Mission monitor sequencer - Revision history

Jca: /* Introduction */

2008-11-02T15:54:24Z

Introduction

← Older revision		Revision as of 17:54, 2 November 2008
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	===Introduction===		===Introduction===

			NB! This is module is no longer supported
			Rename the missions for this module by:

			* rename the <plan ...> </plan> tags to <rule ... > </rule>
			* rename the file extension from ''.mis'' to ''.rule''

			-------

	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 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.

Jca: /* Language keywords */

2008-10-31T16:10:46Z

Language keywords

← Older revision		Revision as of 18:10, 31 October 2008
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	===Language keywords===		===Language keywords===

			====<plan>====

			A plan statement must be formed as a XML block structure, as shown below
			<plan name="foo" run="true">
			statements
			</plan>
			<plan name="bar" if="rule_condition">
			statements
			</plan>

			Plans comes in two flavors, a rule or just a plan.
			A rule must have a rule condition in an if="" attribute like the plan "bar" above.
			A plan without the if="" attribute is inactive until called, or made active by a "enable" statement.
			It it is a top-level plan, then it can be made active when loaded by a run="true" attribute.
			The run="true" attribute will make it run once

			The plan may have a description, like

			<plan name="foo" run="true">
			<description>
			This is the descriptive text of "foo", it may have any length, and is intended as an on-line available description of the plan.
			It is optional and recommended only for top-level plans.
			</description>
			statements
			</plan>

			A plan may have optional parameters, that can be used if the plan is called from another plan (as a procedure or function, that do not return a value), i.e.:

			<plan name="foo">
			<parameters x="0.28" y="0" th="pi"/>
			statements
			</plan>
			<plan name="bar">
			foo()
			foo(1.5, 0.0, pi/2)
			</plan>

			Here the plan "bar" uses the "foo" plan as function, first by using the default values, and after this with new values replacing the default values in "foo".
			The parameters in "foo" works like local variables in the "foo" plan.
			A plan may be called recursively, and each call will have its own set of local variables.
			There is a limit to the number nested calls.

			A plan may define local variables and plans, like

			<plan name="foo">
			<init>
			x = 88;
			x2 = sqr(x)
			<plan name="bar" if="x < 22")
			print("x is now " x)
			</plan>
			</init>
			statements
			</plan>

			Here x and x2 are newly established local variables
			The rule "bar" is active as long as the plan "foo" is active.

	====Enable/Disable====		====Enable/Disable====

Jca: /* Enable/Disable */

2008-10-31T15:44:30Z

Enable/Disable

← Older revision		Revision as of 17:44, 31 October 2008
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	The disable command:		The disable command:

	disable foo		disable foo

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	(a plan can not enable itself)		(a plan can not enable itself)


	===Language definition===		===Language definition===

Jca at 15:44, 31 October 2008

2008-10-31T15:44:18Z

← Older revision		Revision as of 17:44, 31 October 2008
Line 49:		Line 49:

	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 while 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 while another controls the navigation.

			===Language keywords===

			====Enable/Disable====

			This will make a plan active - if not already, or stop or prohibit a plan from getting active, e.g.

			enable foo

			Will make the plan "foo" active, that is start running the code as if it was a rule.
			If there is a rule condition, then the code will not run until this is satisfied.

			If the plan is active already, either it is an active rule or the plan is waiting at a control statement, the statement will have no effect.

			The disable command:

			disable foo

			Will disable the plan "foo", if the plan is a rule, then the rule condition will no longer be evaluated.
			If the plan is waiting at a control statement, then this will be interrupted, and any post-lines will be executed, before the plan is disabled.
			If the plan is not a rule and is not waiting at a control statement, then the statement will have no effect.

			A rule can disable itself with the statement:
			disable

			(a plan can not enable itself)


	===Language definition===		===Language definition===

Jca: /* Language */

2008-10-31T14:24:47Z

Language

← Older revision		Revision as of 16:24, 31 October 2008
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	odoPose.tripB = 0		odoPose.tripB = 0
	nearRoad = false // define local variable		nearRoad = false // define local variable
	<plan name="maxOdoDist" if="odoPose.tripB > 250">		<plan name="maxOdoDist" if="odoPose.tripB > 250">
			// this is a rule to moditor distance traveled since trip-counter were reset
	print("Driven too far on odo " odoPose.tripB "m") // print message		print("Driven too far on odo " odoPose.tripB "m") // print message
	break CrossRoad // failed to cross road - could trigger a relocalization		break CrossRoad // failed to cross road - could trigger a relocalization
	</plan>		</plan>
	<plan name="closeToRoad" if="hypot(utmPose.poseY - 6174307, utmPose.poseX - 707873) ~~&lt;~~ 15" >		<plan name="closeToRoad" if="hypot(utmPose.poseY - 6174307, utmPose.poseX - 707873) < 15" >
			// this is a rule that monitors the distance to an UTM point
	print("Cose to road slowing down) // print message		print("Cose to road slowing down) // print message
	smr.speed=0.5 // set the desired maximum speed in mrc interface module		smr.speed=0.5 // set the desired maximum speed in mrc interface module
	nearRoad = true // set flag		nearRoad = true // set flag
	disable // disable this rule ~~(plan)~~		disable // disable this rule
	</plan>		</plan>
	<plan name="turn">		<plan name="turn">
	<parameter angle="pi" dist=1.0/>		<parameter angle="pi" dist=1.0/>
			// this is a plan
	<commands to="smr.send">		<commands to="smr.send">
	# construct commands to MRC using the smr.send command		# construct commands to MRC using the smr.send command
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	</init>		</init>
	print("started")		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		roaddrive.right(0.75) : nearRoad // follow road 75cm from edge until near road
	// more stuff missing here to detect traffic etc.		// more stuff missing here to detect traffic etc.

S021786: Corrected spelling

2008-09-21T13:01:17Z

Corrected spelling

← Older revision		Revision as of 15:01, 21 September 2008
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	</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 while another controls the navigation.

	===Language definition===		===Language definition===

Jca: /* Plan */

2008-09-14T15:22:43Z

Plan

← Older revision		Revision as of 17:22, 14 September 2008
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	runAttribute ::= 'run="default"' (there may come more values later)		runAttribute ::= 'run="default"' (there may come more values later)

	ruleCondition ::= 'if="' expression '"'		ruleCondition ::= 'if="' expression '"' (this expression may be split into more lines)

	planCloseTag ::= '</plan>\n'		planCloseTag ::= '</plan>\n'

Jca: /* Language */

2008-08-16T18:22:31Z

Language

← Older revision		Revision as of 20:22, 16 August 2008
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	break CrossRoad // failed to cross road - could trigger a relocalization		break CrossRoad // failed to cross road - could trigger a relocalization
	</plan>		</plan>
	<plan name="closeToRoad" if="hypot(utmPose.poseY - 6174307, utmPose.poseX - 707873) < 15" >		<plan name="closeToRoad" if="hypot(utmPose.poseY - 6174307, utmPose.poseX - 707873) &lt; 15" >
	print("Cose to road slowing down) // print message		print("Cose to road slowing down) // print message
	smr.speed=0.5 // set the desired maximum speed in mrc interface module		smr.speed=0.5 // set the desired maximum speed in mrc interface module

Jca: /* Language */

2008-08-16T18:14:56Z

Language

← Older revision		Revision as of 20:14, 16 August 2008
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	</init>		</init>
	print("started")		print("started")
	enable("maxOdoDist") // should have found road by now		enable maxOdoDist // should have found road by now
	enable("closeToRoad") // active until disabled.		enable closeToRoad // active until disabled.
	roaddrive.right(0.75) : nearRoad // follow road 75cm from edge until near road		roaddrive.right(0.75) : nearRoad // follow road 75cm from edge until near road
	// more stuff missing here to detect traffic etc.		// more stuff missing here to detect traffic etc.

Jca: /* Plan */

2008-08-16T18:13:20Z

Plan

← Older revision		Revision as of 20:13, 16 August 2008
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	planBlock ::= planOpenTag planBody planCloseTag		planBlock ::= planOpenTag planBody planCloseTag

	planOpenTag ::= '<plan' 'name=' planName [runAttribute] [ruleCondition] '>~~' [remark] '~~\n'		planOpenTag ::= '<plan' 'name=' planName [runAttribute] [ruleCondition] '>\n'

	planName ::= '"' symbol '"'		planName ::= '"' symbol '"'
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	ruleCondition ::= 'if="' expression '"'		ruleCondition ::= 'if="' expression '"'

	planCloseTag ::= '</plan>~~' [remark]~~ \n'		planCloseTag ::= '</plan>\n'

	planBody ::= [parameters] [description] [planInitBlock] planMainBlock [planPostBlock]		planBody ::= [parameters] [description] [planInitBlock] planMainBlock [planPostBlock]

	parameters ::= '<parameters ' [symbol '="' [paramDefaultValue] '"']* '/>~~' [remark]~~ \n'		parameters ::= '<parameters ' [symbol '="' [paramDefaultValue] '"']* '/>\n'

	paramDefaultValue ::= constantValue		paramDefaultValue ::= constantValue
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	description ::= '<description>\n' xmlText '</description>\n'		description ::= '<description>\n' xmlText '</description>\n'

	xmlText ::= any 7-bit characters except '\0', '&' and '<', ~~these~~ must be coded as & and <		xmlText ::= any 7-bit characters except '\0', '&' and '<', the last two must be coded as & and <

	planInitBlock ::= '<init>\n' [declarationStatement]* '</init>\n'		planInitBlock ::= '<init>\n' [declarationStatement]* '</init>\n'