22#ifndef FAWKES_GOLOGPP_FAWKES_BACKEND_H_
23#define FAWKES_GOLOGPP_FAWKES_BACKEND_H_
25#include "action_executor.h"
26#include "aspect/action_executor_dispatcher.h"
27#include "aspect/action_executor_dispatcher_inifin.h"
29#include <aspect/aspect_provider.h>
30#include <aspect/clock.h>
31#include <aspect/inifins/inifin.h>
32#include <blackboard/blackboard.h>
33#include <golog++/model/platform_backend.h>
34#include <logging/logger.h>
37class SkillerInterface;
49 std::string cfg_prefix,
54 virtual void preempt_activity(std::shared_ptr<gologpp::Activity> a)
override;
55 virtual gologpp::Clock::time_point
time()
const noexcept override;
58 virtual void execute_activity(std::shared_ptr<gologpp::Activity>)
override;
Thread aspect provide a new aspect.
The BlackBoard abstract class.
Thread aspect that allows to obtain the current time from the clock.
Interface for configuration handling.
The initializer/finalizer for the GologppDispatcherAspect.
An aspect that provides access to the Golog++ Action Executor Dispatcher.
SkillerInterface Fawkes BlackBoard Interface.
Dispatch an activity to a number of registered executors by checking all registered executors subsequ...
A Golog++ backend to get data from and send commands to Fawkes.
virtual gologpp::Clock::time_point time() const noexcept override
Get the current time from Fawkes.
virtual void preempt_activity(std::shared_ptr< gologpp::Activity > a) override
Preempt the currently running activity.
GologppFawkesBackend(Configuration *config, std::string cfg_prefix, Logger *logger, BlackBoard *blackboard)
Constructor.
Fawkes library namespace.