Fawkes API Fawkes Development Version
clips_ros_thread.h
1
2/***************************************************************************
3 * clips_ros_thread.h - ROS integration for CLIPS
4 *
5 * Created: Tue Oct 22 18:12:19 2013
6 * Copyright 2006-2013 Tim Niemueller [www.niemueller.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_CLIPS_ROS_CLIPS_ROS_THREAD_H_
24#define _PLUGINS_CLIPS_ROS_CLIPS_ROS_THREAD_H_
25
26#include <aspect/configurable.h>
27#include <aspect/logging.h>
28#include <core/threading/thread.h>
29#include <plugins/clips/aspect/clips_feature.h>
30#include <plugins/ros/aspect/ros.h>
31
32#include <clipsmm.h>
33#include <map>
34#include <string>
35
39 public fawkes::ROSAspect,
42{
43public:
45 virtual ~ClipsROSThread();
46
47 virtual void init();
48 virtual void loop();
49 virtual void finalize();
50
51 // for CLIPSFeature
52 virtual void clips_context_init(const std::string & env_name,
54 virtual void clips_context_destroyed(const std::string &env_name);
55
56 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
57protected:
58 virtual void
60 {
61 Thread::run();
62 }
63
64private: // members
65 std::map<std::string, fawkes::LockPtr<CLIPS::Environment>> envs_;
66
67private: // methods
68 class RosNodeInfo
69 {
70 public:
71 std::list<std::string> published;
72 std::list<std::string> subscribed;
73 std::list<std::string> services;
74 };
75
76 void clips_ros_get_nodes(std::string env_name);
77 void clips_ros_get_topics(std::string env_name);
78 void clips_ros_get_topic_connections(std::string env_name);
79};
80
81#endif
ROS integration for CLIPS.
virtual ~ClipsROSThread()
Destructor.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
ClipsROSThread()
Constructor.
virtual void clips_context_destroyed(const std::string &env_name)
Notification that a CLIPS environment has been destroyed.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void loop()
Code to execute in the thread.
virtual void clips_context_init(const std::string &env_name, fawkes::LockPtr< CLIPS::Environment > &clips)
Initialize a CLIPS context to use the provided feature.
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
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Thread class encapsulation of pthreads.
Definition: thread.h:46