17 June 2016
In the method of robot activation described in section "Using Robots in the Program", specific physical robot, or rather the associated robot representation is chosen by the robot module, which may know nothing about the context of using the activated robot, and therefore it is likely to make not the best choice of the robot. Most often, the first available robot within a specific module of robots is called this way if a specific required class of robots had been specified. Or, if an abstract robot had been called, it would be the first free robot from the first module of robots with unused robots, in the order in which the modules of the robots are listed in theconfig.ini file.
If in the process of the RCML interpreter operation the option to record statistics (see section "Installation and Configuration of RCML Compiler and Interpreter") was activated, the statistical information about robots operation and the speed of executing their functions is collected. For more about data collection, see Section "Working with RCML statistics". The robot choosing modules may have access to this information, and, based on it, can make a more rational decision about the choice of the robot.
Connecting one or several choosing modules is specified in the robot manipulation the operator in angle brackets <>, where all choosing modules are listed, comma-separated. The syntax of this construction is as follows:
An example of connecting choosing module avg to choosing a tarakan class robot:
In this case, the tarakan robot module will request all physical representations of the available robots, and their list will be passed to choosing module avg. From the provided list, the choosing module will choose the most appropriate robot, which will be used. The choice algorithm is determined by the choosing module.
It should be noted that choosing a robot using a choosing module usually takes longer than without the one, since the module has to perform additional actions associated with decision-making (statistics database queries, etc.).
If the robot chosen by the choosing module has become engaged in another process, the choice procedure starts again, querying the robot module for available robots.
The choosing module may be also indicated in case of using an abstract robot. For example, indication of statistics module avg, with abstract robot:
In this case, RCML get a list of all presentations of the available robots from all robot modules matching this call. From the list of robots representations, only one robot of a particular class will be chosen.
In case several statistics modules were indicated for robot initialization. For example:
robot_tarakan<test1, test2, test3>
In this case, every choosing module will get a list of representations of the available robots, out of which each module will choose one robot. In this case, the order of modules indication determines the sequence of decision-making by the modules, as well as the priority of the robot chosen by a particular choosing module, which may be expressed in points. The first specified choosing module will be the first to select a robot, and the robot selected by it will have the maximum priority in points that will be equal to the number of the specified choosing modules. Accordingly, the last specified module will be the last to make decision, and the robot it chooses will have the priority equal to one point. If the choosing modules choose for activation different robots from the list of the available robots, the robot with the highest points will be activated, i.e. the robot with the highest priority. If the robots chosen for activation have the same points, the robot chosen by the first choosing module will be selected.
It is important to note that a situation is possible where a specific statistics module for any reason cannot make the decision about choosing a robot. In this case, the module notifies the RCML environment, and environment's current behavior is determined as though this module has not been specified for robot activation.