Implements a single behaviour manager. More...

#include <behaviour_manager.h>

Inherited by behaviourcontroltest::MyM.

Public Member Functions
	BehaviourManager (const std::string &name=nullString)
	Default constructor. More...

virtual	~BehaviourManager ()
	Behaviour manager object destructor.

ret_t	initialiseArchitecture ()
	Function that should be called by the user to initialise the entire behaviour manager architecture, including all child layers, behaviours, sensor managers, actuator managers, and so on. More...

bool	wasInitialised () const
	Boolean flag specifying whether the manager has been initialised yet or not.

bool	isInitialising () const
	Boolean flag specifying whether the manager is currently initialising or not.

void	step ()
	Function that should be called by the user to execute one step of the entire behaviour manager architecture. More...

int	cycleID () const
	The numeric ID of the current step cycle of the behaviour manager. Prior to the first step this ID is 0. The ID is incremented by one in each call to `step()`.

void	reportError (const std::string &msg, bool fatal, const std::string &funcName, const std::string &fileName, int line)
	Function used to signal that a warning or an error has occurred. After setting the appropriate error flags, this function invokes the `reportErrorUser()` function. It is recommended to use this function only indirectly via the Error Macros. More...

virtual void	reportErrorUser (const std::string &msg, bool fatal, const std::string &funcName, const std::string &fileName, int line)
	Error handler function that is intended to be overridden by the user to process and/or display warnings and errors raised by the framework. A non-fatal error is a warning.

void	clearErrorStatus ()
	Reset the error status flags so that functions like `initialiseArchitecture()` and `step()` can be attempted to be called again.

bool	hadError () const
	Boolean flag that specifies whether an error has occurred with the architecture.

bool	hadWarning () const
	Boolean flag that specifies whether an error or warning has occurred with the architecture.

std::string	toString (const std::string &linePrefix=nullString) const
	Generates a multiline string representation of the architecture, summarising all of the main components. More...

const ActuatorBase *	findActuator (const std::string &signalName) const
	Finds an actuator within the architecture, given its string name as a lookup key. More...

BehaviourManager *	getBasePtr ()
	Return a pointer to the underlying BehaviourManager class object in the case of a derived behaviour manager class.

Public Attributes
const std::string	name
	Human-friendly string name of the behaviour manager.

Static Public Attributes
static const index_t	DEF_LLIST_CAPACITY = 4
	Default capacity of the list that stores the child behaviour layers of the manager.

static const std::string	DEF_MANAGER_NAME = "BehaviourManager"
	Default behaviour manager name used to generate a unique one, in the case that no name is provided by a derived behaviour manager class.

Protected Member Functions
virtual ret_t	init ()
	Initialisation callback for the behaviour manager. This function is called from `initialiseArchitecture()`, and is intended to be overridden for the purpose of initialising the derived behaviour manager object.

virtual void	preStepCallback ()
	Callback that is invoked at the beginning of the `step()` function so that the user can inject code.

virtual void	postStepCallback ()
	Callback that is invoked at the end of the `step()` function so that the user can inject code.

Friends
class	BehaviourLayer

class	SensorBase

Detailed Description

Implements a single behaviour manager.

This class implements a base class for all behaviour managers that are used in an architecture. In a single process application typically only one behaviour manager is required.

Constructor & Destructor Documentation

BehaviourManager::BehaviourManager ( const std::string & name = nullString )

explicit

Default constructor.

Note that although the default value for the name parameter is nullString, this will not actually become the behaviour manager's name if the parameter is omitted. This is just used to signal to the class's internals that it should use the default name (DEF_MANAGER_NAME) when none is provided.

Parameters

name	The human-friendly name to give the behaviour manager (null means use default)

Member Function Documentation

const ActuatorBase * BehaviourManager::findActuator ( const std::string & signalName ) const

Finds an actuator within the architecture, given its string name as a lookup key.

Note that this function returns the first actuator of the requested name. The layers are searched in order from the first layer in the manager's layer list (BehaviourManager::LList) to the last. NULL is returned if no actuator of the requested name was found, or if signalName was a null string.

Parameters

signalName The actuator name to search for.

ret_t BehaviourManager::initialiseArchitecture ( )

Function that should be called by the user to initialise the entire behaviour manager architecture, including all child layers, behaviours, sensor managers, actuator managers, and so on.

The initialisation order is as follows:

Behaviour manager base: initBase()
Behaviour layer base's: BehaviourLayer::initAllBase()
Derived behaviour manager: init()
Derived behaviour layers: BehaviourLayer::initAll()

The function can only be called once, or RET_ALREADY_INITIALISED is returned.

Returns: A ret_t type that specifies whether the initialisation was successful.

void BehaviourManager::reportError	(	const std::string &	msg,
		bool	fatal,
		const std::string &	funcName,
		const std::string &	fileName,
		int	line
	)

Function used to signal that a warning or an error has occurred. After setting the appropriate error flags, this function invokes the reportErrorUser() function. It is recommended to use this function only indirectly via the Error Macros.

Parameters

msg	A `std::string` message that describes the error.
fatal	A flag specifying whether the error is fatal (i.e. an error) or non-fatal (i.e. just a warning).
funcName	The name of the function in which the error was encountered (generally `__func__`, `__FUNCTION__` or similar).
fileName	The name of the file in which the error was encountered (generally `__FILE__`).
line	The line number at which the error was encountered (generally `__LINE__`).

void BehaviourManager::step ( )

Function that should be called by the user to execute one step of the entire behaviour manager architecture.

This function is generally placed in a timed loop that controls the step rate of the architecture. This function does nothing if a fatal error has previously been encountered.

The order of execution is as follows:

Pre-step callback: preStepCallback()
For each interface layer:
- Update the actuators for a new step: ActuatorManager::updateActuators()
- Update the interface layer: BehaviourLayer::update()
- Read the new external data: ActuatorManager::readExternalData()
For each normal layer call BehaviourLayer::step():
- Update the sensor manager: SensorManager::updateSensors()
- Update the actuator manager: ActuatorManager::updateActuators()
- Update the layer: BehaviourLayer::update()
- For each child behaviour:
  - Update the behaviour: Behaviour::update()
- Compute the raw activation levels of each behaviour: Behaviour::computeActivationLevel()
- Apply the inhibitions of the layer to get the true activation levels (the result of which can be retrieved later using Behaviour::getA())
- For each child behaviour:
  - If Behaviour::getA() > 0.0 then execute the activated behaviour: Behaviour::execute()
  - Otherwise execute the inhibited behaviour: Behaviour::inhibited()
- Invoke post-execute callback: BehaviourLayer::postExecuteCallback()
For each interface layer:
- Update the sensors for a new step: SensorManager::updateSensors()
- Write the new external data: SensorManager::writeExternalData()
- Invoke post-execute callback: BehaviourLayer::postExecuteCallback()
Post-step callback: postStepCallback()

std::string BehaviourManager::toString ( const std::string & linePrefix = nullString ) const

Generates a multiline string representation of the architecture, summarising all of the main components.

This function displays the whole object hierarchy of the given manager. A sample output is shown below.

Defined Behaviour Architecture
==============================
The MyM behaviour manager contains:
  (0) RosIL (Interface)
  (1) MyL1
    (0) MyB2
    (1) MyB1
  (2) MyL2
    (0) MyB3
    (1) MyB4

RosIL Layer
===========
RosIL has a sensor manager with the following sensors:
  (0) MyL2/mode
  (1) MyL2/count
  (2) MyL2/target
RosIL has an actuator manager with the following actuators:
  (0) ROS/mode
  (1) ROS/targetX
  (2) ROS/targetY

MyL1 Layer
==========
 MyL1 has a sensor manager with the following sensors:
  (0) ROS/mode
  (1) ROS/targetX
  (2) ROS/targetY
MyL1 has an actuator manager with the following actuators:
  (0) MyL1/mode
  (1) MyL1/xgoal
  (2) MyL1/vgoal

MyL2 Layer
==========
MyL2 has a sensor manager with the following sensors:
  (0) MyL1/mode
  (1) MyL1/xgoal
  (2) MyL1/vgoal
MyL2 has an actuator manager with the following actuators:
  (0) MyL2/mode
  (1) MyL2/count
  (2) MyL2/target

The documentation for this class was generated from the following files:

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/behaviour_control/include/behaviour_control/classes/behaviour_manager.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/behaviour_control/include/behaviour_control/classes/behaviour_template_defns.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/behaviour_control/src/behaviour_manager.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation