First commitment

build.properties

+source.. = src/java,\
+           src/asl,\
+           properties/,\
+           lib/,\
+           planner,\
+           src/test/
+

clean.bat

+echo "Cleaning up!"
+del planner\*.pddl
+del planner\*.SOL
+del *.log.*
+del lpg-td-1.0.exe.stackdump
+pause
\ No newline at end of file

contin.mas2j

+//Truckworld/Pacifica inspired MAS
+
+MAS twtest {
+	//note; other infrastructures not tested or supported
+   infrastructure: Centralised
+
+	/*
+	Env args; the properties file used to procedurally generate the world
+	*/
+   environment: truckworld.env.TruckworldEnvironment("world2-debil80.properties", "1234567890", "continual-wconf")
+
+   /* Agent args;
+   knownAgents - if set, defines a fixed list of agents from whom we receive capability notices. If
+   				 not set, then we just accept advertisements from everyone
+   doMaintain - if true, attempts maintenance / pre-emptive plan repair tasks
+   doMaintain - if true, attempts replanning at progressive levels of abstraction when a task or delegated task fails
+   mpMaxCost - planning cost maximum limit for precond maint tasks
+   domain - domain name used to get primitive capability/goal task factory object
+   capabilities - names of primitive capabilities (for use in factory)
+   advertised - names of capabilities - both composite and primitive - which are to be advertised 
+   				to other agent for potential use as delegated tasks.
+   taskKnowledge - goal tasks known, and which we are interested in externalCapabilities for.
+   */
+   agents:
+	
+	//STRATEGIC
+	//logistics / commander
+	//cargo delivery tasks, road clearance
+   logisticshq [knownAgents="truck1, truck2, truck3, truck4, helicopter1, bulldozer1, bulldozer2, militaryhq", 
+   				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+			   	advertised="moveCargo, decontaminateRoad, secure, unblock, unstick",
+			   	capabilities="consume", //pcs - none, no effectors
+			   	taskKnowledge="moveTo, load, unload, decontaminateRoad, secure, unblock, free"] 
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+       		
+  //military HQ
+  //secure area, decontaminate, high cost cargo move
+   militaryhq [ knownAgents="hazmat1, apc1, hazmat2, apc2, logisticshq",
+   				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+			   	advertised="decontaminateRoad, secure, unblock, unstick", //add move-and-clear from organized children...
+			   	capabilities="",
+			   	taskKnowledge="moveTo, decontaminate, secureArea, unblock, free"]
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  
+   // OPERATIONAL LEVEL AGENTS!
+   /* Trucks move cargo
+   * Bulldozers clear roads
+   * Repair vehicles can tow others to repair sites and fix them
+   * APCs secure areas and remove danger zones
+   * Helicopters move cargo, but at high cost
+   * Hazmats decontaminate toxic roads
+   */
+   	truck1 [knownAgents="logisticshq",
+   			doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	truck2 [knownAgents="logisticshq",
+   			doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	truck3 [knownAgents="logisticshq",
+   			doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+ 
+  //bulldozer agent(s)
+  bulldozer1	[	knownAgents="logisticshq",
+     				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+					capabilities="move, unblock, free",
+		   			advertised="unblock, moveTo, free",
+		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.BulldozerAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  bulldozer2	[	knownAgents="logisticshq",
+     				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+					capabilities="move, unblock, free",
+		   			advertised="unblock, moveTo, free",
+		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.BulldozerAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  	apc1	[	knownAgents="militaryhq", 
+  				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  	apc2	[	knownAgents="militaryhq", 
+  				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  hazmat1	[	knownAgents="militaryhq",
+  				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, decontaminate, free",
+		   		advertised="moveTo, decontaminate, free",
+		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HazmatAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  hazmat2	[	knownAgents="militaryhq",
+  				doMaintain="false", continuous="true", confConstaint = "true", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, decontaminate, free",
+		   		advertised="moveTo, decontaminate, free",
+		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HazmatAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+ 
+   aslSourcePath: "src/asl/truckworld"; 
+}
\ No newline at end of file

heliTest.mas2j

+//Truckworld/Pacifica inspired MAS
+
+MAS twtest {
+	//note; other infrastructures not tested or supported
+   infrastructure: Centralised
+
+	/*
+	Env args; the properties file used to procedurally generate the world
+	*/
+   environment: truckworld.env.TruckworldEnvironment("helitest.properties", "1", "maint")
+
+//87654321
+//987654321
+//1234567890
+
+   /* Agent args;
+   knownAgents - if set, defines a fixed list of agents from whom we receive capability notices. If
+   				 not set, then we just accept advertisements from everyone
+   doMaintain - if true, attempts maintenance / pre-emptive plan repair tasks
+   doMaintain - if true, attempts replanning at progressive levels of abstraction when a task or delegated task fails
+   mpMaxCost - planning cost maximum limit for precond maint tasks
+   domain - domain name used to get primitive capability/goal task factory object
+   capabilities - names of primitive capabilities (for use in factory)
+   advertised - names of capabilities - both composite and primitive - which are to be advertised 
+   				to other agent for potential use as delegated tasks.
+   taskKnowledge - goal tasks known, and which we are interested in externalCapabilities for.
+   */
+   agents:
+	
+	//STRATEGIC
+	//logistics / commander
+	//cargo delivery tasks, road clearance
+   logisticshq [allowConfRelaxationForPMTs="true",
+   				knownAgents="truck1, truck2, truck3, truck4, helicopter1, bulldozer1, bulldozer2, militaryhq", 
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+			   	advertised="moveCargo, decontaminateRoad, secure, unblock, unstick",
+			   	capabilities="consume", //pcs - none, no effectors
+			   	taskKnowledge="moveTo, load, unload, decontaminateRoad, secure, unblock, free"] 
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+       		
+  //military HQ
+  //secure area, decontaminate, high cost cargo move
+   militaryhq [ allowConfRelaxationForPMTs="true",
+   				knownAgents="hazmat1, apc1, hazmat2, apc2, logisticshq",
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+			   	advertised="decontaminateRoad, secure, unblock, unstick", //add move-and-clear from organized children...
+			   	capabilities="",
+			   	taskKnowledge="moveTo, decontaminate, secureArea, unblock, free"]
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  
+   // OPERATIONAL LEVEL AGENTS!
+   /* Trucks move cargo
+   * Bulldozers clear roads
+   * Repair vehicles can tow others to repair sites and fix them
+   * APCs secure areas and remove danger zones
+   * Helicopters move cargo, but at high cost
+   * Hazmats decontaminate toxic roads
+   */
+
+  helicopter1	[	knownAgents="logisticshq",//"militaryhq"?
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="takeOff, land, fly, load, unload",
+		   		advertised="moveTo, load, unload",
+  				taskKnowledge="secure"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HeliAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase; 
+ 
+  	apc1	[	knownAgents="militaryhq", 
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  	apc2	[	knownAgents="militaryhq", 
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+
+   aslSourcePath: "src/asl/truckworld"; 
+}
\ No newline at end of file

img/policy/demoPolicy.xml

+<xml>
+<!--
+ MP for use in the demo, intended to trigger maint. whenever roads are slippery...
+-->
+	<maintenancePolicy>
+		<dropConditions>
+			<threshold>0.1</threshold>
+		</dropConditions>
+		<repair>
+			<threshold>0.8</threshold>
+		</repair>
+	</maintenancePolicy>
+</xml>

img/policy/dropEasyPolicy.xml

+<xml>
+<!--
+ MP for use in the demo, intended to trigger maint. whenever roads are slippery...
+-->
+	<maintenancePolicy>
+		<dropConditions>
+			<threshold>0.6</threshold> <!-- default conf for slippery roads is 0.5... -->
+		</dropConditions>
+		<repair>
+			<threshold>0.7</threshold>
+		</repair>
+	</maintenancePolicy>
+</xml>

img/policy/testPolicy.xml

+<xml>
+<!-- 
+this is a basic example of the format/structure of an MP with all elements, DO NOT USE FOR A RUNNING AGENT.  This
+xml is obtained (send/loaded) by an agent and used to form a java object.  Elements not present will be set to a default specified in 
+the code.  Formulas are expected to be evaluated as asl strings, so write as such.
+ -->
+	<maintenancePolicy>
+		<!-- first part defines which agents and capabilities this policy applies to; if neither is specified, the
+		mp applies to all agents (i.e. default case) -->
+		<appliedTo>
+			<capability>move</capability>
+			<capability>repair</capability>
+			<capability>load</capability>
+		</appliedTo>
+		<dropConditions>
+			<threshold>0.5</threshold> 				<!-- drop if confidence < threshold -->
+			<state>damaged</state> 					<!-- parsable into asl logicalFormula; must match capability sig(s) -->
+			<state>at("JEND") &amp; fuel=0</state>
+		</dropConditions>
+		<repair>
+			<threshold>0.8</threshold>				<!-- eff maint if confidence < threshold -->
+			<!-- note; ignoring constraints/restraints now, so not exemplared here -->
+		</repair>
+	</maintenancePolicy>
+</xml>

logging.properties

+# Jason Default log configuration
handlers = java.util.logging.FileHandler, java.util.logging.ConsoleHandler
#, jason.runtime.MASConsoleLogHandler
# Default logging level. Other values are:
#  SEVERE (only severe messages)
#  WARNING (only warnings and severe messages)
#  INFO (normal output)
#  FINE (debug level of messages).
level = SEVERE
############################################################# Handler specific properties.
# Describes specific configuration info for Handlers.
############################################################# Jason Handler parameters
jason.runtime.MASConsoleLogHandler.level = WARNING
jason.runtime.MASConsoleLogHandler.formatter = jason.runtime.MASConsoleLogFormatter
# set one text area for each agent
jason.runtime.MASConsoleLogHandler.tabbed = false
jason.runtime.MASConsoleLogHandler.colors = true
# default file output is in project's directory.
#java.util.logging.FileHandler.pattern = TruckWorld.log
java.util.logging.FileHandler.pattern = mmas-%u.log
java.util.logging.FileHandler.limit = 20000000
java.util.logging.FileHandler.count = 1000
java.util.logging.FileHandler.formatter = jason.runtime.MASConsoleLogFormatter
#java.util.logging.FileHandler.formatter = java.util.logging.XMLFormatter
# Limit the message that are printed on the console to FINE and above.
java.util.logging.ConsoleHandler.level = WARNING
java.util.logging.ConsoleHandler.formatter = jason.runtime.MASConsoleLogFormatter
java.level=OFF
javax.level=OFF
sun.level=OFF
jade.level=OFF

maint.mas2j

+//Truckworld/Pacifica inspired MAS
+
+MAS twtest {
+	//note; other infrastructures not tested or supported
+   infrastructure: Centralised
+
+	/*
+	Env args; the properties file used to procedurally generate the world
+	*/
+   environment: truckworld.env.TruckworldEnvironment("world2-severity1.properties", "1", "maint")
+
+//87654321
+//987654321
+//1234567890
+
+   /* Agent args;
+   knownAgents - if set, defines a fixed list of agents from whom we receive capability notices. If
+   				 not set, then we just accept advertisements from everyone
+   doMaintain - if true, attempts maintenance / pre-emptive plan repair tasks
+   doMaintain - if true, attempts replanning at progressive levels of abstraction when a task or delegated task fails
+   mpMaxCost - planning cost maximum limit for precond maint tasks
+   domain - domain name used to get primitive capability/goal task factory object
+   capabilities - names of primitive capabilities (for use in factory)
+   advertised - names of capabilities - both composite and primitive - which are to be advertised 
+   				to other agent for potential use as delegated tasks.
+   taskKnowledge - goal tasks known, and which we are interested in externalCapabilities for.
+   */
+   agents:
+	
+	//STRATEGIC
+	//logistics / commander
+	//cargo delivery tasks, road clearance
+   logisticshq [allowConfRelaxationForPMTs="true",
+   				knownAgents="truck1, truck2, truck3, truck4, helicopter1, bulldozer1, bulldozer2, militaryhq", 
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+			   	advertised="moveCargo, decontaminateRoad, secure, unblock, unstick",
+			   	capabilities="consume", //pcs - none, no effectors
+			   	taskKnowledge="moveTo, load, unload, decontaminateRoad, secure, unblock, free"] 
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+       		
+  //military HQ
+  //secure area, decontaminate, high cost cargo move
+   militaryhq [ allowConfRelaxationForPMTs="true",
+   				knownAgents="hazmat1, apc1, hazmat2, apc2, logisticshq",
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+			   	advertised="decontaminateRoad, secure, unblock, unstick", //add move-and-clear from organized children...
+			   	capabilities="",
+			   	taskKnowledge="moveTo, decontaminate, secureArea, unblock, free"]
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  
+   // OPERATIONAL LEVEL AGENTS!
+   /* Trucks move cargo
+   * Bulldozers clear roads
+   * Repair vehicles can tow others to repair sites and fix them
+   * APCs secure areas and remove danger zones
+   * Helicopters move cargo, but at high cost
+   * Hazmats decontaminate toxic roads
+   */
+  //trucks!
+  //trucks!
+   	truck1 [knownAgents="logisticshq",
+   			doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	truck2 [knownAgents="logisticshq",
+   			doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	truck3 [knownAgents="logisticshq",
+   			doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	
+  //bulldozer agent(s)
+  bulldozer1	[	knownAgents="logisticshq",
+   					doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+					capabilities="move, unblock, free",
+		   			advertised="unblock, moveTo, free",
+		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.BulldozerAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+       		
+  bulldozer2	[	knownAgents="logisticshq",
+   					doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+					capabilities="move, unblock, free",
+		   			advertised="unblock, moveTo, free",
+		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.BulldozerAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+/* 
+  helicopter1	[	knownAgents="logisticshq",//"militaryhq"?
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="takeOff, land, fly, load, unload",
+		   		advertised="moveTo, load, unload",
+  				taskKnowledge="secure"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HeliAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase; 
+ */
+  	apc1	[	knownAgents="militaryhq", 
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  	apc2	[	knownAgents="militaryhq", 
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  hazmat1	[	knownAgents="militaryhq",
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld",  
+  				capabilities="move, decontaminate, free",
+		   		advertised="moveTo, decontaminate, free",
+		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HazmatAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  hazmat2	[	knownAgents="militaryhq",
+   				doMaintain="true", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, decontaminate, free",
+		   		advertised="moveTo, decontaminate, free",
+		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HazmatAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+ 
+   aslSourcePath: "src/asl/truckworld"; 
+}
\ No newline at end of file

none.mas2j

+//Truckworld/Pacifica inspired MAS
+
+MAS twtest {
+	//note; other infrastructures not tested or supported
+   infrastructure: Centralised
+
+	/*
+	Env args; the properties file used to procedurally generate the world
+	*/
+   environment: truckworld.env.TruckworldEnvironment("world2-debil80.properties", "1234567890", "none")
+
+   /* Agent args;
+   knownAgents - if set, defines a fixed list of agents from whom we receive capability notices. If
+   				 not set, then we just accept advertisements from everyone
+   doMaintain - if true, attempts maintenance / pre-emptive plan repair tasks
+   doMaintain - if true, attempts replanning at progressive levels of abstraction when a task or delegated task fails
+   mpMaxCost - planning cost maximum limit for precond maint tasks
+   domain - domain name used to get primitive capability/goal task factory object
+   capabilities - names of primitive capabilities (for use in factory)
+   advertised - names of capabilities - both composite and primitive - which are to be advertised 
+   				to other agent for potential use as delegated tasks.
+   taskKnowledge - goal tasks known, and which we are interested in externalCapabilities for.
+   */
+   agents:
+	
+	//STRATEGIC
+	//logistics / commander
+	//cargo delivery tasks, road clearance
+   logisticshq [knownAgents="truck1, truck2, truck3, truck4, helicopter1, bulldozer1, bulldozer2, militaryhq", 
+   				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+			   	advertised="moveCargo, decontaminateRoad, secure, unblock, unstick",
+			   	capabilities="consume", //pcs - none, no effectors
+			   	taskKnowledge="moveTo, load, unload, decontaminateRoad, secure, unblock, free"] 
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+       		
+  //military HQ
+  //secure area, decontaminate, high cost cargo move
+   militaryhq [ knownAgents="hazmat1, apc1, hazmat2, apc2, logisticshq",
+   				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+			   	advertised="decontaminateRoad, secure, unblock, unstick", //add move-and-clear from organized children...
+			   	capabilities="",
+			   	taskKnowledge="moveTo, decontaminate, secureArea, unblock, free"]
+   			agentArchClass agent.type.arch.MultiagentArch 
+   			agentClass vehicle.TruckworldAgent
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  
+   // OPERATIONAL LEVEL AGENTS!
+   /* Trucks move cargo
+   * Bulldozers clear roads
+   * Repair vehicles can tow others to repair sites and fix them
+   * APCs secure areas and remove danger zones
+   * Helicopters move cargo, but at high cost
+   * Hazmats decontaminate toxic roads
+   */
+  //trucks!
+   	truck1 [knownAgents="logisticshq",
+   			doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	truck2 [knownAgents="logisticshq",
+   			doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+   	truck3 [knownAgents="logisticshq",
+   			doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+		   	capabilities="move, load, unload, free", 
+		   	advertised="load, unload, moveTo, free",//if we have them...
+		   	taskKnowledge="moveAndClear, decontaminateRoad, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.TruckAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+ 
+
+  //bulldozer agent(s)
+  bulldozer1	[	knownAgents="logisticshq",
+     				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+					capabilities="move, unblock, free",
+		   			advertised="unblock, moveTo, free",
+		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.BulldozerAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+       		
+  bulldozer2	[	knownAgents="logisticshq",
+     				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+					capabilities="move, unblock, free",
+		   			advertised="unblock, moveTo, free",
+		   			taskKnowledge="decontaminateRoad, secure, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.BulldozerAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  	apc1	[	knownAgents="militaryhq", 
+  				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+  	apc2	[	knownAgents="militaryhq", 
+  				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, secureArea, free",
+		   		advertised="moveTo, secureArea",
+		   		taskKnowledge="moveAndClear, decontaminateRoad, unblock, unstick"]
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.ApcAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  hazmat1	[	knownAgents="militaryhq",
+  				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, decontaminate, free",
+		   		advertised="moveTo, decontaminate, free",
+		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HazmatAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+  hazmat2	[	knownAgents="militaryhq",
+  				doMaintain="false", doReplan="false", pmMaxCost=5, domain="truckworld", 
+  				capabilities="move, decontaminate, free",
+		   		advertised="moveTo, decontaminate, free",
+		   		taskKnowledge="moveAndClear, secure, unblock, unstick"] 
+       		agentArchClass agent.type.arch.MultiagentArch
+       		agentClass vehicle.HazmatAgent 
+       		beliefBaseClass agent.beliefBase.WorldBeliefBase;
+
+ 
+   aslSourcePath: "src/asl/truckworld"; 
+}
\ No newline at end of file

policy/demoPolicy.xml

+<xml>
+	<maintenancePolicy>
+		<repair>