Add task list sorting in goap.Runner and two TODOs

goap/src/goap/planning.py

@@ -142,6 +142,7 @@ def get_child_nodes_for_valid_actions(self, actions_generator, start_worldstate)
 
 
 class Planner(object):
+    # TODO: make ordering of actions possible (e.g. move before lookaround)
 
     def __init__(self, actionbag, worldstate, goal):
         self._actionbag = actionbag

goap/src/goap/runner.py

@@ -201,6 +201,7 @@ def __init__(self, runner, **kwargs):
         self.runner = runner
 
     def execute(self, userdata):
+        # TODO: propagate preemption request into goap submachine
         goal = self.build_goal(userdata)
         # avoid duplicate introspection:
         outcome = self.runner.update_and_plan_and_execute(goal, introspection=False)
@@ -282,8 +283,8 @@ def test_tasker():
     with sm_tasker:
         ## add all tasks to be available
         # states using goap
-        StateMachine.add('MOVE_TO_NEW_GOAL', sq_move_to_new_goal)
-        StateMachine.add('INCREASE_AWARENESS', IncreaseAwarenessGOAPState(runner))
+        StateMachine.add('MOVE_TO_NEW_GOAL_GOAP', sq_move_to_new_goal)
+        StateMachine.add('INCREASE_AWARENESS_GOAP', IncreaseAwarenessGOAPState(runner))
 
         # states from uashh_smach
         StateMachine.add('LOOK_AROUND', get_lookaround_smach())
@@ -301,6 +302,10 @@ def test_tasker():
         ## now the task receiver is created and automatically links to
         ##   all task states added above
         task_states_labels = sm_tasker.get_children().keys()
+        task_states_labels = sorted(task_states_labels)  # sort alphabetically
+        task_states_labels = sorted(task_states_labels,  # sort by _GOAP
+                                    key=lambda label: '_GOAP' in label,
+                                    reverse=True)
         task_receiver_transitions = {'undefined_outcome':'undefined_task'}
         task_receiver_transitions.update({l:l for l in task_states_labels})