Category:Cognitao

CogniTAO

HSM

BT

CogniTAO is a collection of decision making tools that include

• A pure C++ Cx11 executive for (Windows 10, Linux Debian, Intel / ARM support)
  • Finite State Machines
  • Hierarchical State Machines
  • Behavior Trees
  • BDI models
• A Web monitoring and visualization tool in pure Javascript
• A teamwork controller
• A real-time planner

Simple task in CogniTAO (Synchronous execution)

<source lang="C++"> class TaskTrue: public Task{ public: virtual void run() { std::cout << "." << std::flush; std::this_thread::sleep_for(std::chrono::milliseconds(1000)); setReturn(true); } }; </source>

Task preemption in CogniTAO (Asynchronous execution)

Below is an example of task preemption while the task is busy waiting.
Busy waiting for completion is not a requirement, the task will end only once it's stopped
so returning from a run method and asynchronously setting it's return value and ending the task is perfectly fine. <source lang="C++"> class TaskIdle: public TaskThread { public: // Function to be executed by thread function void run() { // Check if thread is requested to stop ? while (stopRequested == false) { std::this_thread::sleep_for(std::chrono::milliseconds(1000)); } } }; </source>

Behaviors in CogniTAO

Behavior tree support is for Sequencer / Selector / Parallel.
More logic flow controllers can be easily defined.
Behavior is an extension wrapper for Task, that sets it's return value at the end of the action.
<source lang="C++"> class BehaviourTrue : public Behaviour { public: virtual bool action(){ std::cout << "." << std::flush; std::this_thread::sleep_for(std::chrono::milliseconds(2000)); return true; } }; </source>

World model access in CogniTAO

The world model is a thread-safe global container for predicate data. <source lang="C++"> WM::setVar("EVENT","E2"); </source>

XML plan definition support CogniTAO

Simple SCXML support <source lang="C++"> <state initial="A">

   <state id="A"> 
       <state initial="a1">
           <state id="a1">
               <transition event="COIN_A" target="a2"/>
           </state>
           <state id="a2">
           </state>
       </state>
       <transition event="CHANGE_M" target="B"/>
   </state>

   <state id="B">
       <state initial="b1">
           <state id="b1">
               <transition event="COIN_B" target="b2"/>
           </state>
           <state id="b2">
           </state>
       </state>
        <transition event="UNCHANGE_M" target="A"/>
   </state>

</state> </source>

Behaviour Tree XML support <source lang="C++"> <plan>

  <seq name="S"> 
        <sel name="S1"> 
              <seq name="S2"> 
                    <tsk name="Test1" />
                    <tsk name="Test2" />
              </seq>
              <tsk name="Test3" />
        </sel>
        <sel name="S3"> 
              <seq name="S4"> 
                    <tsk name="Test4" />
                    <tsk name="Test5" />
              </seq>
              <tsk name="Test6" />
        </sel>
        <sel name="S5"> 
              <seq name="S6"> 
                    <tsk name="Test7" />
                    <tsk name="Test8" />
              </seq>
              <tsk name="Test9" />
        </sel>
  </seq>

</plan> </source>