我目前正在攻读嵌入式硕士学位，为了我的论文，我必须研究Erlang对Robot编程的有效性。AFAIKErlang的声明性和并发性可以是有效的，所以我为“自适应巡航控制”编写了一个Erlang代码，它从C程序中获取传感器值（因为Erlang不能直接读取传感器）然后执行计算并将控制信号发送回C程序。但代码看起来很大（行）。为什么我不能使用声明性性质或者有其他问题？这里是我的代码片段。

start() -> 
    spawn( cr, read_sensor, []),
    spawn(cr, take_decision, []),
    sleep_infinite().
% this will make it to run infinitely 
sleep_infinite() -> 
    receive
        after infinity ->
            true
    end.

read_sensor() -> 
    register(read, self()),
    Port = open_port({spawn , "./cr_cpgm" }, [{packet, 2}]),
    Port ! {self(),{command, [49]}},% for executing read sensor fun in C pgm
    read_reply(Port).

read_reply(Port) -> 
    receive 
        read_sensor -> 
            Port ! { self(), { command, [49]}};

        {Port, {data, Data}} -> 
            [Left,Center,Right,Distance] = Data, % stored values of sensors into variables for further computation
            io:format("value of Left: ~w and Center: ~w and Right: ~w and Distance: ~w~n",[Left,Center,Right,Distance]),

        if         Distance =< 100 -> decision ! {1, out}; % Distance shows the value returned by front sharp sensor
                ((Left > 25) and (Center > 25) and (Right > 25)) -> decision ! {2, out}; % stop robot
                        Center < 25 -> decision ! {3, out}; % move forward
                   ((Left > 25) and (Center > 25)) -> decision ! {4, out}; % turn right
                 ((Right > 25) and (Center > 25)) -> decision ! {5, out}; % turn left
                          true ->   decision ! {6, out}   % no match stop robot  
        end
    end,
    read_reply(Port).

take_decision() ->
    register(decision, self()),
    Port = open_port({spawn , "./cr_cpgm" }, [{packet, 2}]),
    decision_reply(Port).

decision_reply(Port) ->
    receive
        {A, out} ->
            Port ! {self(), {command, [50,A]}};

        {Port,{data, Data}} ->
        if
            Data == [102] ->  read ! read_sensor %
        end
    end,
    decision_reply(Port).

字符串
这段代码看起来更像C代码。

• • 是我的实现方式错了吗？（尤其是IF. end）还是问题本身很小（只有2个进程）*
    **请建议我如何在机器人编程中展示Erlang的有效性。**欢迎所有建议。

谢谢你
好吧我同意@cthulahoops的观点，这个问题不足以证明Erlang的有效性。有人能推荐一些我可以在Erlang中实现的Robotic应用程序吗？？