Fawkes API  Fawkes Development Version
fawkes::SkillerInterface Class Reference

SkillerInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::SkillerInterface:

Classes

class  AcquireControlMessage
 AcquireControlMessage Fawkes BlackBoard Interface Message. More...
 
class  ExecSkillMessage
 ExecSkillMessage Fawkes BlackBoard Interface Message. More...
 
class  ReleaseControlMessage
 ReleaseControlMessage Fawkes BlackBoard Interface Message. More...
 
class  RestartInterpreterMessage
 RestartInterpreterMessage Fawkes BlackBoard Interface Message. More...
 
class  StopExecMessage
 StopExecMessage Fawkes BlackBoard Interface Message. More...
 

Public Types

enum  SkillStatusEnum { S_INACTIVE, S_FINAL, S_RUNNING, S_FAILED }
 This determines the current status of skill execution. More...
 

Public Member Functions

const char * tostring_SkillStatusEnum (SkillStatusEnum value) const
 Convert SkillStatusEnum constant to string. More...
 
virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
char * skill_string () const
 Get skill_string value. More...
 
void set_skill_string (const char *new_skill_string)
 Set skill_string value. More...
 
size_t maxlenof_skill_string () const
 Get maximum length of skill_string value. More...
 
char * error () const
 Get error value. More...
 
void set_error (const char *new_error)
 Set error value. More...
 
size_t maxlenof_error () const
 Get maximum length of error value. More...
 
uint32_t exclusive_controller () const
 Get exclusive_controller value. More...
 
void set_exclusive_controller (const uint32_t new_exclusive_controller)
 Set exclusive_controller value. More...
 
size_t maxlenof_exclusive_controller () const
 Get maximum length of exclusive_controller value. More...
 
uint32_t msgid () const
 Get msgid value. More...
 
void set_msgid (const uint32_t new_msgid)
 Set msgid value. More...
 
size_t maxlenof_msgid () const
 Get maximum length of msgid value. More...
 
SkillStatusEnum status () const
 Get status value. More...
 
void set_status (const SkillStatusEnum new_status)
 Set status value. More...
 
size_t maxlenof_status () const
 Get maximum length of status value. More...
 
virtual Messagecreate_message (const char *type) const
 Create message based on type name. More...
 
virtual void copy_values (const Interface *other)
 Copy values from other interface. More...
 
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string. More...
 
- Public Member Functions inherited from fawkes::Interface
virtual ~Interface ()
 Destructor. More...
 
bool oftype (const char *interface_type) const
 Check if interface is of given type. More...
 
const void * datachunk () const
 Get data chunk. More...
 
unsigned int datasize () const
 Get data size. More...
 
const char * type () const
 Get type of interface. More...
 
const char * id () const
 Get identifier of interface. More...
 
const char * uid () const
 Get unique identifier of interface. More...
 
unsigned short serial () const
 Get instance serial of interface. More...
 
unsigned int mem_serial () const
 Get memory serial of interface. More...
 
bool operator== (Interface &comp) const
 Check equality of two interfaces. More...
 
const unsigned char * hash () const
 Get interface hash. More...
 
size_t hash_size () const
 Get size of interface hash. More...
 
const char * hash_printable () const
 Get printable interface hash. More...
 
bool is_writer () const
 Check if this is a writing instance. More...
 
void set_validity (bool valid)
 Mark this interface invalid. More...
 
bool is_valid () const
 Check validity of interface. More...
 
const char * owner () const
 Get owner of interface. More...
 
void set_from_chunk (void *chunk)
 Set from a raw data chunk. More...
 
void resize_buffers (unsigned int num_buffers)
 Resize buffer array. More...
 
unsigned int num_buffers () const
 Get number of buffers. More...
 
void copy_shared_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void copy_private_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void read_from_buffer (unsigned int buffer)
 Copy data from buffer to private memory. More...
 
int compare_buffers (unsigned int buffer)
 Compare buffer to private memory. More...
 
Time buffer_timestamp (unsigned int buffer)
 Get time of a buffer. More...
 
void buffer_timestamp (unsigned int buffer, Time *timestamp)
 Get time of a buffer. More...
 
void read ()
 Read from BlackBoard into local copy. More...
 
void write ()
 Write from local copy into BlackBoard memory. More...
 
bool has_writer () const
 Check if there is a writer for the interface. More...
 
unsigned int num_readers () const
 Get the number of readers. More...
 
std::string writer () const
 Get owner name of writing interface instance. More...
 
std::list< std::string > readers () const
 Get owner names of reading interface instances. More...
 
bool changed () const
 Check if data has been changed. More...
 
const Timetimestamp () const
 Get timestamp of last write. More...
 
void set_auto_timestamping (bool enabled)
 Enable or disable automated timestamping. More...
 
void set_timestamp (const Time *t=NULL)
 Set timestamp. More...
 
void set_clock (Clock *clock)
 Set clock to use for timestamping. More...
 
void mark_data_changed ()
 Mark data as changed. More...
 
std::list< const char * > get_message_types ()
 Obtain a list of textual representations of the message types available for this interface. More...
 
unsigned int msgq_enqueue (Message *message)
 Enqueue message at end of queue. More...
 
unsigned int msgq_enqueue_copy (Message *message)
 Enqueue copy of message at end of queue. More...
 
void msgq_remove (Message *message)
 Remove message from queue. More...
 
void msgq_remove (unsigned int message_id)
 Remove message from queue. More...
 
unsigned int msgq_size ()
 Get size of message queue. More...
 
void msgq_flush ()
 Flush all messages. More...
 
void msgq_lock ()
 Lock message queue. More...
 
bool msgq_try_lock ()
 Try to lock message queue. More...
 
void msgq_unlock ()
 Unlock message queue. More...
 
void msgq_pop ()
 Erase first message from queue. More...
 
Messagemsgq_first ()
 Get the first message from the message queue. More...
 
bool msgq_empty ()
 Check if queue is empty. More...
 
void msgq_append (Message *message)
 Enqueue message. More...
 
template<class MessageType >
bool msgq_first_is ()
 Check if first message has desired type. More...
 
template<class MessageType >
MessageType * msgq_first ()
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first (MessageType *&msg)
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first_safe (MessageType *&msg) throw ()
 Get first message casted to the desired type without exceptions. More...
 
MessageQueue::MessageIterator msgq_begin ()
 Get start iterator for message queue. More...
 
MessageQueue::MessageIterator msgq_end ()
 Get end iterator for message queue. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields ()
 Get the number of fields in the interface. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 Interface ()
 Constructor. More...
 
void set_hash (unsigned char *ihash)
 Set hash. More...
 
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
 Add an entry to the field info list. More...
 
void add_messageinfo (const char *name)
 Add an entry to the message info list. More...
 
- Protected Attributes inherited from fawkes::Interface
void * data_ptr
 Pointer to local memory storage. More...
 
unsigned int data_size
 Minimal data size to hold data storage. More...
 
bool data_changed
 Indicator if data has changed. More...
 
interface_data_ts_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

SkillerInterface Fawkes BlackBoard Interface.

The interface provides access to the skill execution runtime plugin. It provides basic status information about skiller and allows for calling skills via messages. It can also be used to manually restart the Lua interpreter if something is wedged.

Definition at line 33 of file SkillerInterface.h.

Member Enumeration Documentation

◆ SkillStatusEnum

This determines the current status of skill execution.

Enumerator
S_INACTIVE 

No skill is running.

S_FINAL 

The skill string has been successfully processed.

S_RUNNING 

The execution is still running.

S_FAILED 

The execution failed and cannot succeed anymore.

Definition at line 44 of file SkillerInterface.h.

Member Function Documentation

◆ copy_values()

void fawkes::SkillerInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 303 of file SkillerInterface.cpp.

References fawkes::Message::type(), and fawkes::Interface::type().

◆ create_message()

Message * fawkes::SkillerInterface::create_message ( const char *  type) const
virtual

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 280 of file SkillerInterface.cpp.

◆ enum_tostring()

const char * fawkes::SkillerInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
virtual

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 314 of file SkillerInterface.cpp.

◆ error()

char * fawkes::SkillerInterface::error ( ) const

Get error value.

String describing the error. Can be set by a skill when it fails.

Returns
error value

Definition at line 139 of file SkillerInterface.cpp.

Referenced by RosSkillerThread::loop(), and SkillGuiGtkWindow::~SkillGuiGtkWindow().

◆ exclusive_controller()

uint32_t fawkes::SkillerInterface::exclusive_controller ( ) const

Get exclusive_controller value.

Instance serial of the exclusive controller of the skiller. If this does not carry your instance serial your exec messages will be ignored. Aquire control with the AquireControlMessage. Make sure you release control before exiting.

Returns
exclusive_controller value

Definition at line 176 of file SkillerInterface.cpp.

Referenced by ClipsAgentThread::init(), LuaAgentPeriodicExecutionThread::init(), LuaAgentContinuousExecutionThread::init(), ClipsAgentThread::loop(), RosSkillerThread::loop(), RosSkillerThread::once(), and SkillGuiGtkWindow::~SkillGuiGtkWindow().

◆ maxlenof_error()

size_t fawkes::SkillerInterface::maxlenof_error ( ) const

Get maximum length of error value.

Returns
length of error value, can be length of the array or number of maximum number of characters for a string

Definition at line 149 of file SkillerInterface.cpp.

◆ maxlenof_exclusive_controller()

size_t fawkes::SkillerInterface::maxlenof_exclusive_controller ( ) const

Get maximum length of exclusive_controller value.

Returns
length of exclusive_controller value, can be length of the array or number of maximum number of characters for a string

Definition at line 186 of file SkillerInterface.cpp.

◆ maxlenof_msgid()

size_t fawkes::SkillerInterface::maxlenof_msgid ( ) const

Get maximum length of msgid value.

Returns
length of msgid value, can be length of the array or number of maximum number of characters for a string

Definition at line 224 of file SkillerInterface.cpp.

◆ maxlenof_skill_string()

size_t fawkes::SkillerInterface::maxlenof_skill_string ( ) const

Get maximum length of skill_string value.

Returns
length of skill_string value, can be length of the array or number of maximum number of characters for a string

Definition at line 113 of file SkillerInterface.cpp.

◆ maxlenof_status()

size_t fawkes::SkillerInterface::maxlenof_status ( ) const

Get maximum length of status value.

Returns
length of status value, can be length of the array or number of maximum number of characters for a string

Definition at line 260 of file SkillerInterface.cpp.

◆ message_valid()

bool fawkes::SkillerInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 690 of file SkillerInterface.cpp.

◆ msgid()

uint32_t fawkes::SkillerInterface::msgid ( ) const

Get msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Returns
msgid value

Definition at line 214 of file SkillerInterface.cpp.

Referenced by RosSkillerThread::loop().

◆ set_error()

void fawkes::SkillerInterface::set_error ( const char *  new_error)

Set error value.

String describing the error. Can be set by a skill when it fails.

Parameters
new_errornew error value

Definition at line 161 of file SkillerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_exclusive_controller()

void fawkes::SkillerInterface::set_exclusive_controller ( const uint32_t  new_exclusive_controller)

Set exclusive_controller value.

Instance serial of the exclusive controller of the skiller. If this does not carry your instance serial your exec messages will be ignored. Aquire control with the AquireControlMessage. Make sure you release control before exiting.

Parameters
new_exclusive_controllernew exclusive_controller value

Definition at line 200 of file SkillerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_msgid()

void fawkes::SkillerInterface::set_msgid ( const uint32_t  new_msgid)

Set msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Parameters
new_msgidnew msgid value

Definition at line 237 of file SkillerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_skill_string()

void fawkes::SkillerInterface::set_skill_string ( const char *  new_skill_string)

Set skill_string value.

Currently executed skill string, at least the first 1023 bytes of it. Must be properly null-terminated.

Parameters
new_skill_stringnew skill_string value

Definition at line 126 of file SkillerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_status()

void fawkes::SkillerInterface::set_status ( const SkillStatusEnum  new_status)

Set status value.

The status of the current skill execution.

Parameters
new_statusnew status value

Definition at line 272 of file SkillerInterface.cpp.

References fawkes::Interface::data_changed.

◆ skill_string()

char * fawkes::SkillerInterface::skill_string ( ) const

Get skill_string value.

Currently executed skill string, at least the first 1023 bytes of it. Must be properly null-terminated.

Returns
skill_string value

Definition at line 103 of file SkillerInterface.cpp.

Referenced by ClipsAgentThread::loop(), RosSkillerThread::loop(), and SkillGuiGtkWindow::~SkillGuiGtkWindow().

◆ status()

SkillerInterface::SkillStatusEnum fawkes::SkillerInterface::status ( ) const

Get status value.

The status of the current skill execution.

Returns
status value

Definition at line 250 of file SkillerInterface.cpp.

Referenced by ClipsAgentThread::loop(), RosSkillerThread::loop(), and SkillGuiGtkWindow::~SkillGuiGtkWindow().

◆ tostring_SkillStatusEnum()

const char * fawkes::SkillerInterface::tostring_SkillStatusEnum ( SkillStatusEnum  value) const

Convert SkillStatusEnum constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 84 of file SkillerInterface.cpp.


The documentation for this class was generated from the following files: