An ActionExecutor that executes an activity using the Skiller. More...

Inheritance diagram for fawkes::gpp::SkillerActionExecutor:

[legend]

Public Member Functions
	SkillerActionExecutor (Logger logger, BlackBoard blackboard, Configuration *config, const std::string &cfg_prefix)
	Constructor. More...

virtual	~SkillerActionExecutor () override
	Destructor. More...

void	start (std::shared_ptr< gologpp::Activity > activity) override
	Start the given activity. More...

void	stop (std::shared_ptr< gologpp::Grounding< gologpp::Action >> activity) override
	Stop the activity if it is currently running. More...

bool	can_execute_activity (std::shared_ptr< gologpp::Activity > activity) const override
	Check if we can execute the given activity. More...

virtual void	bb_interface_data_changed (Interface *) override throw ()
	Update the status of the activity according to the Skiller status. More...

Public Member Functions inherited from fawkes::gpp::ActionExecutor
	ActionExecutor (Logger *logger)
	Constructor of an abstract executor. More...

Public Member Functions inherited from fawkes::BlackBoardInterfaceListener
	BlackBoardInterfaceListener (const char *name_format,...)
	Constructor. More...

virtual	~BlackBoardInterfaceListener ()
	Destructor. More...

const char *	bbil_name () const
	Get BBIL name. More...

virtual bool	bb_interface_message_received (Interface interface, Message message) throw ()
	BlackBoard message received notification. More...

virtual void	bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw ()
	A writing instance has been opened for a watched interface. More...

virtual void	bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw ()
	A writing instance has been closed for a watched interface. More...

virtual void	bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw ()
	A reading instance has been opened for a watched interface. More...

virtual void	bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw ()
	A reading instance has been closed for a watched interface. More...

Protected Member Functions
const char *	name () const
	Get the name of the executor; mainly used for logging. More...

Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener
void	bbil_add_data_interface (Interface *interface)
	Add an interface to the data modification watch list. More...

void	bbil_add_message_interface (Interface *interface)
	Add an interface to the message received watch list. More...

void	bbil_add_reader_interface (Interface *interface)
	Add an interface to the reader addition/removal watch list. More...

void	bbil_add_writer_interface (Interface *interface)
	Add an interface to the writer addition/removal watch list. More...

void	bbil_remove_data_interface (Interface *interface)
	Remove an interface to the data modification watch list. More...

void	bbil_remove_message_interface (Interface *interface)
	Remove an interface to the message received watch list. More...

void	bbil_remove_reader_interface (Interface *interface)
	Remove an interface to the reader addition/removal watch list. More...

void	bbil_remove_writer_interface (Interface *interface)
	Remove an interface to the writer addition/removal watch list. More...

Interface *	bbil_data_interface (const char *iuid) throw ()
	Get interface instance for given UID. More...

Interface *	bbil_message_interface (const char *iuid) throw ()
	Get interface instance for given UID. More...

Interface *	bbil_reader_interface (const char *iuid) throw ()
	Get interface instance for given UID. More...

Interface *	bbil_writer_interface (const char *iuid) throw ()
	Get interface instance for given UID. More...

Protected Attributes
BlackBoard *	blackboard_
	The blackboard to use to access the skiller. More...

bool	blackboard_owner_
	True if this executor is owning its blackboard. More...

Protected Attributes inherited from fawkes::gpp::ActionExecutor
std::shared_ptr< gologpp::Activity >	running_activity_
	A pointer to the currently running activity. More...

Logger *	logger_
	The logger to use for logging messages. More...

Additional Inherited Members
Public Types inherited from fawkes::BlackBoardInterfaceListener
enum	QueueEntryType { DATA = 0 , MESSAGES = 1 , READER = 2 , WRITER = 3 }
	Queue entry type. More...

typedef std::list< QueueEntry >	InterfaceQueue
	Queue of additions/removal of interfaces. More...

typedef std::map< std::string, Interface * >	InterfaceMap
	Map of currently active event subscriptions. More...

Detailed Description

An ActionExecutor that executes an activity using the Skiller.

An action is translated to a skill using the skill mapping from the configuration. If the Skiller's status changes, the activity's status is updated accordingly.

Author: Till Hofmann

See also: ActionSkillMapping

Definition at line 44 of file skiller_action_executor.h.

Constructor & Destructor Documentation

◆ SkillerActionExecutor()

fawkes::gpp::SkillerActionExecutor::SkillerActionExecutor	(	Logger *	logger,
		BlackBoard *	blackboard,
		Configuration *	config,
		const std::string &	cfg_prefix
	)

Constructor.

Create and initialize the executor, so a subsequent call to start() directly starts executing a skill.

Parameters

logger	A logger instance to use
blackboard	The blackboard to use to connect to the SkillerInterface
config	The config to read the skill mapping from
cfg_prefix	The spec-specific config prefix to use

Definition at line 71 of file skiller_action_executor.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoard::BBIL_FLAG_DATA, blackboard_, fawkes::BlackBoard::close(), fawkes::Interface::has_writer(), fawkes::Logger::log_error(), fawkes::gpp::ActionExecutor::logger_, fawkes::Interface::msgq_enqueue(), name(), fawkes::BlackBoard::open_for_reading(), fawkes::Interface::read(), fawkes::BlackBoard::register_listener(), fawkes::BlackBoard::unregister_listener(), and fawkes::Exception::what_no_backtrace().