Changes have been pushed for the repository "fawkesrobotics/fawkes".
Clone: https://github.com/fawkesrobotics/fawkes.git Gitweb: https://github.com/fawkesrobotics/fawkes The branch, common/gologpp has been updated to cea775521d3809604a4a6f1bb63ac0f895100020 (commit) from 18eecd25e0cb6ad35c3c08172b4cd373829d31ab (commit) https://github.com/fawkesrobotics/fawkes/tree/common/gologpp Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit cea775521d3809604a4a6f1bb63ac0f895100020 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Oct 3 12:10:13 2019 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Oct 3 12:17:18 2019 +0200 gologpp: implement action dispatcher to allow other action types Restructure action execution so we can have a number of different action executors (e.g., skills, communication). Each executor implements a function that checks whether the executor is capable of executing a given activity. The dispatcher iterates over all registered executors and gives the activity to the first executor that is able to execute the activity. The executor is expected to be initialized once (e.g., by opening the necessary blackboard interfaces) and it should be able to subsequently execute multiple activities, i.e., we do not create a new executor for every activity, but only for every type of activity. Currently, only the SkillerActionExecutor is implemented, which executes an activity using the skiller. Additional executors can be implemented by inheriting from the abstract ActionExecutor and registering the executor with the dispatcher. https://github.com/fawkesrobotics/fawkes/commit/cea775521 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/gologpp/Makefile | 3 +- src/plugins/gologpp/action_executor.cpp | 59 +++++++ .../{mongodb/utils.h => gologpp/action_executor.h} | 38 +++-- src/plugins/gologpp/action_executor_dispatcher.cpp | 61 +++++++ .../action_executor_dispatcher.h} | 24 ++- src/plugins/gologpp/gologpp_fawkes_backend.cpp | 101 ++---------- src/plugins/gologpp/gologpp_fawkes_backend.h | 10 +- ...kes_backend.cpp => skiller_action_executor.cpp} | 181 ++++++++++----------- src/plugins/gologpp/skiller_action_executor.h | 63 +++++++ 9 files changed, 329 insertions(+), 211 deletions(-) create mode 100644 src/plugins/gologpp/action_executor.cpp copy src/plugins/{mongodb/utils.h => gologpp/action_executor.h} (50%) create mode 100644 src/plugins/gologpp/action_executor_dispatcher.cpp copy src/plugins/{skiller-simulator/skiller_simulator_plugin.h => gologpp/action_executor_dispatcher.h} (56%) copy src/plugins/gologpp/{gologpp_fawkes_backend.cpp => skiller_action_executor.cpp} (57%) create mode 100644 src/plugins/gologpp/skiller_action_executor.h - *Diffs* ------------------------------------------------------------- - *commit* cea775521d3809604a4a6f1bb63ac0f895100020 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Oct 3 12:10:13 2019 +0200 Subject: gologpp: implement action dispatcher to allow other action types src/plugins/gologpp/Makefile | 3 +- src/plugins/gologpp/action_executor.cpp | 59 +++++++ .../{mongodb/utils.h => gologpp/action_executor.h} | 38 +++-- src/plugins/gologpp/action_executor_dispatcher.cpp | 61 +++++++ .../action_executor_dispatcher.h} | 24 ++- src/plugins/gologpp/gologpp_fawkes_backend.cpp | 101 ++---------- src/plugins/gologpp/gologpp_fawkes_backend.h | 10 +- ...kes_backend.cpp => skiller_action_executor.cpp} | 181 ++++++++++----------- src/plugins/gologpp/skiller_action_executor.h | 63 +++++++ 9 files changed, 329 insertions(+), 211 deletions(-) _Diff for modified files_: diff --git a/src/plugins/gologpp/Makefile b/src/plugins/gologpp/Makefile index 9d939481c..b87a45f10 100644 --- a/src/plugins/gologpp/Makefile +++ b/src/plugins/gologpp/Makefile @@ -17,7 +17,8 @@ include $(BASEDIR)/etc/buildsys/config.mk LIBS_gologpp = fawkescore fawkesutils fawkesblackboard \ fawkesinterface SkillerInterface -OBJS_gologpp = plugin.o execution_thread.o gologpp_fawkes_backend.o exog_manager.o +OBJS_gologpp = plugin.o execution_thread.o gologpp_fawkes_backend.o exog_manager.o \ + action_executor.o skiller_action_executor.o action_executor_dispatcher.o OBJS_all = $(OBJS_gologpp) PLUGINS_all = $(PLUGINDIR)/gologpp.so diff --git a/src/plugins/gologpp/gologpp_fawkes_backend.cpp b/src/plugins/gologpp/gologpp_fawkes_backend.cpp index ede98d4e7..7228572c0 100644 --- a/src/plugins/gologpp/gologpp_fawkes_backend.cpp +++ b/src/plugins/gologpp/gologpp_fawkes_backend.cpp @@ -21,11 +21,10 @@ #include "gologpp_fawkes_backend.h" +#include "skiller_action_executor.h" + #include <golog++/model/activity.h> #include <golog++/model/transition.h> -#include <interfaces/SkillerInterface.h> - -#include <sstream> namespace fawkes_gpp { @@ -54,28 +53,12 @@ GologppFawkesBackend::GologppFawkesBackend(GologppThread *main_thread, logger_(logger), blackboard_(blackboard) { - try { - skiller_if_ = blackboard_->open_for_reading<SkillerInterface>("Skiller"); - } catch (Exception &e) { - logger_->log_error(name(), "Failed to open skiller interface: %s", e.what_no_backtrace()); - } - bbil_add_data_interface(skiller_if_); - blackboard_->register_listener(this, BlackBoard::BBIL_FLAG_DATA); - skiller_if_->read(); - if (!skiller_if_->has_writer()) { - blackboard->unregister_listener(this); - blackboard->close(skiller_if_); - throw Exception("No writer for Skiller interface"); - } - skiller_if_->msgq_enqueue(new SkillerInterface::AcquireControlMessage()); - initialize_action_skill_mapping(); + action_dispatcher_.register_executor( + std::make_shared<SkillerActionExecutor>(logger, blackboard, config)); } GologppFawkesBackend::~GologppFawkesBackend() { - skiller_if_->msgq_enqueue(new SkillerInterface::ReleaseControlMessage()); - blackboard_->unregister_listener(this); - blackboard_->close(skiller_if_); } /** Preempt the currently running activity. @@ -107,84 +90,20 @@ GologppFawkesBackend::time() const noexcept void GologppFawkesBackend::execute_activity(shared_ptr<Activity> a) { - if (running_activity_) { - stop_running_activity(); - } - - std::string skill_string{map_activity_to_skill(a)}; - skiller_if_->msgq_enqueue(new SkillerInterface::ExecSkillMessage(skill_string.c_str())); + stop_running_activity(); + auto executor = action_dispatcher_.get_executor(a); + executor->start(a); running_activity_ = a; } void GologppFawkesBackend::stop_running_activity() { - skiller_if_->msgq_enqueue(new SkillerInterface::StopExecMessage()); - running_activity_.reset(); -} - -void -GologppFawkesBackend::bb_interface_data_changed(Interface *iface) throw() -{ - if (!running_activity_) { - return; - } - SkillerInterface *skiller_if = dynamic_cast<SkillerInterface *>(iface); - if (!skiller_if) { - return; - } - skiller_if->read(); - switch (skiller_if->status()) { - case SkillerInterface::S_FINAL: - running_activity_->update(Transition::Hook::FINISH); + if (running_activity_) { + auto executor = action_dispatcher_.get_executor(running_activity_); + executor->stop(running_activity_); running_activity_.reset(); - break; - case SkillerInterface::S_FAILED: running_activity_->update(Transition::Hook::FAIL); break; - case SkillerInterface::S_RUNNING: running_activity_->update(Transition::Hook::START); break; - default: break; - } -} - -std::string -GologppFawkesBackend::map_activity_to_skill(std::shared_ptr<Activity> activity) -{ - std::map<std::string, std::string> params; - for (auto &arg : activity->target()->mapping().arg_mapping()) { - params[arg.first] = activity->mapped_arg_value(arg.first).to_string(""); - } - std::multimap<std::string, std::string> messages; - if (!action_skill_mapping_.has_mapping(activity->mapped_name())) { - throw Exception(std::string("No mapping for action " + activity->mapped_name()).c_str()); - } - auto mapping{action_skill_mapping_.map_skill(activity->mapped_name(), params, messages)}; - for (auto m = messages.find("ERROR"); m != messages.end();) { - logger_->log_error(name(), - "Error occurred while mapping action '%s': %s", - activity->mapped_name().c_str(), - m->second.c_str()); - } - for (auto m = messages.find("WARNING"); m != messages.end();) { - logger_->log_warn(name(), - "Warning occurred while mapping action '%s': %s", - activity->mapped_name().c_str(), - m->second.c_str()); - } - return mapping; -} - -void -GologppFawkesBackend::initialize_action_skill_mapping() -{ - // TODO: use const for config prefix - std::string action_mapping_cfg_path = "/plugins/gologpp/action-mapping/"; - auto cfg_iterator{config_->search(action_mapping_cfg_path)}; - std::map<std::string, std::string> mapping; - while (cfg_iterator->next()) { - std::string action_name{ - std::string(cfg_iterator->path()).substr(action_mapping_cfg_path.length())}; - mapping[action_name] = cfg_iterator->get_as_string(); } - action_skill_mapping_ = ActionSkillMapping(mapping); } const char * diff --git a/src/plugins/gologpp/gologpp_fawkes_backend.h b/src/plugins/gologpp/gologpp_fawkes_backend.h index 0b3047012..619a538cf 100644 --- a/src/plugins/gologpp/gologpp_fawkes_backend.h +++ b/src/plugins/gologpp/gologpp_fawkes_backend.h @@ -22,14 +22,14 @@ #ifndef FAWKES_GOLOGPP_FAWKES_BACKEND_H_ #define FAWKES_GOLOGPP_FAWKES_BACKEND_H_ +#include "action_executor.h" +#include "action_executor_dispatcher.h" #include "execution_thread.h" #include <aspect/clock.h> -#include <blackboard/interface_listener.h> #include <config/config.h> #include <golog++/model/platform_backend.h> #include <logging/logger.h> -#include <utils/misc/map_skill.h> namespace fawkes { class SkillerInterface; @@ -51,14 +51,10 @@ public: virtual void preempt_activity(std::shared_ptr<gologpp::Transition> t) override; virtual gologpp::Clock::time_point time() const noexcept override; - virtual void bb_interface_data_changed(fawkes::Interface *) throw() override; - private: virtual void execute_activity(std::shared_ptr<gologpp::Activity>) override; void stop_running_activity(); - void initialize_action_skill_mapping(); const char * name(); - std::string map_activity_to_skill(std::shared_ptr<gologpp::Activity> activity); GologppThread * main_thread_; fawkes::SkillerInterface * skiller_if_; @@ -66,7 +62,7 @@ private: fawkes::Logger * logger_; fawkes::BlackBoard * blackboard_; std::shared_ptr<gologpp::Activity> running_activity_; - fawkes::ActionSkillMapping action_skill_mapping_; + ActionExecutorDispatcher action_dispatcher_; }; } // namespace fawkes_gpp _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
