Fawkes API Fawkes Development Version
message_action_executor.h
1/***************************************************************************
2 * message_action_executor.h - Action executor for blackboard messages
3 *
4 * Created: Wed 30 Oct 2019 13:05:15 CET 13:05
5 * Copyright 2019 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6 ****************************************************************************/
7
8/* This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU Library General Public License for more details.
17 *
18 * Read the full text in the LICENSE.GPL file in the doc directory.
19 */
20
21#pragma once
22
23#include "action_executor.h"
24
25#include <map>
26#include <string>
27
28namespace fawkes {
29
30class BlackBoard;
31class Configuration;
32class Interface;
33class Logger;
34
35namespace gpp {
37{
38public:
40 BlackBoard * blackboard,
41 Configuration * config,
42 const std::string &cfg_prefix);
44 void start(std::shared_ptr<gologpp::Activity> activity) override;
45 void stop(std::shared_ptr<gologpp::Grounding<gologpp::Action>> activity) override;
46 bool can_execute_activity(std::shared_ptr<gologpp::Activity> activity) const override;
47
48private:
49 BlackBoard * blackboard_;
50 Configuration * config_;
51 std::string cfg_prefix_;
52 std::map<std::string, Interface *> open_interfaces_;
53};
54} // namespace gpp
55} // namespace fawkes
The BlackBoard abstract class.
Definition: blackboard.h:46
Interface for configuration handling.
Definition: config.h:68
Interface for logging.
Definition: logger.h:42
Abstract class to execute a Golog++ activity.
A Golog++ action executor that sends a message to a blackboard interface.
bool can_execute_activity(std::shared_ptr< gologpp::Activity > activity) const override
Determine if this executor can execute the given activity.
BBMessageActionExecutor(Logger *logger, BlackBoard *blackboard, Configuration *config, const std::string &cfg_prefix)
Constructor.
void stop(std::shared_ptr< gologpp::Grounding< gologpp::Action > > activity) override
Stop the given activity.
void start(std::shared_ptr< gologpp::Activity > activity) override
Start the given activity.
Fawkes library namespace.