[Dprglist] First BBR implementation and some questions

[David P. Anderson]

Well, Karim, now that you mention it...


On 10/31/21 5:26 PM, Karim Virani via DPRGlist wrote:
> I agree with Doug, you should never have blocking code unless you can 
> dedicate a separate thread to it apart from your main loop's thread.
>
> And not to start up the whole debate again, I personally vote that 
> there is no use for ballistic behaviors. I treat them as an academic 
> construct. There are plenty of uses of objective-oriented and 
> terminating behaviors - including those where the objective is to last 
> for a certain amount of time. But they should still be interruptible 
> and cancellable by higher priority behaviors.

I believe this is a misunderstanding of what ballistic behaviors are in 
the context of subsumption.   For some reason the idea has taken root 
that what makes a behavior ballistic is that it for some reason cannot 
be interrupted.    That is a red herring. What make a behavior a 
ballistic behavior */_in the context of subsumption_/* is that it 
continues to execute after the signal that triggered it has ceased.

That's all.

I don't understand why such a simple concept has turned out to be so 
hard to communicate.  I consider this a major failing on my part.

cheers!

David



>
> On Sun, Oct 31, 2021 at 5:08 PM Doug Paradis via DPRGlist 
> <dprglist at lists.dprg.org <mailto:dprglist at lists.dprg.org>> wrote:
>
>     Kumar,
>         I always pass through the loop. So a 1 sec backwards maneuver
>     would use a loop counter with a disengage value of 50 for a loop
>     time of 20 mS. I am not using a multitasking framework, which
>     opens up other possibilities.
>
>     Regards
>     Doug P.
>
>     Sent from my iPhone
>
>>     On Oct 31, 2021, at 4:54 PM, Thalanayar Muthukumar via DPRGlist
>>     <dprglist at lists.dprg.org <mailto:dprglist at lists.dprg.org>> wrote:
>>
>>     https://youtu.be/fuFamNWyXc4
>>     <https://secure-web.cisco.com/12R-xW2iM6X1mtZ6lGWZ2cU_V7WhrcVFmrYppQ5_RFJAtuHcumxuYD4t8YW_aGm011_ipOLIKUMPmlNlXLKe0mDeZ5NILZd__YuRF_kKIzyxN8EiJErAuYE-OcebwmywmyJ7SoBG9yB3Oyna9Z9RUY7kwZdTuI-sO3UWkVWgVNhYiwT1_tphO9qAaoFdwYrgHVEynVcBz9QhIC_xYutA9B-8OhKAWWEGvh-8EqTFHmW8H5ZsvYDMLEZNwPag9e3p4bO7y-E8y4CehSNJJRVtWHgi8hUB2z2KYLDpQOUR9fxk/https%3A%2F%2Fyoutu.be%2FfuFamNWyXc4> (~15
>>     sec)
>>
>>     20 times per sec
>>     - default behavior - go straight forward, green headlights
>>     - higher priority behavior - light sensed, turn left, red headlights
>>
>>     My understanding of BBR is that there should be no state maintained.
>>
>>     Question - If we trigger a ballistic behavior (e.g. go straight
>>     backward for one sec), is it ok to not return to the loop every
>>     50 msec?
>>
>>     Or is it preferable to maintain state and count 20 times for
>>     getting duration of 1 sec?
>>
>>     Regards.
>>     - Kumar
>>
>>
>>
>>     Sent from my iPhone
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