XABSL:Extensible Agent Behavior Specification Language
纠错   23 Mar 2019

XABSL 笔记

introduction

A Bahavior FSM Engine developed by German Team @Martin Lötzsch

Config

  1. Compile XABSL agent

download the XabslEditor binary from [4]launchpad

Use XabslEditor.jar to edit .xabsl files

java -jar XabslEditor.jar

Fig1

We have to modify three files at least in /Xabsl folder

agents.xabsl //define options files

xabsl_behavior.xabsl // define basic behavior class

xabsl_symbol.xabsl // define input/output symbols

agents.xabsl just like main.cpp, collect all .xabsl files.

include "xabsl_symbol.xabsl";
include "xabsl_behavior.xabsl";
include "Options/opt_head_gazebo.xabsl";            // entry to the game

agent Decision("Xabsl", opt_head_gazebo);

Fig2

The symbols and behavior used in option.xabsl is declared in xabsl_symbol and xabsl_behavior

some time with error:

ruby warning: shebang line ending with \r may cause problems

em…DO NOTCompile the xabsl using ruby in options…

Fig3

  1. register symbols and basic behavior in ROS node(C++ based)

File Structure:

Fig4

// File: main_node_head_simpleController.cpp
#include "MsgDataDefinition.h"
#include "tools.h"
#include "../Xabsl/XabslEngine/XabslEngine.h"

#include "basic_behavior.h"
#include "xabsl-debug-interface.h"

#include "std_msgs/Float64.h"

using namespace xabsl;
// using namespace decision;

// Global Data Structure.
MsgDataDefinition currentFrame;
MsgDataDefinition lastFrame;

MyErrorHandler errorHandler;
bool isInitializing = true;
std_msgs::String console_msg;
stringstream console_strstream;

Fig5

xabslEngineRegister　register all symbol input&output with XABSL

basic_behavior.h/.cpp

class behavior_nothing : public BasicBehavior
{
public:

    behavior_nothing(xabsl::ErrorHandler &errorHandler)
        : xabsl::BasicBehavior("behavior_nothing", errorHandler)
        {	}

        virtual void registerParameters()
        {

        }

        virtual void execute();
};

void behavior_nothing::execute()
{
    //cout << "[BEHAVIOR]:nothing";
    printf("[BEHAVIOR]:nothing");
}

负责将C++的basic behavior: 继承了BasicBehavior的子类和实现的虚函数excute()

MsgDataDefinition.h/.cpp

定义枚举类型以及所有决策需要的变量（和XABSL中变量一一对应）

main(): 读取.dat决策文件，注册所有basic behavior到xabsl

    /*******************Xabsl Engine Read **.dat File*************************/
    Engine *pEngine = new Engine(errorHandler, &getSystemTime);
    MyFileInputSource inputSource("/$(package)/intermediate_code/opt_head_gazebo.dat");  	   xabslEngineRegister(pEngine, errorHandler);

    /*******************Xabsl_behavior****************************************/
    behavior_nothing _behavior_nothing(errorHandler);
    behavior_pitch_up _behavior_pitch_up(errorHandler);
    behavior_pitch_down _behavior_pitch_down(errorHandler);

    pEngine->registerBasicBehavior(_behavior_nothing);
    pEngine->registerBasicBehavior(_behavior_pitch_up);
    pEngine->registerBasicBehavior(_behavior_pitch_down);
    /******************Xabsle Creat Option Graph*****************************/
    pEngine->createOptionGraph(inputSource);

    //==========================Initial FSM==================================/
    ROS_INFO("PAUSE!");
    ros::Rate loop_rate(MAIN_NODE_RUNNING_RATE);
    ROS_INFO("Initializing xabsl engine...\n");
    debug_interface dbg(pEngine);
    ROS_INFO("xabsl engine initialized, FSM starts to run...\n");

ros::ok() loop

    while (ros::ok())
    {
        console_strstream.str("");
        console_strstream << "\nround: " << ++roundCount << endl;
        currentFrame.FlushData();
        currentFrame.PrintReceivedData();
        ROS_INFO("before execute");
        pEngine->execute();

        ////////////debug
        console_strstream << dbg.showDebugInfo().str()<< endl;
        console_msg.data = console_strstream.str();
        publish_decision_console.publish(console_msg);
        cout << console_strstream.str() << endl;

        ros::spinOnce();
        loop_rate.sleep();
    }
  1. Run!

Fig6

最简单的一个FSM．．．em…

Reference

[1] Martin Lötzsch, XABSL - A Behavior Engineering System for Autonomous Agents, Diploma Thesis.

[2] Martin Lötzsch, XABSL - A Pragmatic Approach to Behavior Engineering, IROS, 2006

[3] Thomas Röfer, B-Human, Team Report and Code Release 2011

[4] https://launchpad.net/xabsleditor/+download

[5] https://github.com/BerlinUnited/xabsleditor

[6] https://www.sim.informatik.tu-darmstadt.de