Fawkes API Fawkes Development Version
hardware_models_thread.h
1
2/***************************************************************************
3 * hardware_models_thread.h - Hardware Models plugin
4 *
5 * Created: Sun Mar 24 11:59:44 2019
6 * Copyright 2019 Daniel Habering [daniel@habering.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_HARDWARE_MODELS_HARDWARE_MODELS_THREAD_H_
24#define _PLUGINS_HARDWARE_MODELS_HARDWARE_MODELS_THREAD_H_
25
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/clock.h>
29#include <aspect/configurable.h>
30#include <aspect/logging.h>
31#include <blackboard/interface_listener.h>
32#include <core/threading/thread.h>
33#include <interfaces/HardwareModelsInterface.h>
34#include <plugins/clips/aspect/clips_feature.h>
35#include <utils/time/time.h>
36
37#include <clipsmm.h>
38#include <memory>
39
40namespace fawkes {
41}
42
50{
51public:
53
54 virtual void init();
55 virtual void loop();
56 virtual void finalize();
57
58 // for CLIPSFeature
59 virtual void clips_context_init(const std::string & env_name,
61 virtual void clips_context_destroyed(const std::string &env_name);
62
63 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
64protected:
65 virtual void
67 {
68 Thread::run();
69 }
70
71private:
72 std::map<std::string, fawkes::LockPtr<CLIPS::Environment>> envs_;
73
74 std::vector<std::string> components_;
75
77
78 void clips_add_terminal_state(fawkes::LockPtr<CLIPS::Environment> &clips,
79 const std::string & component,
80 const std::string & state);
81 void clips_add_component(fawkes::LockPtr<CLIPS::Environment> &clips,
82 const std::string & component,
83 const std::string & init_state);
84 void clips_add_edge(fawkes::LockPtr<CLIPS::Environment> &clips,
85 const std::string & component,
86 const std::string & from,
87 const std::string & to,
88 const std::string & trans);
89 void clips_add_transition(const std::string &component, const std::string &transition) noexcept;
90};
91
92#endif
Main thread of Hardware Models Plugin.
virtual void finalize()
Finalize the thread.
virtual void loop()
Loop function to be executed when a new HardwareInterfaceMessage is recieved.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void clips_context_destroyed(const std::string &env_name)
Notification that a CLIPS environment has been destroyed.
virtual void clips_context_init(const std::string &env_name, fawkes::LockPtr< CLIPS::Environment > &clips)
Initializes hardware components from yaml files for a clips environment.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
BlackBoard interface listener.
Thread aspect to provide a feature to CLIPS environments.
Definition: clips_feature.h:58
CLIPS feature maintainer.
Definition: clips_feature.h:42
Thread aspect to access configuration data.
Definition: configurable.h:33
HardwareModelsInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.