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--- doc:beginner:process_modules [2014/10/20 12:12] – Edited header to fit to tutorial chain. Next tutorial link left blank however: this will change once the plan library tutorial is specified. mpomarlan
+++ doc:beginner:process_modules [2015/05/11 17:01] (current) – removed gkazhoya
@@ Line 1: / Line 1: @@
-====== Creating process modules ======
-**Description:** **TODO: this tutorial is not done yet.** Refer to\\
-http://wiki.ros.org/cram_pl/InternalTutorials
-for more information.
-**Previous Tutorial:** [[doc:beginner:designators|Creating designators for the turtlesim]]\\
-**Next Tutorial:**
-<code>
-(defstruct turtle-shape
-  "represents an object in continuous space matching a symbolic description"
-  radius
-  edges)
-(cram-reasoning:def-fact-group shape-actions (action-desig)
-  ;; for each kind of shape, call make-turtle-shape with the right number of edges
-  ;; triangle
-  (<- (action-desig ?desig (shape ?act))
-    (desig-prop ?desig (type shape))
-    (desig-prop ?desig (shape triangle))
-    (lisp-fun make-turtle-shape :radius 1 :edges 3  ?act))
-  ;; square
-  (<- (action-desig ?desig (shape ?act))
-    (desig-prop ?desig (type shape))
-    (desig-prop ?desig (shape square))
-    (lisp-fun make-turtle-shape :radius 1 :edges 4  ?act))
-  ;; pentagon
-  (<- (action-desig ?desig (shape ?act))
-    (desig-prop ?desig (type shape))
-    (desig-prop ?desig (shape pentagon))
-    (lisp-fun make-turtle-shape :radius 1 :edges 5  ?act))
-  ;; hexagon
-  (<- (action-desig ?desig (shape ?act))
-    (desig-prop ?desig (type shape))
-    (desig-prop ?desig (shape hexagon))
-    (lisp-fun make-turtle-shape :radius 1 :edges 6  ?act)))
-(cram-process-modules:def-process-module turtle-actuators (action-designator)
-  (roslisp:ros-info (turtle-process-modules) "Turtle navigation invoked with action designator `~a'." action-designator)
-  (destructuring-bind (cmd action-goal) (reference action-designator)
-    (ecase cmd
-      (shape
-         (call-shape-action
-          :edges (turtle-shape-edges action-goal)
-          :radius (turtle-shape-radius action-goal))))))
-(defmacro with-turtle-process-module (&body body)
-  `(cpm:with-process-modules-running
-       (turtle-actuators)
-     ,@body))
-(def-fact-group turtle-actuators (matching-process-module
-                                         available-process-module)
-  (<- (matching-process-module ?designator turtle-actuators)
-    (or (desig-prop ?designator (type shape))))
-</code>
-<code>
-(top-level (with-turtle-process-modules (with-designators (( my-desig (action '((type shape) (shape hexagon))))) (perform my-desig))))
-</code>
-== Next ==