CASA Generic Installation

A generic CASA/iRobot installation requires only the casa.jar file, which you run as follows:

java -jar casa.jar options run-time-command

or, more specificly:

java -jar iRobotCreate3.jar casa.jar [-lLtT?] [-LAC [<port>]] [-NOLAC [<port>]] [-PROCESS [<port>]] [-NOPROCESS] [-HELP] [<lisp-command>]

where:

l: Suppress automatically stating a LAC if there isn't one (same as -NOLAC).
L: Automatically start a LAC at port 9000 if there isn't one (same as -LAC).
t: turn tracing-to-file on.
T: Use a text interface if there's no command on the command line.
?, HELP: Prints this help text.
LAC [<port>]: Automatically start a LAC at port <port> if there isn't one (defaults to 9000).
NOLAC [<port>]: Do not start a LAC, but expect a LAC at port <port> (defaults to 9000).
PROCESS [<port>]: Automatically start a CASAProcess at port <port> (defaults to 9010).
NOPROCESS [<port>]: Do not start a PROCESS, but run a simple agent that executes the <lisp-command>.
<lisp-command>: any legal agent run-time command (runs dialogue mode if this is missing).

-L, -LAC, -PROCESS, and -NOPROCESS are mutually exclusive. If none of -L, -LAC, -PROCESS, and -NOPROCESS are present then if a LAC exists at -NOLAC (or 9000), then a CASAProcess is started at 9010 or above, otherwise a LAC is started. Qualifiers can be abbreviated to the shortest unique truncation.

The main class is casa.CASAProcess.

The CASA web site is http://casa.cpsc.ucalgary.ca/. JavaDoc may be found at http://casa.cpsc.ucalgary.ca/javadoc/.

Downloads

You can download the following:

download file	platform	detail
iRobotCreate3.jar	all	A Java jar file, not including source. Run with "java -jar iRobotCreate3.jar ..."
iRobotCreate3.jar		A Java jar file, including source. Run with "java -jar iRobotCreate3.jar ..."
iRobotCreate3 .zip		A complete CASA Eclipse directory structure. Just unzip into your Eclipse workspace and make it a new project.
iRobotCreate3.dmg	Mac OS/X	A Mac disk image containing the casa.app application file. Copy casa.app to your /Applications folder.

Examples

To execute the script in Fig 1 that runs a simple simulation of two agents that can be controlled from the agent command interface (assuming sim.lisp is in the current directory):

java -jar iRobotCreate3.jar "(load \"sim.lisp\")"

Figure 1: "sim.lisp", a simple simulation of two agents that can be controlled from the agent command interface.
(let ( (trace-tags "info5,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations") (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines ) ;; Set the options for the agent running the commandline (agent.options :options.tracing T) (agent.options :options.tracetags trace-tags) (sleep 2) (agent.new-agent "iRobotCreate.simulator.Environment" "RoomEnvironment" 5780 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML") (sleep 5) (agent.tell ":5780" "(iRobot-env.puck :name \"puck\")") (agent.tell ":5780" "(iRobot-env.set \"puck\" :labeled NIL)") (agent.tell ":5780" "(iRobot-env.circle \"puck\" :color-name \"red\")") (sleep-ignoring-interrupts 2) (agent.new-agent "iRobotCreate.iRobotCreate" "Alice2" 9100 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML" :outstream "Alice.out" :instream "Alice.in") (agent.tell ":5780" "(iRobot-env.triangle \"Alice2\" :name \"red-tri\" :color-name \"purple\")") (agent.new-agent "iRobotCreate.iRobotCreate" "Bob2" 9101 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML" :outstream "Bob.out" :instream "Bob.in") (agent.tell ":5780" "(iRobot-env.triangle \"Bob2\" :name \"green-tri\" :color-name \"green\")") ) ;let

(let (
       (trace-tags "info5,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations")
       (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file
       (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines
       )
  
  ;; Set the options for the agent running the commandline
  (agent.options :options.tracing T)
  (agent.options :options.tracetags trace-tags)
  
  (sleep 2)
  
  (agent.new-agent "iRobotCreate.simulator.Environment" "RoomEnvironment" 5780 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML")
  (sleep 5)

  (agent.tell ":5780" "(iRobot-env.puck :name \"puck\")")
  (agent.tell ":5780" "(iRobot-env.set \"puck\" :labeled NIL)")
  (agent.tell ":5780" "(iRobot-env.circle \"puck\" :color-name \"red\")")
  
  (sleep-ignoring-interrupts 2)
  (agent.new-agent "iRobotCreate.iRobotCreate" "Alice2" 9100  :LAC 9000 :process "CURRENT" :trace trace-code 
          :traceTags trace-tags :markup "KQML" :outstream "Alice.out" :instream "Alice.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Alice2\" :name \"red-tri\" :color-name \"purple\")")
  (agent.new-agent "iRobotCreate.iRobotCreate" "Bob2"   9101  :LAC 9000 :process "CURRENT" :trace trace-code 
          :traceTags trace-tags :markup "KQML" :outstream "Bob.out" :instream "Bob.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Bob2\" :name \"green-tri\" :color-name \"green\")")
  ) ;let

To execute the script in Fig 2 that runs a single agent controlling a real robot that can be controlled from the agent command interface (assuming real.lisp is in the current directory):

java -jar iRobotCreate3.jar "(load \"real.lisp\")"

Figure 2: "real.lisp", a single agent controlling real robot that can be controlled from the agent command interface.
(let ( (trace-tags "info5,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations") (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines ) ;; Set the options for the agent running the commandline (agent.options :options.tracing T) (agent.options :options.tracetags trace-tags) (sleep 2) (agent.new-agent "iRobotCreate.simulator.Environment" "RoomEnvironment" 5780 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML") (sleep 5) (declare (integer width)) (setq width 2304) (declare (integer height)) (setq height 1384) (declare (integer goalCtrX)) (setq goalCtrX (/ width 2)) (agent.tell ":5780" "(iRobot-env.new-bounds 2304 1382)") (agent.tell ":5780" "(iRobot-env.new \"goal0\" \"Rectangle2D\" goalCtrX 25 (floor (/ width 3)) 50 :paint T :corporeal NIL :color #x8888FF)") (agent.tell ":5780" "(iRobot-env.new \"goal1\" \"Rectangle2D\" goalCtrX (- height 25) (floor (/ width 3)) 50 :paint T :corporeal NIL :color #xFFFF88)") (agent.tell ":5780" "(iRobot-env.puck :name \"puck\")") (agent.tell ":5780" "(iRobot-env.set \"puck\" :labeled NIL)") (agent.tell ":5780" "(iRobot-env.circle \"puck\" :color-name \"red\")") (sleep-ignoring-interrupts 2) (agent.new-agent "iRobotCreate.iRobotCreate" "Alice2" 9100 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML" :outstream "Alice.out" :instream "Alice.in") (agent.tell ":5780" "(iRobot-env.triangle \"Alice2\" :name \"red-tri\" :color-name \"purple\")") (agent.new-agent "iRobotCreate.iRobotCreate" "Bob2" 9101 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML" :outstream "Bob.out" :instream "Bob.in") (agent.tell ":5780" "(iRobot-env.triangle \"Bob2\" :name \"green-tri\" :color-name \"green\")") ) ;let

(let (
       (trace-tags "info5,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations")
       (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file
       (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines
       )
  
  ;; Set the options for the agent running the commandline
  (agent.options :options.tracing T)
  (agent.options :options.tracetags trace-tags)
  
  (sleep 2)
  
  (agent.new-agent "iRobotCreate.simulator.Environment" "RoomEnvironment" 5780 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML")
  (sleep 5)

  (declare (integer width))    (setq width 2304)
  (declare (integer height))   (setq height 1384)
  (declare (integer goalCtrX)) (setq goalCtrX (/ width 2))
  (agent.tell ":5780" "(iRobot-env.new-bounds 2304 1382)") 
  (agent.tell ":5780" "(iRobot-env.new \"goal0\" \"Rectangle2D\" goalCtrX 25            (floor (/ width 3)) 50 :paint T :corporeal NIL :color #x8888FF)")
  (agent.tell ":5780" "(iRobot-env.new \"goal1\" \"Rectangle2D\" goalCtrX (- height 25) (floor (/ width 3)) 50 :paint T :corporeal NIL :color #xFFFF88)")
    
  (agent.tell ":5780" "(iRobot-env.puck :name \"puck\")")
  (agent.tell ":5780" "(iRobot-env.set \"puck\" :labeled NIL)")
  (agent.tell ":5780" "(iRobot-env.circle \"puck\" :color-name \"red\")")
  
  (sleep-ignoring-interrupts 2)
  (agent.new-agent "iRobotCreate.iRobotCreate" "Alice2" 9100  :LAC 9000 :process "CURRENT" :trace trace-code 
          :traceTags trace-tags :markup "KQML" :outstream "Alice.out" :instream "Alice.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Alice2\" :name \"red-tri\" :color-name \"purple\")")
  (agent.new-agent "iRobotCreate.iRobotCreate" "Bob2"   9101  :LAC 9000 :process "CURRENT" :trace trace-code 
          :traceTags trace-tags :markup "KQML" :outstream "Bob.out" :instream "Bob.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Bob2\" :name \"green-tri\" :color-name \"green\")")
  ) ;let

To execute the script in Fig 3 that runs multiple simulated robots on a "soccor field" who chase a balll. (assuming soccerSim.lisp is in the current directory):

java -jar iRobotCreate3.jar "(load \"soccerSim.lisp\")"

Figure 3: "soccerSim.lisp", multiple simulated robots on a "soccor field" who chase a balll.
(let ( (trace-tags "info5,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations") (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines ) ;; Set the options for the agent running the commandline (agent.options :options.tracing T) (agent.options :options.tracetags trace-tags) ;(new-agent "casa.LAC" "ResearchLAC" 9000 :process "CURRENT" :markup "KQML" :trace :traceFile :traceTags "warning,msg,commitments,policies5") (sleep 2) (agent.new-agent "iRobotCreate.simulator.Environment" "RoomEnvironment" 5780 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML") (sleep 5) (declare (integer width)) (setq width 2304) (declare (integer height)) (setq height 1384) (declare (integer goalCtrX)) (setq goalCtrX (/ width 2)) (agent.tell ":5780" "(iRobot-env.new-bounds 2304 1382)") (agent.tell ":5780" "(iRobot-env.new \"goal0\" \"Rectangle2D\" goalCtrX 25 (floor (/ width 3)) 50 :paint T :corporeal NIL :color #x8888FF)") (agent.tell ":5780" "(iRobot-env.new \"goal1\" \"Rectangle2D\" goalCtrX (- height 25) (floor (/ width 3)) 50 :paint T :corporeal NIL :color #xFFFF88)") (agent.tell ":5780" "(iRobot-env.puck :name \"puck\")") (agent.tell ":5780" "(iRobot-env.set \"puck\" :labeled NIL)") (agent.tell ":5780" "(iRobot-env.circle \"puck\" :color-name \"red\")") (agent.new-agent "iRobotCreate.simulator.CameraSimulation" "camera" 8995 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :scale (/ 1280.0 width)) (sleep-ignoring-interrupts 2) (agent.new-agent "iRobotCreate.iRobotCreate" "Alice2" 9100 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :outstream "Alice.out" :instream "Alice.in") (agent.tell ":5780" "(iRobot-env.triangle \"Alice2\" :name \"red-tri\" :color-name \"purple\")") (agent.new-agent "iRobotCreate.iRobotCreate" "Bob2" 9101 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :outstream "Bob.out" :instream "Bob.in") (agent.tell ":5780" "(iRobot-env.triangle \"Bob2\" :name \"green-tri\" :color-name \"green\")") (agent.new-agent "iRobotCreate.iRobotCreate" "Carol2" 9102 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :outstream "Carol.out" :instream "Carol.in") (agent.tell ":5780" "(iRobot-env.triangle \"Carol2\" :name \"yellow-tri\" :color-name \"yellow\")") (sleep-ignoring-interrupts 2) (agent.new-agent "iRobotCreate.BallPusher" "ControllerOfAlice" 9200 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :controls ":9100" :color "purple" :ball-color "red" :scale (/ width 1280.0)) (agent.new-agent "iRobotCreate.BallPusher" "ControllerOfBob" 9201 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :controls ":9101" :color "green" :ball-color "red" :scale (/ width 1280.0)) (agent.new-agent "iRobotCreate.BallPusher" "ControllerOfCarol" 9202 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :controls ":9102" :color "yellow" :ball-color "red" :scale (/ width 1280.0)) ) ;let

(let (
       (trace-tags "info5,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,-conversations")
       (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file
       (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines
       )
  
  ;; Set the options for the agent running the commandline
  (agent.options :options.tracing T)
  (agent.options :options.tracetags trace-tags)
  
  ;(new-agent "casa.LAC" "ResearchLAC" 9000 :process "CURRENT" :markup "KQML" :trace :traceFile :traceTags "warning,msg,commitments,policies5")
  (sleep 2)
  
  (agent.new-agent "iRobotCreate.simulator.Environment" "RoomEnvironment" 5780 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :markup "KQML")
  (sleep 5)

  (declare (integer width))    (setq width 2304)
  (declare (integer height))   (setq height 1384)
  (declare (integer goalCtrX)) (setq goalCtrX (/ width 2))
  (agent.tell ":5780" "(iRobot-env.new-bounds 2304 1382)") 
  (agent.tell ":5780" "(iRobot-env.new \"goal0\" \"Rectangle2D\" goalCtrX 25            (floor (/ width 3)) 50 :paint T :corporeal NIL :color #x8888FF)")
  (agent.tell ":5780" "(iRobot-env.new \"goal1\" \"Rectangle2D\" goalCtrX (- height 25) (floor (/ width 3)) 50 :paint T :corporeal NIL :color #xFFFF88)")
    
  (agent.tell ":5780" "(iRobot-env.puck :name \"puck\")")
  (agent.tell ":5780" "(iRobot-env.set \"puck\" :labeled NIL)")
  (agent.tell ":5780" "(iRobot-env.circle \"puck\" :color-name \"red\")")
  
  (agent.new-agent "iRobotCreate.simulator.CameraSimulation" "camera" 8995  :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags :scale (/ 1280.0 width))
    
  (sleep-ignoring-interrupts 2)
  (agent.new-agent "iRobotCreate.iRobotCreate" "Alice2" 9100  :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags 
                :outstream "Alice.out" :instream "Alice.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Alice2\" :name \"red-tri\" :color-name \"purple\")")
  (agent.new-agent "iRobotCreate.iRobotCreate" "Bob2"   9101  :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags 
                :outstream "Bob.out" :instream "Bob.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Bob2\" :name \"green-tri\" :color-name \"green\")")
  (agent.new-agent "iRobotCreate.iRobotCreate" "Carol2" 9102  :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags 
                :outstream "Carol.out" :instream "Carol.in")
  (agent.tell ":5780" "(iRobot-env.triangle \"Carol2\" :name \"yellow-tri\" :color-name \"yellow\")")
  
  (sleep-ignoring-interrupts 2)
  (agent.new-agent "iRobotCreate.BallPusher" "ControllerOfAlice" 9200 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags 
                :controls ":9100" :color "purple" :ball-color "red" :scale (/ width 1280.0))
  (agent.new-agent "iRobotCreate.BallPusher" "ControllerOfBob"   9201 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags 
                :controls ":9101" :color "green"  :ball-color "red" :scale (/ width 1280.0))
  (agent.new-agent "iRobotCreate.BallPusher" "ControllerOfCarol" 9202 :LAC 9000 :process "CURRENT" :trace trace-code :traceTags trace-tags 
                :controls ":9102" :color "yellow" :ball-color "red" :scale (/ width 1280.0))
  ) ;let