Execution trace

USER(2): :cd /u/robot/ssh+/demo/control
/u/robot/ssh+/demo/control/
USER(3): :ld control
; Fast loading /v/hank/v86/robot/ssh+/demo/control/control.fasl

;;;  To run the CONTROL Demo:
;;;      1.  in LISP: load this file ("control.lisp")
;;;      2.  load the SSH   (load "/u/robot/ssh+/ssh")
;;;      3.  (first time) load the COMMON kb  (load-algy-file "algy-common-kb")
;;;      4.  (load-control-demo)
;;;      5.  start the Flat5 display:  java flat.Flat 1085
;;;      6.  start Flat:               /u/robot/flat-root/flat4/flat_cl /u/robot/flat-root/flat5/env/taylor-level-4.env
;;;      7.  (start-demo :port )
;;;      8.  Activate Lisp Controller (checkbox)
;;;      9.  Press Start on the Flat Control Window
;;;     10.  (demo)
;;;     11.  Move the robot to the Robot Lab.
;;;     12.  (run-control-demo T)
;;;     13.  type: Go from Corner-1 to Elevator-1
;;;     14.  (end-demo)

Do you want to autoload the demo? y

Run (START-CONTROL-DEMO) to re-run the demo.

Calling (START-CONTROL-DEMO):

   ...       loads Algernon, SSH+ and demo code

Do you need to start the Flat display? y

-------- Run the Flat Display ---------

 Please set the correct values (hit RETURN to use a default value):
   Host machine for the Flat display (arachne.cs.utexas.edu): 
   Command to run the Flat display (java flat.Flat): 
   Port (1085): 
   Classpath (/u/robot/flat-root/flat5): 
   Environment (/u/robot/flat-root/flat5/env/taylor-level-4.env): 
Confirm Flat Display command line (java flat.Flat 1085 /u/robot/flat-root/flat5/env/taylor-level-4.env -classpath/u/robot/flat-root/flat5): 

Enter Y when the Flat environment display is visible: 
** (background) ** Flat display is running in process 29336
stty: : Invalid argument
stty: : Invalid argument
stty: : Invalid argument
stty: : Invalid argument

** (background) ** Output from Flat display: Flat /u/robot/flat-root/flat5/env/taylor-level-4.env 1085
Port 1085 is busy...trying another
** (background) ** Output from Flat display: Flat Display is now accepting TCP connections on Port 1086y

*** Please verify that the .flat configuration file 
*** specifies the correct port number for the display.

-------- Run the Flat Simulator ---------

 Please set the correct values (hit RETURN to use a default value):
   Host machine for the Flat simulator (arachne.cs.utexas.edu): shadow.csres.utexas.edu
   Name of the Flat program (flat_cl): 
   Directory path to flat_cl (/home/hewett/research/flat-root/flat4/): 
   Configuration file for flat_cl (/home/hewett/research/flat-root/flat4/.flat): 
   Environment description file (/home/hewett/research/flat-root/flat5/env/taylor-level-4.env): 
Confirm Flat command line (ssh -C shadow.csres.utexas.edu '/home/hewett/research/flat-root/flat4/flat_cl /home/hewett/research/flat-root/flat5/env/taylor-level-4.env -config /home/hewett/research/flat-root/flat4/.flat'): 

** (background) ** Flat simulator is running in process 29374
stty: : Invalid argument
stty: : Invalid argument
Executing ssh-askpass to query the password...


-------- Contact Flat and start the demo ---------

Confirm simulator host (shadow.csres.utexas.edu): 
** (background) ** Output from Flat simulator: Reading .bashrc...Sonar will ignore: string "x" 298 170
Sonar will ignore: string "x" 175 93

** (background) ** Output from Flat display: Connection received...display ready.
** (background) ** Output from Flat display: ERROR: /home/hewett/research/flat-root/flat5/env/taylor-level-4.env not found.
** (background) ** Output from Flat display: Unable to load the environment file: /home/hewett/research/flat-root/flat5/env/taylor-level-4.env
Confirm simulator port (1069): 

(START-DEMO :HOST "shadow.csres.utexas.edu" :PORT 1069) 
Enter Y when the Flat simulator display is visible: y


** Flat startup completed.  Continue with demo-specific commands.


Please activate the Lisp Controller in Flat.
Is it activated? y


Press START on the Flat Control Window
Did you press START? y


Calling (DEMO)

Move Spot to the starting point in the Flat Display.
Is Spot in the starting location? y


Starting the demo.  Use: Go from corner-1 to elevator-1

 ...      Resets the KB

;;; SSH map information cleared
;;; Reloading SSH KBs.
;   Fast loading /u/robot/ssh+/kb/ssh-ontology-kb.fasl
;     Fast loading /u/robot/ssh+/kb/supersede.fasl
;     Fast loading /u/robot/ssh+/kb/ssh-region-kb.fasl
;   Fast loading /u/robot/ssh+/kb/common-spatial-kb.fasl

 ...      Loads maps


Wheelchair command? go from corner-1 to elevator-1

You typed: "go from corner-1 to elevator-1"

Parsed command:
   action = :GO
   from   = "CORNER-1"
   to     = "ELEVATOR-1"

Ready to :GO from CORNER-1 to ELEVATOR-1 in WORKING-MAP.LEVEL-4.

plan (V0 V0
      (LW
       (700 :MAX-SPEED 800 :STOP 450 :SAFE 1500 :AWARE 2000 :BFMIN 300 :BFMAX 8000 :MAX-ERROR
        800 :MAX-ROTATIONAL-SPEED 45 :MAX-TURN-ANGLE 60))
      V1 V2 (GO-FORWARD-DISTANCE (2400)) V3 V4 (GO-FORWARD-DISTANCE (1600)) V5 V6
      (FOLLOW-CORRIDOR-DISTANCE (14450)) V7 V7) 
places (CORNER-1 CORNER-2 DOOR-1 DOOR-2 ELEVATOR-1)
PLAN: (V0
       (LW
        (700 :MAX-SPEED 800 :STOP 450 :SAFE 1500 :AWARE 2000 :BFMIN 300 :BFMAX 8000 :MAX-ERROR
         800 :MAX-ROTATIONAL-SPEED 45 :MAX-TURN-ANGLE 60))
       V1 (TURN-ANGLE (90)) V2 (GO-FORWARD-DISTANCE (2400)) V3 (TURN-ANGLE (-90)) V4
       (GO-FORWARD-DISTANCE (1600)) V5 (TURN-ANGLE (-90)) V6 (FOLLOW-CORRIDOR-DISTANCE (14450))
       V7)

 I am preparing to (LW
                    (700 :MAX-SPEED 800 :STOP 450 :SAFE 1500 :AWARE 2000 :BFMIN 300 :BFMAX 8000
                     :MAX-ERROR 800 :MAX-ROTATIONAL-SPEED 45 :MAX-TURN-ANGLE 60))
   Expected view: V0 

 >> What is the current view? v0

   Actual view: V0 

 I am preparing to (TURN-ANGLE (90))
   Expected view: V1 

 >> What is the current view? v1

   Actual view: V1 

 I am preparing to (GO-FORWARD-DISTANCE (2400))
   Expected view: V2 

 >> What is the current view? v2

   Actual view: V2 

 I am preparing to (TURN-ANGLE (-90))
   Expected view: V3 

 >> What is the current view? v3

   Actual view: V3 

 I am preparing to (GO-FORWARD-DISTANCE (1600))
   Expected view: V4 

 >> What is the current view? v4

   Actual view: V4 

 I am preparing to (TURN-ANGLE (-90))
   Expected view: V5 

 >> What is the current view? v5

   Actual view: V5 

 I am preparing to (FOLLOW-CORRIDOR-DISTANCE (14450))
   Expected view: V6 

 >> What is the current view? v6

   Actual view: V6 
   Expected view: V7 

 >> What is the current view? v7

   Actual view: V7 
plan has been executed
NIL 


Wheelchair command? q


Ready to end the demo.
Type Y when you are ready to end the demo: y

Run (START-CONTROL-DEMO) to re-run the demo.
UTILITY-FUNCTIONS(16): Shutdown command received from external controller
Waiting for forwarded connections to terminate...
The following connections are open:
  X11 connection from shadow.csres.utexas.edu port 1088

** (background) ** Output from Flat simulator: Reading config file...reading configuration from /home/hewett/research/flat-root/flat4/.flat
** (background) ** Output from Flat simulator: Contacting arachne.cs.utexas.edu:1086
** (background) ** Output from Flat simulator: Connection made.
** (background) ** Output from Flat simulator: Initializing the display.
** (background) ** Output from Flat simulator: 
** (background) ** Output from Flat simulator: Flat is accepting control connections on port 1069
** (background) ** Output from Flat simulator: Wall clock interval is 50000 usec.
** (background) ** Output from Flat simulator: Simulation will run at 2.000 times real time.
** (background) ** Output from Flat simulator: Lisp Controller
** (background) ** Output from Flat simulator: None
** (background) ** Output from Flat simulator: Lisp Controller
** (background) ** Flat simulator ended.
** (background) ** Output from Flat display: 
** (background) ** Output from Flat display: Client has disconnected.
** (background) ** Output from Flat display: 
** (background) ** Output from Flat display: Flat Display is now accepting TCP connections on Port 1086


USER(14):

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