Difference between revisions of "Category:Cognitao"

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== CogniTAO ==
 +
[[File:HSM.PNG|thumb|HSM]]
 +
[[File:bt.PNG|thumb|BT]]
 +
 
CogniTAO is a collection of decision making tools that include
 
CogniTAO is a collection of decision making tools that include
−
[[File:HSM.PNG|thumb|HSM]]
+
* 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. <br>
 +
Busy waiting for completion is not a requirement, the task will end only once it's stopped <br>
 +
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. <br>
 +
More logic flow controllers can be easily defined. <br>
 +
Behavior is an extension wrapper for Task, that sets it's return value at the end of the action. <br>
 +
<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>
  
−
[[File:bt.PNG|thumb|BT]]
+
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>

Latest revision as of 11:11, 19 September 2019

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>

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