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--- tutorials:beginner:high_level_plans [2019/07/09 20:07] – [Defining the action designators] gkazhoya
+++ tutorials:beginner:high_level_plans [2022/03/15 13:29] (current) – [Writing the plans] schimpf
@@ Line 6: / Line 6: @@
 **Next Tutorial:** [[tutorials:beginner:failure_handling|Implementing failure handling for the TurtleSim]]
+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")
+</code>
 ===== Designators: Actions vs Motions =====
-On a pragmatic level there is not a big difference between action and motion designators since both are a set of key-value pairs. But the difference lies in the semantics. As mentioned in an earlier tutorial about motion designators, they are meant to represent actual motions of the robot. Like Moving an arm or driving around. The action designators on the other hand should be used to describe abstract plans (e.g. tidying up a room).
+On a pragmatic level there is not a big difference between action and motion designators since both are a set of key-value pairs. But the difference lies in the semantics. As mentioned in an earlier tutorial about motion designators, they are meant to represent actual motions of the robot. Like moving an arm or driving around. The action designators on the other hand should be used to describe abstract plans (e.g. tidying up a room).
 This difference comes to play when designators are ''performed''. The ''perfom'' function handles action designators differently than motion designators. Both are first referenced and then motion designators are executed by passing them to a matching process module. Action designators are executed by looking up a function with the same name as the resolved designator. The rest of the designator is passed as arguments to the function. Let's take a designator ''(desig:an action (type tidying-up) (what the-room))''. This could be resolved to something like ''(tidy-up the-room)''. So there has to be a function ''tidy-up'' which takes one parameter (''the-room''), for ''perform'' to be able to execute the designator.
@@ Line 93: / Line 109: @@
 (def-fact-group turtle-action-designators (action-grounding)
-  (<- (desig:action-grounding ?desig (draw-house))
-    (desig-prop ?desig (:type :drawing))
-    (desig-prop ?desig (:shape :house)))
-  (<- (desig:action-grounding ?desig (draw-simple-shape ?vertices))
+  (<- (desig:action-grounding ?action-designator (navigate ?action-designator))
-    (desig-prop ?desig (:type :drawing))
+     (desig-prop ?action-designator (:type :navigating))
-    (desig-prop ?desig (:shape :rectangle))
+     (desig-prop ?action-designator (:target ?target)))
-    (desig-prop ?desig (:width ?width))
-    (desig-prop ?desig (:height ?height))
+  (<- (desig:action-grounding ?action-designator (draw-house ?action-designator))
-    (lisp-fun get-shape-vertices :rectangle ?width ?height ?vertices))
+    (desig-prop ?action-designator (:type :drawing))
+    (desig-prop ?action-designator (:shape :house)))
-  (<- (desig:action-grounding ?desig (draw-simple-shape ?vertices))
+  (<- (desig:action-grounding ?action-designator (draw-simple-shape ?resolved-action-designator))
-    (desig-prop ?desig (:type :drawing))
+    (desig-prop ?action-designator (:type :drawing))
-    (desig-prop ?desig (:shape :triangle))
+    (desig-prop ?action-designator (:shape :rectangle))
-    (desig-prop ?desig (:base-width ?base-width))
+    (desig-prop ?action-designator (:width ?width))
-    (desig-prop ?desig (:height ?height))
+    (desig-prop ?action-designator (:height ?height))
-    (lisp-fun get-shape-vertices :triangle ?base-width ?height ?vertices))
+    (lisp-fun get-shape-vertices :rectangle ?width ?height ?vertices)
+    (desig:designator :action ((:type :drawing)
-  (<- (desig:action-grounding ?desig (move ?target))
+                              (:vertices ?vertices))
-    (desig-prop ?desig (:type :moving))
+                      ?resolved-action-designator))
-    (desig-prop ?desig (:target ?target))))
+  (<- (desig:action-grounding ?action-designator (draw-simple-shape ?resolved-action-designator))
+    (desig-prop ?action-designator (:type :drawing))
+    (desig-prop ?action-designator (:shape :triangle))
+    (desig-prop ?action-designator (:base-width ?base-width))
+    (desig-prop ?action-designator (:height ?height))
+    (lisp-fun get-shape-vertices :triangle ?base-width ?height ?vertices)
+    (desig:designator :action ((:type :drawing)
+                              (:vertices ?vertices))
+                      ?resolved-action-designator)))
 </code>
@@ Line 119: / Line 142: @@
 Let's see what this code does. The function ''get-shape-vertices'' simply returns a list of vertices for the draw-simple-shape plan to trace. It uses the current position of the turtle to calculate those points.
-The inference is simple again: it maps the shape value to the right call to ''get-shape-vertices'' to get the right list of vertices. For the ''move'' plan it simply extracts the target point from the designator.
+The inference is simple again: it maps the shape value to the right call to ''get-shape-vertices'' to get the right list of vertices. For the ''navigate'' plan it simply extracts the target point from the designator.
 Reload the tutorial package in ''roslisp_repl''. This will also load the newly defined inference rules.
@@ Line 130: / Line 153: @@
 TUT> (reference (desig:an action (type drawing) (shape rectangle) (width 5) (height 4)))
 (DRAW-SIMPLE-SHAPE
- ((3.077953338623047d0 11.088889122009277d0 0)
+ #<A ACTION
-  (8.077953338623047d0 11.088889122009277d0 0)
+    (TYPE DRAWING)
-  (8.077953338623047d0 15.088889122009277d0 0)
+    (VERTICES ((9.255966663360596d0 10.373946189880371d0 0)
-  (3.077953338623047d0 15.088889122009277d0 0)))
+               (9.255966663360596d0 14.373946189880371d0 0)
+               (4.255966663360596d0 14.373946189880371d0 0)
+               (4.255966663360596d0 10.373946189880371d0 0)))>)
 TUT> (reference (desig:an action (type drawing) (shape house)))
-(DRAW-HOUSE)
+(DRAW-HOUSE
+ #<A ACTION
+    (TYPE DRAWING)
+    (SHAPE HOUSE)>)
 </code>
@@ Line 148: / Line 176: @@
 (in-package :tut)
-(defun draw-house ()
+(defun draw-house (&key ((:shape ?shape))
+                   &allow-other-keys)
+  (declare (type (or keyword) ?shape))
   (with-fields (x y)
       (value *turtle-pose*)
     (exe:perform (an action (type drawing) (shape rectangle) (width 5) (height 4.5)))
-    (move-without-pen (list (+ x 3) y 0))
+    (navigate-without-pen (list (+ x 3) y 0))
     (exe:perform (an action (type drawing) (shape rectangle) (width 1) (height 2.5)))
-    (move-without-pen (list (+ x 0.5) (+ y 2) 0))
+    (navigate-without-pen (list (+ x 0.5) (+ y 2) 0))
     (exe:perform (an action (type drawing) (shape rectangle) (width 1) (height 1)))
-    (move-without-pen (list x (+ y 4.5) 0))
+    (navigate-without-pen (list x (+ y 4.5) 0))
     (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
    (lambda (?v)
-     (exe:perform (an action (type moving) (target ?v))))
+     (exe:perform (an action (type navigating) (target ?v))))
-   vertices))
+   ?vertices))
-(defun move-without-pen (?target)
+(defun navigate-without-pen (?target)
   (exe:perform (a motion (type setting-pen) (off 1)))
-  (exe:perform (an action (type moving) (target ?target)))
+  (exe:perform (an action (type navigating) (target ?target)))
   (exe:perform (a motion (type setting-pen) (off 0))))
-(defun move (?v)
+(defun navigate (&key ((:target ?target))
-  (exe:perform (a motion (type moving) (goal ?v))))
+                 &allow-other-keys)
+  (declare (type (or list null) ?target))
+  (exe:perform (a motion (type moving) (goal ?target))))
 </code>
-Here we define three plans and two "helper plans". ''move-without-pen'' is a helper plan for moving the turtle between the pieces of the house. It calls the ''move'' plan to achieve this. In ''draw-house'' we use the turtle-pose to move the turtle to the position of the next piece by calling ''move-without-pen''. To draw the house we call ''perform'' with the action designators we defined above. These get resolved and ''draw-simple-shape'' is called. There we use ''mapcar'' function to move the turtle by performing a moving action for every vertex in vertices. For now the ''move'' plan is pretty barebones, but we define it as it's own plan because it will be the one to get the failure handling in the next tutorial. Otherwise we could just perform the moving motion.
+Here we define three plans and two "helper plans". ''navigate-without-pen'' is a helper plan for moving the turtle between the pieces of the house. It calls the ''navigate'' plan to achieve this. In ''draw-house'' we use the turtle-pose to move the turtle to the position of the next piece by calling ''navigate-without-pen''. To draw the house we call ''perform'' with the action designators we defined above. These get resolved and ''draw-simple-shape'' is called. There we use the ''mapcar'' function to move the turtle by performing a navigating action for every vertex in ''vertices''. For now the ''navigate'' plan is pretty barebones, but we define it as it's own plan because it will be the one to get the failure handling in the next tutorial. Otherwise we could just perform the moving motion.
 Now we can test the plan.
@@ Line 181: / Line 217: @@
 TUT> (top-level
     (with-process-modules-running (turtlesim-navigation turtlesim-pen-control)
-      (move-without-pen '(1 1 0))
+      (navigate-without-pen '(1 1 0))
       (exe:perform (an action (type drawing) (shape house)))))
 [(TURTLE-PROCESS-MODULES) INFO] 1503577044.541: TurtleSim pen control invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE