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141 changes: 141 additions & 0 deletions
141
experimental/C/src/ModalModels/BehaviorTrees/robohub_example_advanced.lf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,141 @@ | ||
| /* | ||
| * Implements a modal LF version of the hierarchical statemachine | ||
| * for the behavior tree in presented in this article: | ||
| * https://robohub.org/introduction-to-behavior-trees/ | ||
| * | ||
| * Compared to the simple variant this uses modes more extensively, which | ||
| * results in the correct behavior. | ||
| * Moreover, modeling the sequence in Nominal as modal enables the potential | ||
| * use of a history transition that could allow modeling the continuation | ||
| * of the task squecnce at the point where it was left when the battery ran out. | ||
| */ | ||
| target C { | ||
| // logging: debug | ||
| } | ||
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| reactor GenericTask(name:string("")) { | ||
| output success:bool | ||
| output failure:bool | ||
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| initial mode Running { | ||
| // Just for testing | ||
| timer work(0, 250msec) | ||
| timer finish(1sec, 1sec) | ||
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| reaction(work) {= | ||
| printf("%s\n", self->name); | ||
| =} | ||
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| reaction(finish) -> success, Succeeded, failure, Failed {= | ||
| int r = rand() % 6; | ||
| if (r == 0) { | ||
| SET(failure, true); | ||
| SET_MODE(Failed); | ||
| } else { | ||
| SET(success, true); | ||
| SET_MODE(Succeeded); | ||
| } | ||
| =} | ||
| } | ||
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| mode Succeeded {} | ||
| mode Failed {} | ||
| } | ||
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| reactor NominalBehavior { | ||
| input BatteryOK:bool | ||
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| output success:bool | ||
| output failure:bool | ||
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| initial mode MoveToObj { | ||
| MoveToObjTask = new GenericTask(name="MoveToObj") | ||
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| MoveToObjTask.failure -> failure | ||
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| reaction(MoveToObjTask.success) -> CloseGrip {= | ||
| SET_MODE(CloseGrip); | ||
| =} | ||
| } | ||
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| mode CloseGrip { | ||
| CloseGripTask = new GenericTask(name="CloseGrip") | ||
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| CloseGripTask.failure -> failure | ||
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| reaction(CloseGripTask.success) -> MoveHome {= | ||
| SET_MODE(MoveHome); | ||
| =} | ||
| } | ||
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| mode MoveHome { | ||
| MoveHomeTask = new GenericTask(name="MoveHome") | ||
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| MoveHomeTask.failure -> failure | ||
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| reaction(MoveHomeTask.success) -> success {= | ||
| SET(success, true); | ||
| =} | ||
| } | ||
| } | ||
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| reactor Robot { | ||
| input BatteryOK:bool | ||
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| output success:bool | ||
| output failure:bool | ||
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| initial mode Nominal { | ||
| NominalBehavior = new NominalBehavior() | ||
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| NominalBehavior.success -> success | ||
| NominalBehavior.failure -> failure | ||
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| reaction(BatteryOK) -> Charging {= | ||
| if (!BatteryOK->value) { | ||
| SET_MODE(Charging); | ||
| printf("Battery empty\n"); | ||
| } | ||
| =} | ||
| } | ||
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| mode Charging { | ||
| GoCharge = new GenericTask(name="GoCharge") | ||
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| GoCharge.failure -> failure | ||
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| reaction(BatteryOK, GoCharge.success) -> Nominal {= | ||
| // Assumes simultaneous presence | ||
| if (BatteryOK->value && GoCharge.success->value) { | ||
| SET_MODE(Nominal); | ||
| printf("Battery charged\n"); | ||
| } | ||
| =} | ||
| } | ||
| } | ||
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| main reactor { | ||
| timer Battery(1sec, 1sec) | ||
| state battery_state:int(1) | ||
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| robot = new Robot() | ||
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| reaction(Battery) -> robot.BatteryOK {= | ||
| self->battery_state--; | ||
| SET(robot.BatteryOK, self->battery_state > 0); | ||
| if (self->battery_state <= 0) { | ||
| self->battery_state = 5; | ||
| } | ||
| =} | ||
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| reaction(robot.success) {= | ||
| printf("Total success\n"); | ||
| request_stop(); | ||
| =} | ||
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| reaction(robot.failure) {= | ||
| printf("Utter failure\n"); | ||
| request_stop(); | ||
| =} | ||
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| } |
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