Merge branch 'new-psi-rules' of github.com:yantrabuddhi/ros-behavior-scripting into mrg

Author: linas

src/CMakeLists.txt

@@ -7,7 +7,8 @@ INSTALL (FILES
 # Install the Eva and Sophia config files; however, the scheme module
 # will not load the config parameters -- that has to be done by hand.
 INSTALL (FILES
-	behavior.scm
+	psi-behavior.scm
+#	behavior.scm
 	express.scm
 	primitives.scm
 	cfg-tools.scm

src/btree.scm

@@ -29,6 +29,8 @@
 (use-modules (opencog))
 (use-modules (opencog query))  ; XXX work-around relex2logic bug
 
+(use-modules (opencog exec))
+(use-modules (opencog openpsi))
 ; Start the cogsserver.  It is used by the face-tracker to poke data
 ; into the atomspace.
 (use-modules (opencog cogserver))

src/eva-behavior.scm

@@ -16,4 +16,4 @@
 (load "eva-behavior/cfg-eva.scm")
 (load "eva-behavior/express.scm")
 (load "eva-behavior/primitives.scm")
-(load "eva-behavior/behavior.scm")
+(load "eva-behavior/psi-behavior.scm")

src/primitives.scm

@@ -14,6 +14,7 @@
 (use-modules (opencog) (opencog query) (opencog exec))
 (use-modules (opencog atom-types))
 (use-modules (opencog python))
+(use-modules (opencog openpsi))
 
 ; Try loading the python code from this directory;
 ; else go for the install directory. This is kind-of hacky;
@@ -181,6 +182,16 @@ except:
 ;; Main loop control
 (define do-run-loop #t)
 
+;(define-public (behavior-tree-run)
+;"
+; behavior-tree-run
+
+; Run the Eva behavior tree main loop (in a new thread),
+; Call (behavior-tree-halt) to exit the loop.
+;"
+;	(set! do-run-loop #t)
+;	(call-with-new-thread
+;		(lambda () (cog-evaluate! (DefinedPredicateNode "main loop")))))
 (define-public (behavior-tree-run)
 "
  behavior-tree-run
@@ -190,7 +201,11 @@ except:
 "
 	(set! do-run-loop #t)
 	(call-with-new-thread
-		(lambda () (cog-evaluate! (DefinedPredicateNode "main loop")))))
+		(lambda () (cog-evaluate! (DefinedPredicateNode "main loop"))))
+	(psi-run)
+	;(while #t ((usleep 100000)(psi-step)) ) causes crash
+
+)
 
 (define-public (behavior-tree-halt)
 "