ROSTask.h File Reference

#include "SynchCout.h"
#include "EventSystem.h"
#include "TaskResult.h"
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <map>
#include <boost/function.hpp>

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Classes
class	decision_making::LocalTasks
class	decision_making::RosConstraints
class	decision_making::RosEventQueue
Namespaces
namespace	decision_making
Defines
#define	CALL_REMOTE(NAME, CALLS, EVENTS)   boost::bind(&decision_making::callTask, #NAME, CALLS, EVENTS)
#define	CONSTRAINTS(NAME, SCRIPT)   RosConstraints ros_constraints_##NAME(call_ctx.str()+"/"#NAME, #SCRIPT);
#define	DECISION_MAKING_EVENTS_MACROSES
#define	DM_SYSTEM_STOP   and ros::ok()
#define	NO_RESULT   decision_making::TaskResult::UNDEF()
#define	ON_BT_NODE_END(NAME, CALLS, EVENTS, RESULT)   on_bt_node_end(NAME, "BT_NODE", CALLS, EVENTS, RESULT)
#define	ON_BT_NODE_START(NAME, TYPE, CALLS, EVENTS)   on_bt_node_start(NAME, std::string("BT_")+TYPE, CALLS, EVENTS, NO_RESULT)
#define	ON_FSM_END(NAME, CALLS, EVENTS, RESULT)   on_fsm_end(NAME, "FSM", CALLS, EVENTS, RESULT)
#define	ON_FSM_START(NAME, CALLS, EVENTS)   on_fsm_start(NAME, "FSM", CALLS, EVENTS, NO_RESULT)
#define	ON_FSM_STATE_END(NAME, CALLS, EVENTS)   on_fsm_state_end(NAME, "FSM_STATE", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)
#define	ON_FSM_STATE_START(NAME, CALLS, EVENTS)   on_fsm_state_start(NAME, "FSM_STATE", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)
#define	ON_FUNCTION(FNAME)   void FNAME(std::string name, std::string type, const decision_making::CallContext& call_ctx, decision_making::EventQueue& events, decision_making::TaskResult result)
#define	ON_TAO_END(NAME, CALLS, EVENTS, RESULT)   on_tao_tree_end(NAME, "TAO", CALLS, EVENTS, RESULT)
#define	ON_TAO_START(NAME, CALLS, EVENTS)   on_tao_tree_start(NAME, "TAO", CALLS, EVENTS, NO_RESULT)
#define	ON_TAO_STATE_END(NAME, CALLS, EVENTS)   on_tao_plan_end(NAME, "TAO_PLAN", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)
#define	ON_TAO_STATE_START(NAME, CALLS, EVENTS)   on_tao_plan_start(NAME, "TAO_PLAN", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)
Functions
decision_making::TaskResult	decision_making::callTask (std::string task_address, const decision_making::CallContext &call_ctx, decision_making::EventQueue &events)
	decision_making::ON_FUNCTION (on_fsm_start)
	decision_making::ON_FUNCTION (on_fsm_end)
	decision_making::ON_FUNCTION (on_fsm_state_start)
	decision_making::ON_FUNCTION (on_fsm_state_end)
	decision_making::ON_FUNCTION (on_bt_node_start)
	decision_making::ON_FUNCTION (on_bt_node_end)
	decision_making::ON_FUNCTION (on_tao_tree_start)
	decision_making::ON_FUNCTION (on_tao_tree_end)
	decision_making::ON_FUNCTION (on_tao_plan_start)
	decision_making::ON_FUNCTION (on_tao_plan_end)
void	ros_decision_making_init (int &argc, char **argv)

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Define Documentation

#define CALL_REMOTE	(		NAME,
			CALLS,
			EVENTS
	)		boost::bind(&decision_making::callTask, #NAME, CALLS, EVENTS)

Definition at line 64 of file ROSTask.h.

#define CONSTRAINTS	(		NAME,
			SCRIPT
	)		RosConstraints ros_constraints_##NAME(call_ctx.str()+"/"#NAME, #SCRIPT);

Definition at line 136 of file ROSTask.h.

#define DECISION_MAKING_EVENTS_MACROSES

Definition at line 66 of file ROSTask.h.

#define DM_SYSTEM_STOP   and ros::ok()

Definition at line 68 of file ROSTask.h.

#define NO_RESULT   decision_making::TaskResult::UNDEF()

Definition at line 71 of file ROSTask.h.

#define ON_BT_NODE_END	(		NAME,
			CALLS,
			EVENTS,
			RESULT
	)		on_bt_node_end(NAME, "BT_NODE", CALLS, EVENTS, RESULT)

Definition at line 89 of file ROSTask.h.

#define ON_BT_NODE_START	(		NAME,
			TYPE,
			CALLS,
			EVENTS
	)		on_bt_node_start(NAME, std::string("BT_")+TYPE, CALLS, EVENTS, NO_RESULT)

Definition at line 87 of file ROSTask.h.

#define ON_FSM_END	(		NAME,
			CALLS,
			EVENTS,
			RESULT
	)		on_fsm_end(NAME, "FSM", CALLS, EVENTS, RESULT)

Definition at line 77 of file ROSTask.h.

#define ON_FSM_START	(		NAME,
			CALLS,
			EVENTS
	)		on_fsm_start(NAME, "FSM", CALLS, EVENTS, NO_RESULT)

Definition at line 74 of file ROSTask.h.

#define ON_FSM_STATE_END	(		NAME,
			CALLS,
			EVENTS
	)		on_fsm_state_end(NAME, "FSM_STATE", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)

Definition at line 83 of file ROSTask.h.

#define ON_FSM_STATE_START	(		NAME,
			CALLS,
			EVENTS
	)		on_fsm_state_start(NAME, "FSM_STATE", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)

Definition at line 81 of file ROSTask.h.

#define ON_FUNCTION

(

FNAME

)

void FNAME(std::string name, std::string type, const decision_making::CallContext& call_ctx, decision_making::EventQueue& events, decision_making::TaskResult result)

Definition at line 70 of file ROSTask.h.

#define ON_TAO_END	(		NAME,
			CALLS,
			EVENTS,
			RESULT
	)		on_tao_tree_end(NAME, "TAO", CALLS, EVENTS, RESULT)

Definition at line 95 of file ROSTask.h.

#define ON_TAO_START	(		NAME,
			CALLS,
			EVENTS
	)		on_tao_tree_start(NAME, "TAO", CALLS, EVENTS, NO_RESULT)

Definition at line 93 of file ROSTask.h.

#define ON_TAO_STATE_END	(		NAME,
			CALLS,
			EVENTS
	)		on_tao_plan_end(NAME, "TAO_PLAN", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)

Definition at line 100 of file ROSTask.h.

#define ON_TAO_STATE_START	(		NAME,
			CALLS,
			EVENTS
	)		on_tao_plan_start(NAME, "TAO_PLAN", decision_making::CallContext(CALLS,NAME), EVENTS, NO_RESULT)

Definition at line 98 of file ROSTask.h.

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Function Documentation

void ros_decision_making_init	(	int &	argc,
		char **	argv
	)

Definition at line 392 of file ROSTask.cpp.