Introduction

Welcome to PLEXIL!

This is the reference manual for the PLEXIL language and related tools included in the software distribution. The latest version of this manual is always found online at https://plexil-group.github.io/plexil_docs.

We are striving to make the language and system increasingly usable and better documented, so any feedback you have is greatly appreciated. Comments and questions are welcome. If you encounter any material you find confusing, or is inadequate for your needs, please contact plexil-support (at) groups (dot) io and we’ll do our best to help you and to improve the manual.

We hope you enjoy using PLEXIL and find it well-suited to your needs.

Contents

Part A: Getting Started

• Chapter 1: Introduction

• Chapter 2: Download and Install

Part B: The PLEXIL Langauge

• Chapter 3: Overview

• Chapter 4: Plexil Reference

• Chapter 5: Detailed Semantics

• Chapter 6: Resource Model

  • 6.1 Simple unary resources

  • 6.2 Non-unary resources

  • 6.3 Renewable resources

  • 6.4 Hierarchical resources

Part C: PLEXIL Execution

• Chapter 7: PLEXIL Executive

• Chapter 8: Simulating Plan Execution

• Chapter 9: Viewing Plan Execution

• Chapter 10: Communication

  • 10.1 Multi-Executive Applications

  • 10.2 UDP-based Applications

• Chapter 11: Resource Arbiter

Part D: PLEXIL Tools

• Chapter 12: Plexilisp

  • 12.1 Plexilisp Tutorial

  • 12.2 Plexilisp Reference Manual

• Chapter 13: Plexil Checker

• Chapter 14: PLEXIL, XML, and Emacs

Part E: Interfacing with External Systems

• Chapter 15: Interfacing Overview

  • 15.1 Standard Interface Libraries

  • 15.2 Interface Configuration File

  • 15.3 The Application Framework

  • 15.4 Implementing Custom Interfaces

  • 15.5 Implementing Custom Applications

  • 15.6 API Reference

Appendices

• Appendix A: Node State Transition Diagrams

• Appendix B: Example PLEXIL Plans

• Appendix C: Example application: RoboSim

• Appendix D: Standalone Simulator Architecture and Application Development

• Appendix E: References