Class SoarRunner

Defined in File SoarRunner.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class SoarRunner : public rclcpp::Node

Singelton class to manage the Soar kernel thread, main ROS interface to run/ stop the kernel and to attach interfaces via a builder pattern, e.g. soar_ros::Publisher(), soar_ros::Subscriber(), soar_ros::Service() and soar_ros::Client().

Public Functions

SoarRunner(const std::string &agent_name, const std::string &path_productions)

Instantiates the Soar kernel and generates ROS2 interfaces. Further setup in SoarRunner::addAgent() for first agent.

Parameters:

agent_name – The agents name.
path_productions – Filepath to main *.soar file relative to the package root.

Throws:

std::runtime_error – on sml::Kernel setup error.

void debuggerLaunch([[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header, [[maybe_unused]] std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

Enable external control to start the debugger and stop the run thread via.

Trigger/// via /soar_ros/debugger/launch

The run thread is stopped automatically since the debugger is not
responsive if the thread is running. Reason to be investigated.

The thread running the Soar kernel is not automatically restarted once the
debugger was closed. Manually restart the thread via the provided
SoarRunner::runSoarKernel() interface.

@note Launching the Soar debugger without the command requires stopping
the kernel via SoarRunner::stopSoarKernel() related topic. Otherwise, the
debugger will remain frozen/ unresponsive.

@param request_header
@param request
@param response

void getSoarKernelStatus([[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header, [[maybe_unused]] std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

ROS2 interface to get current Soar kernel status (run/ stop) via.

Trigger/// via /soar_ros/kernel/status

@param request_header Unused.
@param request Empty.
@param response "Soar Kernel isRunning: true" if running, otherwise
"Soarkernel isRunning: false".

@warning This does not catch the state of the Soar kernel correctly, once
the kernel is started/ stopped via the Soar debugger!

void runSoarKernel([[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header, [[maybe_unused]] std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

ROS2 Service interface to stop Soar kernel if it is currently running via.

Trigger/// via /soar_ros/kernel/run

@param request_header Unused.
@param request Empty.
@param response "Soar kernel isRunning: true" if started succesfully,
otherwise "Soar kernel isRunning: false".

void stopSoarKernel([[maybe_unused]] const std::shared_ptr<rmw_request_id_t> request_header, [[maybe_unused]] std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response)

ROS2 Service interface to start (run) Soar kernel if it is currenlty stopped.

Trigger/// via /soar_ros/kernel/stop

@param request_header
@param request Empty.
@param response "Soar Kernel isRunning: false" if stopped succesfully,
otherwise "Soarkernel isRunning: true".

sml::Agent *addAgent(const std::string &agent_name, const std::string &path_productions)

Add a new Soar agent and register callbacks related to ROS.

Warning

Handling multiple agents in one SoarRunner instance is not implemented yet!

Warning

The path might depend on the install location specified in cmake sctipts

Parameters:

agent_name – The agents name
path_productions – Path to the Soar source files.

Throws:

std::runtime_error – on sml::Agent::loadProductions() error.

Returns:

~SoarRunner(): Stops the Kernel thread and wait until joined, closes Soar Debugger in debug mode.

inline sml::Agent *getAgent()

template<typename T> inline bool addPublisher(std::shared_ptr<soar_ros::Publisher<T>> output)

Adds a soar_ros::Publisher() to the SoarRunner.

The output command is assumed to be the topic name of the Publisher.

Template Parameters:: T – ROS2 message type
Parameters:: output –
Returns:

template<typename T> inline bool addPublisher(std::shared_ptr<soar_ros::Publisher<T>> output, const std::string &commandName)

Adds a soar_ros::Publisher() to the SoarRunner.

Template Parameters:

T –

Parameters:

output –
commandName – Matching of the Soar output-link command name, e.g. io.output-link.move matches to commandName “move”.

Returns:

template<typename T> inline bool addSubscriber(std::shared_ptr<soar_ros::Subscriber<T>> input)

template<typename T> inline bool addService(std::shared_ptr<soar_ros::Service<T>> service)

Add a new soar_ros::Service. The callback on the output link is the service’s topic name.

Template Parameters:: T – ROS2 service message type definition
Parameters:: service –
Returns:

template<typename T> inline bool addService(std::shared_ptr<soar_ros::Service<T>> service, const std::string &commandName)

Add a new ROS2 Service with a custom callback command.

Template Parameters:

T –

Parameters:

service –
commandName –

Returns:

template<typename T> inline bool addClient(std::shared_ptr<soar_ros::Client<T>> client)

Add a new soar_ros::Client. The callback on the output link is the service’s topic name.

Template Parameters:: T – ROS2 Service Message type definition
Parameters:: service –
Returns:

template<typename T> inline bool addClient(std::shared_ptr<soar_ros::Client<T>> client, const std::string &commandName)

Add a new soar_ros::Client with a custom callback command.

Template Parameters:

T –

Parameters:

service –
commandName –

Returns:

inline void startThread()

Creates a new thread based on the SoarRunner::run() function that executes the Soar kernel.

Soar has a synchronous threading model, cf. https://soar.eecs.umich.edu/development/soar/ThreadsInSML/

inline void stopThread(): Stops and joins SoarRunner::run() thread of Soar kernel via the SoarRunner::isRunning flag.

inline void updateWorld()

Soar update World function executed every step in the Soar execution cycle in SoarRunner::run()

Processes all outputs via SoarRunner::processOutputLinkChanges() and attaches new elements to the Soar input-link via SoarRunner::processInput().