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tutorials:beginner:failure_handling [2019/07/16 11:34] – cpotutorials:beginner:failure_handling [2022/03/15 13:38] – [Recovering from the failure] schimpf
Line 107: Line 107:
 (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)
Line 116: Line 118:
       (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>
  
Line 191: Line 193:
 (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)
Line 197: Line 201:
              (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)
Line 212: Line 216:
         (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)