ExecutionΒΆ
The following example code fragment shows how to run the blackboard system. It
is assumed that the XML files Scene.xml
and Blackboard.xml
have
previously been created and are on your Matlab path.
1 2 3 4 5 | bbs = BlackboardSystem(0);
sim = simulator.SimulatorConvexRoom('Scene.xml');
bbs.setRobotConnect(sim);
bbs.buildFromXml('Blackboard.xml');
bbs.run();
|
In the first line, a BlackboardSystem
object is created. The parameter to
the constructor (in this case, zero) indicates the verbosity level. In line 2 a
room simulation is created from the scene description file Scene.xml
. Line 3
then connects the blackboard to this simulator front end (at this stage you
could also connect it to a real robot platform). Finally, in
line 4 the blackboard is built from the configuration file Blackboard.xml
and line 5 runs the blackboard; it will now proceed in a run loop until there is
no more data to process.