22 #ifndef __PLUGINS_PLEXIL_SKILL_ADAPTER_H_ 23 #define __PLUGINS_PLEXIL_SKILL_ADAPTER_H_ 25 #include <blackboard/blackboard.h> 26 #include <blackboard/interface_listener.h> 27 #include <config/config.h> 28 #include <interfaces/SkillerInterface.h> 29 #include <logging/logger.h> 31 #include <InterfaceAdapter.hh> 36 class ActionSkillMapping;
46 pugi::xml_node
const xml);
80 std::vector<skill_argument> args;
81 std::string template_str;
84 std::string format_skillstring(
const std::vector<PLEXIL::Value> &values);
85 std::string map_skillstring(
const std::string & name,
86 const skill_config & skill_config,
87 const std::vector<PLEXIL::Value> &values);
88 void call_skill(
const std::string &skill_string, PLEXIL::Command *cmd);
96 std::shared_ptr<fawkes::ActionSkillMapping> action_skill_mapping_;
98 std::mutex exec_mutex_;
100 std::string skill_string_;
101 unsigned int skill_msgid_;
103 PLEXIL::Command *current_cmd_;
105 std::map<std::string, skill_config> cfg_skills_;
109 void initBehaviorEngineAdapter();
Specify a skill argument.
PLEXIL::ValueType type
Expected type of skill argument.
virtual bool initialize()
Initialize adapter.
void executeCommand(PLEXIL::Command *cmd)
Perform given command.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
Fawkes library namespace.
Interface adapter to provide logging facilities.
virtual bool stop()
Stop adapter.
Base class for all Fawkes BlackBoard interfaces.
virtual bool reset()
Reset adapter.
std::string name
Name of skill argument.
virtual bool shutdown()
Shut adapter down.
virtual bool start()
Start adapter.
SkillerInterface Fawkes BlackBoard Interface.
The BlackBoard abstract class.
Interface for configuration handling.
BehaviorEnginePlexilAdapter(PLEXIL::AdapterExecInterface &execInterface)
Constructor.
BlackBoard interface listener.
void invokeAbort(PLEXIL::Command *cmd)
Abort currently running execution.
virtual ~BehaviorEnginePlexilAdapter()
Destructor.