Mission monitor sequencer
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<?xml version="1.0" ?> | <?xml version="1.0" ?> | ||
| − | <plan name=" | + | <plan name="CrossRoad"> |
<init> | <init> | ||
| − | + | odoPose.tripB = 0 | |
| − | <plan name=" | + | nearRoad = false // define local variable |
| − | odoPose.tripB = | + | <plan name="maxOdoDist" if="odoPose.tripB > 250"> |
| − | + | print("Driven too far on odo " odoPose.tripB "m") // print message | |
| + | break CrossRoad // failed to cross road - could trigger a relocalization | ||
| + | </plan> | ||
| + | <plan name="closeToRoad" if="hypot(utmPose.poseY - 6174307, utmPose.poseX - 707873) < 15" > | ||
| + | print("Cose to road slowing down) // print message | ||
| + | smr.speed=0.5 // set the desired maximum speed in mrc interface module | ||
| + | nearRoad = true // set flag | ||
| + | disable // disable this rule (plan) | ||
| + | </plan> | ||
| + | <plan name="turn"> | ||
| + | <parameter angle="pi" dist=1.0/> | ||
| + | <commands to="smr.send"> | ||
| + | # construct commands to MRC using the smr.send command | ||
| + | 'drive @v ' smr.speed ' : ($drivendist > ' dist ')' | ||
| + | 'turn ' angle | ||
| + | 'drive : ($drivendist > ' dist ')' | ||
| + | </commands> | ||
</plan> | </plan> | ||
</init> | </init> | ||
print("started") | print("started") | ||
| − | enable(" | + | enable("maxOdoDist") // should have found road by now |
| − | + | enable("closeToRoad") // active until disabled. | |
| − | + | roaddrive.right(0.75) : nearRoad // follow road 75cm from edge until near road | |
| − | + | // more stuff missing here to detect traffic etc. | |
| − | + | ... | |
| − | + | turn() // turn back - using a call to a plan | |
| − | + | success=true | |
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<post> | <post> | ||
| − | print(" | + | print("finsihed crossRoad - success=" success) |
</post> | </post> | ||
</plan> | </plan> | ||
A number of these plans can be started (enabled) simultaniously, an can in principle be total independant. I.e.one can control the robot arm whele another controls the navigation. | A number of these plans can be started (enabled) simultaniously, an can in principle be total independant. I.e.one can control the robot arm whele another controls the navigation. | ||
Revision as of 08:28, 15 August 2008
Introduction
This plug-in implements a a language that is a mixture of a rule-based and a sequential based language. The idea is that a number of situations need permanent - or semi permanent - monitoring to get a good situation awareness for the root, and at the same time a large number of the robot tasks are better described by a sequential language.
This implementation attempts to cover this gab.
Language
An example function could look like this:
<?xml version="1.0" ?>
<plan name="CrossRoad">
<init>
odoPose.tripB = 0
nearRoad = false // define local variable
<plan name="maxOdoDist" if="odoPose.tripB > 250">
print("Driven too far on odo " odoPose.tripB "m") // print message
break CrossRoad // failed to cross road - could trigger a relocalization
</plan>
<plan name="closeToRoad" if="hypot(utmPose.poseY - 6174307, utmPose.poseX - 707873) < 15" >
print("Cose to road slowing down) // print message
smr.speed=0.5 // set the desired maximum speed in mrc interface module
nearRoad = true // set flag
disable // disable this rule (plan)
</plan>
<plan name="turn">
<parameter angle="pi" dist=1.0/>
<commands to="smr.send">
# construct commands to MRC using the smr.send command
'drive @v ' smr.speed ' : ($drivendist > ' dist ')'
'turn ' angle
'drive : ($drivendist > ' dist ')'
</commands>
</plan>
</init>
print("started")
enable("maxOdoDist") // should have found road by now
enable("closeToRoad") // active until disabled.
roaddrive.right(0.75) : nearRoad // follow road 75cm from edge until near road
// more stuff missing here to detect traffic etc.
...
turn() // turn back - using a call to a plan
success=true
<post>
print("finsihed crossRoad - success=" success)
</post>
</plan>
A number of these plans can be started (enabled) simultaniously, an can in principle be total independant. I.e.one can control the robot arm whele another controls the navigation.
