Acting primitives

The acting language is built on top of the new implementation of Scheme with the following functions and lambdas:

• exec-command sends an execution request to the platform a command and returns an execution handle.

(exec-command pick r1) -> handle

• exec-task executes a task thanks to the RAE algorithm.
• read-state returns the current value of a state variable.

(read-state at r1) -> bedroom

• arbitrary : arbitrarily takes an element of a list using a function that can be passed as argument, the default behavior being to take the first element of the list.

>>(arbitrary '(3 4 5))
LI>> 3
>>(arbitrary '(3 4 5) last)
LI>> 5

• +>/assert add/update a fact in the state. <> - ->/retract: Delete a fact in the state.
• get-state returns a map of the perceived state.
• get-facts returns a map with the perceived state, the resources, and the instances.
• instance is used to reason on the presence of objects, and their types.
  • If no argument is passed, the function will return a map with all the objects of each type.
  • If one argument is passed, it should be a type, and the function will return all elements of the type, including elements of subtypes.
  • If two arguments are passed, it should be an object and a type. The function returns true if the object is of the given type.