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tutorials:beginner:failure_handling [2019/07/16 11:33] – cpotutorials:beginner:failure_handling [2022/03/15 13:43] (current) – [Implementing failure handling for the TurtleSim] schimpf
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 **Description:** In this tutorial you will learn how to implement failure handling for your plans. **Description:** In this tutorial you will learn how to implement failure handling for your plans.
  
-**Previous Tutorial:** [[tutorials:beginner:high_level_plans|Writing plans for the TurtleSim]] +**Previous Tutorial:** [[tutorials:beginner:high_level_plans|Writing plans for the TurtleSim]]\\
 **Next Tutorial:** [[tutorials:beginner:testing|Writing tests]] **Next Tutorial:** [[tutorials:beginner:testing|Writing tests]]
  
 +To run the code in the tutuorial the roscore and the turtlesim need to be started over the terminal. Each in their own tab.
 +<code bash>
 +$ roscore
 +</code>
 +<code bash>
 +$ rosrun turtlesim turtlesim_node
 +</code>
 +
 +And in the REPL the following commands should be executed:
 +<code lisp>
 +CL-USER>(ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial)
 +...
 +CL-USER>(in-package :tut)
 +...
 +TUT>(start-ros-node "turtle1")
 +...
 +TUT> (init-ros-turtle "turtle1")
 +</code>
 ===== Failure Handling in CRAM ===== ===== Failure Handling in CRAM =====
  
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 (defparameter *max-bound* 10.5) (defparameter *max-bound* 10.5)
  
-(defun navigate (?v)+(defun navigate (&key ((:target ?target)) 
 +                 &allow-other-keys) 
 +  (declare (type (or list null) ?target))
   (flet ((out-of-bounds (pose)   (flet ((out-of-bounds (pose)
            (with-fields (x y)            (with-fields (x y)
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       (whenever ((fl-funcall #'out-of-bounds *turtle-pose*))       (whenever ((fl-funcall #'out-of-bounds *turtle-pose*))
         (error 'out-of-bounds-error))         (error 'out-of-bounds-error))
-      (exe:perform (a motion (type moving) (goal ?v))))))+      (exe:perform (a motion (type moving) (goal ?target))))))
 </code> </code>
  
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 (defparameter *max-bound* 10.5) (defparameter *max-bound* 10.5)
  
-(defun navigate (?v)+(defun navigate (&key ((:target ?target)) 
 +                 &allow-other-keys) 
 +  (declare (type (or list null) ?target))
   (flet ((out-of-bounds (pose)   (flet ((out-of-bounds (pose)
            (with-fields (x y)            (with-fields (x y)
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              (not (and (< *min-bound* x *max-bound*)              (not (and (< *min-bound* x *max-bound*)
                        (< *min-bound* y *max-bound*))))))                        (< *min-bound* y *max-bound*))))))
-    (with-failure-handling+        (with-failure-handling
         ((out-of-bounds-error (e)         ((out-of-bounds-error (e)
            (ros-warn (draw-simple-simple) "Moving went-wrong: ~a" e)            (ros-warn (draw-simple-simple) "Moving went-wrong: ~a" e)
            (exe:perform (a motion (type setting-pen) (r 204) (g 0) (b 0) (width 2)))            (exe:perform (a motion (type setting-pen) (r 204) (g 0) (b 0) (width 2)))
            (let ((?corr-v (list            (let ((?corr-v (list
-                           (max 0.6 (min 10.4 (car ?v))) +                           (max 0.6 (min 10.4 (car ?target))) 
-                           (max 0.6 (min 10.4 (cadr ?v)))+                           (max 0.6 (min 10.4 (cadr ?target)))
                            0)))                            0)))
              (recover-from-oob ?corr-v)              (recover-from-oob ?corr-v)
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         (whenever ((fl-funcall #'out-of-bounds *turtle-pose*))         (whenever ((fl-funcall #'out-of-bounds *turtle-pose*))
           (error 'out-of-bounds-error))           (error 'out-of-bounds-error))
-        (exe:perform (a motion (type moving) (goal ?v)))))))+        (exe:perform (a motion (type moving) (goal ?target)))))))
  
 (defun recover-from-oob (&optional goal) (defun recover-from-oob (&optional goal)
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 <code lisp> <code lisp>
 (in-package :tut) (in-package :tut)
- +  
-(defun draw-house ()+(defun draw-house (&key ((:shape ?shape)) 
 +                   &allow-other-keys) 
 +  (declare (type (or keyword) ?shape))
   (with-fields (x y)   (with-fields (x y)
       (value *turtle-pose*)       (value *turtle-pose*)
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     (exe:perform (an action (type drawing) (shape triangle) (base-width 5) (height 4)))))     (exe:perform (an action (type drawing) (shape triangle) (base-width 5) (height 4)))))
  
-(defun draw-simple-shape (vertices)+(defun draw-simple-shape (&key 
 +                            ((:vertices ?vertices)) 
 +                          &allow-other-keys) 
 +  (declare (type (or list null) ?vertices)) 
   (mapcar   (mapcar
    (lambda (?v)    (lambda (?v)
      (exe:perform (an action (type navigating) (target ?v))))      (exe:perform (an action (type navigating) (target ?v))))
-   vertices)) +   ?vertices)) 
 + 
 (defun navigate-without-pen (?target) (defun navigate-without-pen (?target)
   (exe:perform (a motion (type setting-pen) (off 1)))   (exe:perform (a motion (type setting-pen) (off 1)))
   (exe:perform (an action (type navigating) (target ?target)))   (exe:perform (an action (type navigating) (target ?target)))
   (exe:perform (a motion (type setting-pen) (off 0))))   (exe:perform (a motion (type setting-pen) (off 0))))
 + 
  
 (defparameter *min-bound* 0.5) (defparameter *min-bound* 0.5)
 (defparameter *max-bound* 10.5) (defparameter *max-bound* 10.5)
- +  
-(defun navigate (?v)+(defun navigate (&key ((:target ?target)) 
 +                 &allow-other-keys) 
 +  (declare (type (or list null) ?target))
   (flet ((out-of-bounds (pose)   (flet ((out-of-bounds (pose)
            (with-fields (x y)            (with-fields (x y)
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              (not (and (< *min-bound* x *max-bound*)              (not (and (< *min-bound* x *max-bound*)
                        (< *min-bound* y *max-bound*))))))                        (< *min-bound* y *max-bound*))))))
-    (with-failure-handling+        (with-failure-handling
         ((out-of-bounds-error (e)         ((out-of-bounds-error (e)
            (ros-warn (draw-simple-simple) "Moving went-wrong: ~a" e)            (ros-warn (draw-simple-simple) "Moving went-wrong: ~a" e)
            (exe:perform (a motion (type setting-pen) (r 204) (g 0) (b 0) (width 2)))            (exe:perform (a motion (type setting-pen) (r 204) (g 0) (b 0) (width 2)))
            (let ((?corr-v (list            (let ((?corr-v (list
-                           (max 0.6 (min 10.4 (car ?v))) +                           (max 0.6 (min 10.4 (car ?target))) 
-                           (max 0.6 (min 10.4 (cadr ?v)))+                           (max 0.6 (min 10.4 (cadr ?target)))
                            0)))                            0)))
              (recover-from-oob ?corr-v)              (recover-from-oob ?corr-v)
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         (whenever ((fl-funcall #'out-of-bounds *turtle-pose*))         (whenever ((fl-funcall #'out-of-bounds *turtle-pose*))
           (error 'out-of-bounds-error))           (error 'out-of-bounds-error))
-        (exe:perform (a motion (type moving) (goal ?v)))))))+        (exe:perform (a motion (type moving) (goal ?target)))))))
  
 (defun recover-from-oob (&optional goal) (defun recover-from-oob (&optional goal)