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matthiasLutzmatthiasLutz
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add BehaviorSLAMRGBdLaserCompare
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‎BehaviorSLAMRGBdLaserCompare/.classpath‎

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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
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<classpathentry kind="src" path="model"/>
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<classpathentry kind="src" path="/CommBasicObjects"/>
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<classpathentry kind="src" path="/CommLocalizationObjects"/>
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<classpathentry kind="src" path="/CommNavigationObjects"/>
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<classpathentry kind="src" path="/DomainVision"/>
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<classpathentry kind="output" path="bin"/>
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</classpath>

‎BehaviorSLAMRGBdLaserCompare/.cproject‎

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‎BehaviorSLAMRGBdLaserCompare/.project‎

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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>BehaviorSLAMRGBdLaserCompare</name>
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<comment></comment>
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<projects>
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<project>CommBasicObjects</project>
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<project>CommLocalizationObjects</project>
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<project>CommNavigationObjects</project>
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<project>DomainVision</project>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
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<triggers>clean,full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.xtext.ui.shared.xtextBuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
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<triggers>full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.cdt.core.cnature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
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<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
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<nature>org.eclipse.jdt.core.javanature</nature>
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<nature>org.eclipse.cdt.core.ccnature</nature>
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<nature>org.smartmdsd.utils.natures.BehaviorNature</nature>
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<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
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</natures>
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</projectDescription>

‎BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.smartTcl‎

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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;; SCENARIO MEMORY
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(tcl-kb-update
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:key '(is-a name)
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:value `(
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(is-a robot)
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(name 1)
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(velocity-travelling ((0 500)(-60 60)))
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(velocity-path-navigation ((0 500)(-60 60)))
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(velocity-following ((0 1200)(-200 200)))
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(current-room room-1)
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(current-symbolic-position nil)
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(goalid 0)
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(default-nav-map "navigation-map")
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(default-map "localization-map")))
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(defun show-robots ()
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(let ((robot-list (tcl-kb-query-all :key '(is-a) :value '((is-a robot)))))
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(dolist (robot robot-list)
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(format t "~%--------------------------------~%")
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(format t "R O B O T ------------------------~%")
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(format t " name : ~s ~%" (get-value robot 'name))
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(format t " velocity-travelling : ~s ~%" (get-value robot 'velocity-travelling))
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(format t " current-room : ~s ~%" (get-value robot 'current-room))
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(format t " curr-s-loc : ~s ~%" (get-value robot 'current-symbolic-position)))))
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;; SCENARIO MEMORY
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;; CompareTask
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; (execute '(startCompareTask))
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; (execute '(stopCompareTask "/tmp/SLAMCompare1/"))
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(realize-tcb (startCompareTask)
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(action (
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(format t "===== startCompareTask~%")))
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(plan (
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;;set base to zero
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(base.resetBase)
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;;activate realsense and laser generation
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(rgbdRS.activateCameraPush)
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(laserFromRGBDGen.activateLaserGenaration)
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;;start mapping
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(SLAMLaser.tcb-start-mapping 0 0 0)
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(SLAMRGBD.tcb-start-mapping 0 0 0))))
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(realize-tcb (stopCompareTask ?mapDir)
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(action (
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(format t "===== startCompareTask~%")))
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(plan (
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;;stop mapping save maps
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(SLAMLaser.tcb-stop-mapping "laserMap" ?mapDir)
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(SLAMRGBD.tcb-stop-mapping "rgbdMap" ?mapDir)
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;;stop realsense and laser generation
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(rgbdRS.deactivateCamera)
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(laserFromRGBDGen.dectivateLaserGenaration))))
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(realize-tcb (abortCompareTask)
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(action (
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(format t "===== abortCompareTask~%")))
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(plan (
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;;stop mapping save maps
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(SLAMLaser.tcb-abort-mapping)
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(SLAMRGBD.tcb-abort-mapping)
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;;stop realsense and laser generation
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(rgbdRS.deactivateCamera)
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(laserFromRGBDGen.dectivateLaserGenaration))))
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;; CompareTask
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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(format t "INIT DONE ~%")
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;; MENU
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(defvar nmbr nil)
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(defun menu()
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(loop
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(format t "MENU~%====~%~%")
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(format t " ---------------------------------------------------- ~%")
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(format t " 1 - Start Mapping ~%")
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(format t " 2 - Stop Mapping - Save Maps ~%")
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(format t " ---------------------------------------------------- ~%")
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(format t " 3 - Abort Mapping ~%")
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(format t " ---------------------------------------------------- ~%")
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(format t "99 - quit menu ~%")
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(format t " 0 - exit ~%")
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(setf nmbr (parse-integer (read-line nil)))
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(format t "your choice: ~d ~%" nmbr)
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(cond
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((equal nmbr 1)
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(execute '(startCompareTask)))
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((equal nmbr 2)
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(let ((mappath nil))
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(format t "Enter dir name and path where to save the map: ~%")
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(format t "- empty string generates directory with timestamp: /tmp/compare-map-2019-xxx ~%")
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(format t "- or enter a path e.g.: /tmp/compareMaps/ ~%")
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(setf mappath (read-line nil))
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(format t "your path: ~s ~%" mappath)
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(cond
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((equal "" mappath)
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(multiple-value-bind (second minute hour date month year)
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;;get timestamp
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(get-decoded-time)
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;;create dir
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(setf mappath (format NIL "/tmp/compare-map-~d-~d-~2,'0d_~2,'0d-~2,'0d-~2,'0d/" year month date hour minute second))
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(format t "Save maps in dir: ~s~%" mappath)
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;; sleep to make the output readable
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(sleep 2)))
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(T
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(if (char/= #\/ (char mappath (- (length mappath) 1)))
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(setf mappath (format nil "~a/" mappath)))
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(format t "Save maps in dir: ~s~%" mappath)
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;; sleep to make the output readable
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(sleep 2)
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))
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(execute `(stopCompareTask ,mappath))))
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((equal nmbr 3)
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(execute '(abortCompareTask)))
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((equal nmbr 99)
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(format t "type (menu) to come back to menu ~%")
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(return))
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((equal nmbr 0)
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(format t "bye bye ~%")
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(quit)))))
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; (menu)

‎BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization‎

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TaskRealizationModel BehaviorSLAMRGBdLaserCompare {
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AbstractCoordinationModuleInstance SLAMLaser coordModuleDef CommLocalizationObjects.SlamModule
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AbstractCoordinationModuleInstance SLAMRGBD coordModuleDef CommLocalizationObjects.SlamModule
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AbstractCoordinationModuleInstance rgbdRS coordModuleDef DomainVision.CameraModule
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AbstractCoordinationModuleInstance laserFromRGBDGen coordModuleDef CommBasicObjects.LaserGenarationModule
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AbstractCoordinationModuleInstance base coordModuleDef CommNavigationObjects.MobileBaseModule
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AbstractCoordinationModuleInstance kb coordModuleDef CommBasicObjects.KBModule
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//this task realization is a dummy (see smartTCL file)
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//TaskRealization CommNavigationObjects.testTask { }
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}

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