX and the Linux operating system For information on the exact versions of these OSs please check GOAL s website at http ii tudelft nl trac goal The GOAL platform requires Java SUN or OpenJDK version 1 6 or higher We recommend using Sun Java 1 7 2 2 Installation GOAL is available as a plug in for Eclipse Kepler and up It can be installed as follows e Install Eclipse If you do not have Eclipse installed yet download the installation ZIP from https www eclipse org downloads and extract it anywhere you like e Start Eclipse If you have not done this yet select a workspace directory Note that special characters in the path of this directory are not recommended e Add a link to the GOAL repository In the Eclipse menu select Help Install New Software Add to add a new repository with any name you like using the following URL http ii tudelft nl trac goal export head GOALplugin ECLIPSE dist e Install the GOAL Plugin Select the GoAL Agent Programming field make sure Group items by category is enabled click Next and follow the installation steps During installation ignore accept any warnings about unsigned content This might take a little while e Restart Eclipse Restart when the installation is done you will be prompted After having installed the plug in a new GOAL Perspective is now available Switc
25. n the window centered to the left below the overview of a MAS the code of the agent that is being stepped is shown If the agent is paused the code line that the agent is at is highlighted Stepping will proceed from that point on Please note that editing files is not possible during debugging but breakpoints can be changed at any time Below the overview of the agent s bases the current evaluation is shown when an agent is paused What is shown depends on the current agent s code position and provides information related to code stepping as discussed above More concretely the window shows for which variable instances a rule condition holds if any or it shows whether a precondition of the selected action holds or not Using Right click Find or Left click CTRL F this view can also be searched 5 5 2 Setting Code Line Breakpoints A second more flexible way of setting breakpoints is by adding code line breakpoints In GOAL breakpoints can be associated with four constructs in an agent program a module the condition of an action rule the action part of an action rule and an action specification Breakpoints can be added to these constructs by opening a MAS project file in Eclipse and adding breakpoints at the first line associated with the construct That is put a breakpoint next to the line with the module name the first line associated with an action rule or the the line with the action name You can do this by double c
26. nd make sure that no warnings are present Please note that it also possible to run a MAS without a visual interface by selecting Run As gt instead of Debug As gt GOAL The Run functionality will run the MAS through a console at the bottom of the screen At the top right corner of the console actions like terminating the run are available You can search in any console as well Right click Find Replace or Left click CTRL F This is useful for quick light weight testing of desired functionalities 17 18 CHAPTER 4 RUNNING A MULTI AGENT SYSTEM gt Plug Goals El Percepis El Mails Debug 9 Breakpoints 4 bw2agentsmas2g GOAL GOAL Debugging Engine 4 19 stackbuilder paused E BlocksWorld stackBuilder goal 5 1 4 29 tableagent paused BlocksWorld tableAgentgoal 4 C AUsers Vincent Desktop TUDelft II eclipse 30 jul 2014 23 22 09 59 CAlisers Vincent Desktop TUDelft INeclipse 30 jul 2014 23 22 12 agent stackbuilder agent tableagent 0 Borgecipsegdt 12 GoalDebugPerspectiveFactoryjava O Decide on an action to perform in Blocks World A Smain module exit nogoals program define misplaced X a goal tower X 1 define constructiveMove X Y a goal tower X Y T bel tower V T if constructiveHove X Y then move X Y if misplaced X then move X table 1 9 Wftable X b3 Witable X b
27. plaints that the agent was not able to retrieve percepts from the environment 4 3 Terminating a MAS and or Its Agents How to terminate a MAS e Select the top node in the Debug panel e Press the Kill button in the tool bar Alternatively press the red stop button of Eclipse s default console Terminating a MAS terminates the environment and all agents An agent will also be auto matically killed if the entity that it is controlling in an environment has been terminated An agent that has terminated itself is not performing any actions any more If a terminated agent is put back in running mode the agent is restarted and initialized using the initial mental state specified in the agent program 4 4 Run Modes of a MAS and its Agents A MAS or agent can be either in the running stepping paused or killed mode Controlling the run mode of a process is done with the Run Step into over out Pause and Kill buttons in the tool bar You can control all processes that are part of the MAS at once by selecting the top process node and using the relevant buttons This is particularly useful when starting stepping or killing all agents Holding shift or ctrl whilst clicking on the nodes will allow you to hand pick multiple processes Note It may happen that an agent tries to perform an action in an environment when the environment has been paused because the agent process and environment run asynchronously In that case the environment may
28. r example if the event module is selected selecting stepping over will jump immediately to the main module without showing any intermediate evaluation steps that are performed in the event module Note in particular that stepping over the main module will have the agent perform a whole cycle stepping therefore returns again to the main module Check the agent s mental state to see what has changed Step Return F7 Skips the remainder of the module the agent is currently executing Of course this only influences the stepping process itself Also note that doing this whilst in the main module will make an agent complete its current cycles 5 6 PROLOG LEVEL DEBUGGING 25 Code stepping inside a module depends on the rule evaluation order that is used in that module For example in the event module that by default uses the linearall order stepping into will step from one rule to the next rule and exit the module only after having finished the evaluation of the last rule In the main module that by default uses the linear order stepping into will step from one rule to the next until a rule that is applicable has been found after applying this rule the module is left In a module that uses the random order a rule that is applicable is randomly selected code stepping thus does not need to start with the first rule Finally also note that a module may be re entered immediately again if an exit option different from always has been set I
29. reen select one of the example projects and press Finish to start working on it MAS files are files with extension mas2g When a new MAS file is created a MAS template is automatically loaded This template inserts the the sections that are required in a MAS file you should adapt the content of these sections of the MAS file to your needs A MAS file must have an agentfiles and launchpolicy section an environment section is optional After opening a new MAS file you should see something similar to Figure 3 2 Warnings are displayed because the sections are empty As can be seen warnings and errors are shown at the line at which they occur underlining the specific text causing the issue In addition the Problems tab can be used to list all errors warnings Any errors need to be fixed before we can launch a MAS Note that multiple MAS files can be added to a single project e g for different run configurations Save a file either by using the Save icon in the menu or by pressing CTRL S Windows and Linux or APPLE S OSX 11 12 CHAPTER 3 CREATING AND MANAGING MULTI AGENT PROJECTS DEN 2 GOAL Eclipse Eile Edit Refactor Navigate Search Project CodePro Run Window Help PRETO A ee Quick Access zt 6 18 Script Explorer war Helloworid 9 WumpusAgents Create new GOAL Project Create new GOAL Project in the workspace Project name MyProject y Environment optional C Us
30. t and select Refresh to force a reload References to environments in a MAS file are resolved by checking whether the environment can be found relative to the folder where the MAS file is located or else an absolute path should be specified to the environment interface file The GOAL platform supports the Environment Interface Standard EIS to connect to envi ronments 2 1 Any environment that is compliant with the most up to date version of EIS that is supported can be used in combination with GOAL In order to actually run a MAS it may also be necessary to initialize an environment by means of the environment s user interface In the UNREAL TOURNAMENT environment for example you can create new bots that can be controlled by agents Please consult the environment documen tation for details Depending on the configuration and launch rules of your MAS file new agents 14 CHAPTER 3 CREATING AND MANAGING MULTI AGENT PROJECTS are automatically created when a new bot is added Refer to the Programming Guide for more information on this 3 Note that environments often also have entities that cannot be controlled by agents such as people taking the elevator in the Elevator environment or UNREAL bots that are controlled by the UNREAL engine itself file Edit Source Refactor Navigate Search Project CodePro Run Window Help mea la Quick access r amp java 9 GOAL DERE 9 bwatmas2g i pi 4 Bwm decent
31. t uti mod2 line 89 Problem a v amp Action skip O has been specified but is never used Figure 2 1 The GOAL perspective in Eclipse 2 3 Uninstalling For uninstalling the GOAL plug in either remove your whole Eclipse installation or follow these steps to uninstall just the plug in 2 4 Upgrading Upgrading the GOAL plug in to a newer version besides of Eclipse s automatic update function ality is possible in Eclipse by selecting Help Check for Updates and following the steps in the 2 5 CUSTOMIZING resulting dialog 2 5 Customizing Various GOAL platform features can be customized e g debugging features The default settings can always be restored using the Restore Default button 10 CHAPTER 2 INSTALLING THE GOAL PLATFORM Chapter 3 Creating and Managing Multi Agent Projects This chapter explains how to create new and manage existing multi agent projects 3 1 Creating a New Multi Agent Project How to create a new multi agent project e In the GOAL perspective in Eclipse select File gt New GOAL Project e Enter a name and optionally browse for an environment file to include in the project e Press Finish A MAS file will be automatically created within the new project It is also possible to start off with one of the many example projects included in this plug in by selecting GOAL Example Project instead of GoAL Project in the first step above In the following sc
32. ximum number of times the same message is printed to avoid flooding of the console 5 5 Setting Breakpoints A useful way to trace what your agents are doing is to step the multi agent system and check how and which action rules are evaluated which actions are performed which percepts are received etc Stepping assumes natural breakpoints to stop an agent at For GOAL agents a number of such breakpoints have been pre defined These built in breakpoints facilitate stepping and tracing of what happens when an agent is executed A second alternative method to set breakpoints is by explicitly adding them to code lines in agent program files A user can set breakpoints at various places in a program where the agent should stop when such a breakpoint is hit 5 5 1 Stepping The first method to step an agent and halt at breakpoints is based on a set of built in global breakpoints that relate to the reasoning cycle of an agent A list of these breakpoints is available in Eclipse by opening the GOAL category in Window Preferences and selecting the Runtime page This preference page is illustrated in Figure 5 1 For each breakpoint a checkbox is available A checked box indicates that the stepping process will halt on the related code point Code stepping is supported for agents that are paused Three different stepping actions are available 24 CHAPTER 5 DEBUGGING A MULTI AGENT SYSTEM
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