====== Writing Plans ======

==== with-policy ====
{{ :doc:with-policy.png?nolink&300|}}

Policies can be used to define generic monitoring behavior that should run concurrently besides main functionality code. Such a policy might be monitoring
  * the position of an object inside a robot gripper to see whether it is moving out of the gripper (losing the object)
  * the position of an object in the real world, in order to keep the robot's head pointing towards it
  * the collision of a robot joint with objects in the real world
  * generic events that must definitely interrupt a certain piece of code, but are too specialized to be implemented directly in the monitored code itself

A policy consists of multiple parts:
  * A name (to identify it)
  * A description string (to make its purpose clear)
  * A parameter list (which can be used to specialize a generic policy for a situation at hand, without generating a new policy every time the situation changes slightly)
  * Code blocks that need to be evaluated during monitoring

=== Usage example ===
An example of how to define a policy is shown here. The policy accepts two custom parameters, one defining a maximum number and one a match number. During execution of the main ''body'' code (which is really just a loop with an output here), it checks a randomly generated number (ranging from ''0'' to ''max-num'') against the match number ''match-num''. If this is the case (and it will be, eventually), it interrupts (and ends) the main ''body'' code and executes the '':recover'' code, followed by the '':clean-up'' code (both just outputting something here).

<code lisp>
(define-policy my-policy (max-num match-num)
  "This is an example policy."
  (:init (format t "Initializing policy~%")
         t)
  (:check (format t "Checking if random number from 0
                     to ~a equals ~a~%" max-num match-num)
          (let ((rnd (random max-num)))
            (format t "Got number ~a~%" rnd)
            (cond ((eql rnd match-num)
                   (format t "Match~%")
                   t)
                  (t (sleep 1)))))
  (:recover (format t "Running recovery mechanisms~%"))
  (:clean-up (format t "Running clean-up~%")))
</code>

The calling code for using the policy uses ''with-named-policy'' to refer to the name as specified while defining the policy. The second parameter is a list of parameter values for customizing the policy instance. The rest of the code should be pretty self explanatory.
<code lisp>
(top-level
  (with-named-policy 'my-policy (10 5)
    (loop do (format t "Main loop cycle.~%")
             (sleep 2))))
</code>

=== Exception handling ===
When policies are used, multiple failures can be signalled. The most meaningful of those are
  * ''policy-not-found'': Signalled when a named policy is used that was not defined before.
  * ''policy-init-failed'': Signalled when initialization of a policy went wrong (i.e. '':init'' returned ''nil'').
  * ''policy-check-condition-met'': The '':check'' condition of the policy returned a non-''nil'' value, '':recover'' was executed and the ''body'' code was interrupted before it could complete execution.

If one wants to monitor the triggering of a policy's '':check'' condition, this can be achieved like this:
<code lisp>
(top-level
  (with-failure-handling
      ((policy-check-condition-met (f)
         (declare (ignore f))is available that the given
         (do-custom-handling-here)
         (retry))) ;; Or whatever seems appropriate in your use-case e.g. (return)
    (with-named-policy 'my-policy (10 5)
      (loop do (format t "Main loop cycle.~%")
               (sleep 2)))))
</code>

=== Using multiple policies at once ===
When multiple policies are to be used (either a mix of different policies, or the same policy multiple times, each with different parameters), two helpful macros can be used: ''with-policies'' and ''with-named-policies''. Both of these take lists of policies, together with their respective instantiation parameters, as arguments.

When policy instances by the names ''my-policy-object'' and ''my-other-policy-object'' should be used, the following code snippet reflects this behaviour. The policy ''my-policy-object'' takes two ''int''s as parameters, while ''is available that the givenmy-other-policy-object'' takes a string as an argument.
<code lisp>
(with-policies
    ((my-policy-object (3 1))
     (my-policy-object (100 4))
     (my-other-policy-object ("Test")))
  (body-code))
</code>
In this example, the resulting code will be equivalent to the following:
<code lisp>
(with-policy my-policy-object (3 1)
  (with-policy my-policy-object (100 4)
    (with-policy my-other-policy-object ("Test")
      (body-code))))
</code>

The same princple applies to ''with-named-policies'', with the only difference being that it does not take policy instances, but policy name symbols as parameters:
<code lisp>
(with-named-policies
    (('my-policy (3 1))
     ('my-policy (100 4))
     ('my-other-policy ("Test")))
  (body-code))
</code>
This results in the same behavior as:
<code lisp>
(with-named-policy 'my-policy (3 1)
  (with-named-policy 'my-policy (100 4)
    (with-named-policy 'my-other-policy ("Test")
      (body-code))))
</code>

=== Built-in Policies ===
== timeout-policy ==
When a piece of code only has a limited maximum amount of time for execution (and must be aborted after that duration), the ''timeout-policy'' comes in handy.

Use it like this:
<code lisp>
(with-policy cpl:timeout-policy (5.0) ; Timeout after 5.0 seconds (fractions may be used)
  (body-code-goes-here))
</code>
And for catching the check condition when the timeout actually happens:
<code lisp>
(with-failure-handling
    ((policy-check-condition-met (f)
      (declare (ignore f))
      (handle-error-here-and-maybe-retry)))
  (with-policy cpl:timeout-policy (5.0)
    (body-code-goes-here)))
</code>
The ''timeout-policy'' stops the given ''body'' code after a given amount of time (in seconds) if it hasn't finished by then. This helps to add a ''timeout'' functionality to functions that do not inherently support a timeout mechanism (blocking function calls).