51 Lego MindStorms Lisp XS Lego MindStorms 8 CPU RCX RCX Lisp XS XS RCX PC Scheme Lego MindStorms is a robot development kit which makes it possible t

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1 51 Lego MindStorms Lisp XS Lego MindStorms 8 CPU RCX RCX Lisp XS XS RCX PC Scheme Lego MindStorms is a robot development kit which makes it possible to control one s own robot by attaching various sensors and motors to a programmable block, called RCX, with an 8-bit CPU. In this paper, we present a Lisp system XS which runs on an RCX block to control robots. Unlike previous Lisp/Scheme implementations for the MindStorms, the evaluator of XS runs autonomously on the RCX, with its own runtime stack and garbage-collected heap. It communicates with the front-end subsystem on a PC, to provide an interactive programming environment with features such as backtrace, function trace, and terminal interrupt. The evaluator supports a programming language based on Scheme, extended with functionality for interfacing with attached devices such as motors and sensors. It also supports mechanisms such as event waiting and asynchronous event interrupts that are necessary for controlling robots. 1 Lego Lego MindStorms Robotics Invention System (RIS) [8] 8 CPU RCX RIS XS: Lisp on Lego MindStorms. Taiichi Yuasa,, Graduate School of Informatics, Kyoto University., Vol.24, No.4 (2007), pp [ ] Lego RCX [1] ( ) ( ) C NQC(Not Quite C)[2] RCX [11] NQC NQC OS brickos[3] (

2 52 PC (LinuxWindows) RCX RCX 1 LegoScheme LegoLisp legos [9][10][13] ) RCX RCX brickos C OS OS OS C XS LegoScheme[14] LegoLisp [6] Lisp PC RCX RCX ( 1 ) RCX PC RCX RCX RCX XS Lisp XS RCX RCX (evaluator) Lisp XS 1. read-eval-print / Lisp Scheme Lisp () XS Lisp RCX 3 XS 4

Vol. 24 No. 4 Oct. 2007 53 XS 5 6 XS 7 2 RCX RCX CPU 16 MHz Hitachi H8 16 1 RCX 32K ROM 32K RAM ROM RAM ROM RAM RCX ( brickos OS) RCX RCX ( 2 ) PC PC Lego PC (RCX 1.0 1.5 ) USB ( 2.

3 Vol. 24 No. 4 Oct XS 5 6 XS 7 2 RCX RCX CPU 16 MHz Hitachi H RCX 32K ROM 32K RAM ROM RAM ROM RAM RCX ( brickos OS) RCX RCX ( 2 ) PC PC Lego PC (RCX ) USB ( 2.0 ) RCX PC RCX RCX (A, B, C) (1,2,3) ( 3 ) LCD 5 LCD On-Off, Prgm, Run, View On-Off RCX Prgm RCX Run View RCX 6 RCX RCX 2 RCX( A C ) 3 LCD, RAM RCX 3 XS XS PC RCX (evaluator) Lisp XS 4 PC(Linux Windows) Lisp S RCX S PC

4 54 PC (LinuxWindows) RCX S brickos LNP 4 XS MindStorms Lisp read-eval-print S 1 RCX LegoScheme LegoLisp 5 XS (1 ) > (3 5 ) (7 ) nil (8 ) (9 ) nil (10 ) (12 ) (13 ) XS (15 ) Lisp RXC RCX ( RCX ) % xs 1 % xs 2 Welcome to XS: Lisp on Lego MindStorms 3 >(define (ints n) 4 (if (= n 0) nil 5 (cons n (ints (- n 1))))) 6 ints 7 >(ints 3) 8 Error: undefined variable -- nil 9 Backtrace: ints > ints > ints 10 >(define nil ()) 11 nil 12 >(ints 3) 13 (3 2 1) 14 >(bye) 15 sayonara 16 % 5 XS ( ) RCX is not responding. Make sure RCX is running, and try again. % RCX PC S RCX ()S PC C let C >(let loop () (loop)) Error: terminal interrupt Backtrace: let > #<function> > RCX RCX RCX View RCX View

5 Vol. 24 No. 4 Oct C View RCX RCX C RCX 4 XS Common Lisp [12] Scheme[5] Scheme Scheme Scheme 4. 1 XS 14 ( ) (#f #t) (immediate data) RCX ,191 (= ) RCX XS RCX XS : ASCII #\a 97 : ASCII "abc" ( ) : : :a ( A ) :forward ( ) :white () :La0 (RCX ) 4. 2 XS ( ) Lisp Scheme ( ) Lego XS ( ) IEEE Scheme [5] XS Scheme Common Lisp catch throw

6 56 XS 1K C K 5K catch throw catch XS write Scheme display XS write XS write-string (write "abc") ( ) (write-string "abc") "abc" Lego (top-level form) last-value linked? last-value S S linked? RCX sleep 1/10 RCX XS 1/10 13 ( (2 13 1) 10 60) time 1/10 XS RCX XS time 13 reset-time (wait-until expr) expr expr (wait-until (pressed?)) RCX Prgm ( pressed? ). with-watcher (with-watcher ((event 1. handler 1) (event n. handler n)). body) body event ( ) event i handler i body handler i event i+1 event n event j (j >i) handler i handler j handler j handler i with-watcher event with-watcher handler XS 4 light-on rotation-on light-off rotation-off light, rotation, temperature, touched?

7 Vol. 24 No. 4 Oct with-watcher 1/10 XS /10 motor speed 2 (speed :a (speed :c :max-speed)) (motor :a (motor :c :forward)) play :La0, :La#0, :Si0, :Do1,..., :So8, :So#8, :La8, :pause playing? RCX pressed? Prgm puts 5 LCD putc LCD cls LCD battery RCX 5 6 rover PC Prgm let (named-let ) (define (rover times) (write-string "Press Prgm button to start") (wait-until (pressed?)) (wait-until (not (pressed?))) (let loop ((n times)) (motor :a (motor :c :forward)) (play ((:Re4. 2) (:Do4. 1)...)) (wait-until (or (touched? 2) (pressed?))) (if (touched? 2) (begin (motor :a (motor :c :back)) (sleep 5) (motor (if (= (random 2) 0) :a :c) :forward) (sleep 5) (if (> n 0) (loop (- n 1))))) ) (motor :a (motor :c :off)) ) 6 (1). Prgm rover times Prgm 1. RXC ( Prgm ) 2. Prgm

8 58 (define (start f. args) (write-string "Press Prgm button when ready") (wait-until (pressed?)) (wait-until (not (pressed?))) (catch end (with-watcher (((pressed?) (throw end 0))) (apply f args))) (motor :a (motor :c :off)) ) (define (rover1 times) (define (simple-rover n) (motor :a (motor :c :forward)) (play ((:Re4. 2) (:Do4. 1)...)) (wait-until (touched? 2)) (motor :a (motor :c :back)) (sleep 5) (motor (if (= (random 2) 0) :a :c) :forward) (sleep 5) (if (> n 0) (simple-rover (- n 1))) ) (start simple-rover times) ) 7 (2) start f args apply f throw catch Prgm start rover1 6 rover simple-rover start start simple-rover 6 rover Lisp( Scheme) XS XS RCX 6 XS OS brickos[3] OS Lego RCX ( 4 )Lego Network Protocol (LNP) LNP C H8 GNU GNU C brickos brickos C XS C RCX brickos GNU brickos PC C S S Lisp S RCX RCX receive-evalreturn S

9 Vol. 24 No. 4 Oct RCX (bye) RCX S C XS brickos RAM 32K XS RCX : 9.5K 1 : 256 C : 1K (= 512 ) : 512 (= 256 ) : 5K (= 1280 ) : 160 (= 1280 ) C RCX RCX C XS 2 (= 4 ) 2 align 1 RCX K 160 RCX CPU XS

10 60 (LSB) 2 (MSB) 1 0 LSB RCX RAM 16 MSB 1 2 align 2 00 ( MSB 2 LSB ) car ( 9(a) ) LSB 2 6 (2 ) (3 ) (1 ) Scheme XS 1 1 LSB ( ) LSB (a) car cdr (b) (c) oblink LSB 10 9(c) oblink LSB 10 2 RCX

11 Vol. 24 No. 4 Oct (lambda parameters. original-body) (lambda arg-info. body) arg-info body original-body car ( 9(b) ) 1 () (let ) ( ) car cdr S RCX S () ( ) car lambda 6. 4 S RCX RCX RCX S XS (1 2) 5 low(1), high(1), low(2), high(2), list2 low(x) high(x) x list2 1 LSB 2 ( 1)

12 list2 8 MSB (define bar (foo 1)) 9 low(foo), high(foo), low(1), high(1), list2, eval, low(bar), high(bar), define low(foo) foo ( ) 5 (foo 1) eval S bar define RCX ( 256 ) S 1 S cont RCX RCX 6. 5 XS Lisp tak [4] XS tak PC tak XS CPU CPU CPU 8 CPU RCX XS 5K 1280 cons list Lisp

13 Vol. 24 No. 4 Oct XS Web [16] range.lsp trace.lsp XS ( ) with-watcher 0.25 [15] 7 XS (PC ) RCX Linux legos legos brickos legos brickos legos Windows Linux Windows Franz Cygwin legos Windows Franz Windows brickos XS ( ) legos brickos XS USB 2.0 Windows USB Lego XS Linux XS Linux MindStorms USB USB Lego MindStorms MindStorms XS RCX Windows Linux Redhat Linux Debian Linux Windows XP 18 [7] XS [16] Web XS (IPA)

14 64 Franz John Foderaro Sheng-Chuan Wu XS Franz Fritz Kunze [1] Baum,D.: Extreme Mindstorms: an Advanced Guide to Lego Mindstorms, Apress, [2] Baum, D.: Definitive Guide to LEGO Mindstorms, Second Edition, Apress, [ 3 ] brickos at SourceForge, sourceforge.net/. [4] Gabriel,R.P.: Performance and Evaluation of Lisp System, MIT Press Series in Computer Science, MIT Press, Cambridge, MA, [ 5 ] IEEE Standard for the Scheme Programming Language, IEEE, [ 6 ] Klassner, F. and Anderson, S.: Lego Mindstorms: Not Just for K-12 Anymore, IEEE Robotics and Automation Magazine, [7] : 4, [ 8 ] LEGO.com Mindstorms Home, mindstorms.lego.com/. [ 9 ] legos Alternative Lego OS, net/projects/legos. [10] Nielsson, S.: Introduction to the legos kernel, [11] Proudfoot, K.: RCX Internals, stanford.edu/ kekoa/rcx/, [12] Steele, G.: Common Lisp the Language, Second Edition, Digital Press, [13] Villa, L.: legos HOWTO, forge.net/howto/, [14] Wick, A., Klipsch, K. and Wagner, M.: Lego/Scheme Compiler V0.5.2, indiana.edu/ mtwagner/legoscheme/. [15] Yuasa, T.: Real-time Garbage Collection on General-purpose Machines, Journal of Systems and Software, Vol.11, No.3 (1990), pp [16] Yuasa, T.: XS: Lisp on Lego MindStorms, A XS XS X*: 0 X X + :1 X {X 1 X n}: X 1 X n [X]: X X 1,X 2,...,X n X 1 X 2,...,X n or (or expr*) ; list* reverse Lisp (define sym form) (define (sym sym* [. sym]) form*) (load file-name) (trace function-name) untrace (bye) (quote obj ) (set! sym form) (lambda (sym* [. sym]) form*) (begin form*) (apply fun obj * list) (if form form [form]) (catch form form*) (throw obj obj ) (and form*) or (not obj ) (let [sym] ((sym form)*) form*)

15 Vol. 24 No. 4 Oct (let* ((sym form)*) form*) letrec (boolean? obj ) integer? null? pair? symbol? function? (eq? obj obj ) (< int + ) > = >= <= (+ int*) (- int int*) (* int*) (/ int int) remainder (logand int int) logior logxor logshl logshr (random int) (car cons) cdr (cons obj obj ) (set-car! cons obj ) set-cdr! (list obj *) (list* obj * obj ) (list-ref list int) (append list* obj ) (assoc obj a-list) (member obj list) (length list) reverse (read [int]) read-char read-line (write obj [int]) (write-char char [int]) (write-string string [int]) (gc) XS (last-value) (fork sym sym string + ) ;Linux (sleep int) ; 1/10 (wait-until form) ; (with-watcher ((form form*)*) form*) ; (time) ; 1/10 (reset-time) (linked?) (light-on {1 2 3}) light-off (light {1 2 3}) ; 0( ) 98( ) (rotation-on {1 2 3}) rotation-off (rotation {1 2 3}) ; 360/16 (temperature {1 2 3}) ; (touched? {1 2 3}) :a, :b, :c (motor {:a :b :c} {:off :forward :back :brake}) (speed {:a :b :c} speed ) ;0 speed 255 (:max-speed) (play ((pitch. length)* )) (playing?) Prgm (pressed?) LCD (puts string) (putc char column) (cls) (battery) ; 1/10

SCM (v0201) ( ) SCM 2 SCM 3 SCM SCM 2.1 SCM SCM SCM (1) MS-DOS (2) Microsoft(R) Windows 95 (C)Copyright Microsoft Corp

SCM (v0201) ( ) SCM 2 SCM 3 SCM SCM 2.1 SCM SCM SCM (1) MS-DOS (2) Microsoft(R) Windows 95 (C)Copyright Microsoft Corp SCM (v0201) ( ) 14 4 20 1 SCM 2 SCM 3 SCM 4 5 2 SCM 2.1 SCM SCM 2 1 2 SCM (1) MS-DOS (2) Microsoft(R) Windows 95 (C)Copyright Microsoft Corp 1981-1996. 1 (3) C:\WINDOWS>cd.. C:\>cd scm C:\SCM> C:\SCM>