Fawkes API  Fawkes Development Version
message_action_executor.cpp
1 /***************************************************************************
2  * message_action_executor.cpp - Action executor for blackboard messages
3  *
4  * Created: Wed 30 Oct 2019 13:06:51 CET 13:06
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 #include "message_action_executor.h"
22 
23 #include "utils.h"
24 
25 #include <blackboard/blackboard.h>
26 #include <config/config.h>
27 #include <golog++/model/activity.h>
28 #include <logging/logger.h>
29 
30 #include <algorithm>
31 
32 namespace fawkes {
33 namespace gpp {
34 
35 /** @class BBMessageActionExecutor
36  * A Golog++ action executor that sends a message to a blackboard interface.
37  * @author Till Hofmann
38  */
39 
40 /** Constructor.
41  * Initializes the executor with all the action mappings specified in the config.
42  * @param logger A logger to use for logging messages
43  * @param blackboard The blackboard to use to send messages to
44  * @param config The configuration to read the mapping from
45  * @param cfg_prefix The config prefix to use for the message mapping
46  */
48  BlackBoard * blackboard,
49  Configuration * config,
50  const std::string &cfg_prefix)
51 : ActionExecutor(logger), blackboard_(blackboard), config_(config), cfg_prefix_(cfg_prefix)
52 {
53 }
54 
55 /** Destructor.
56  * Clean up and close all interfaces.
57  */
59 {
60  for (auto interface : open_interfaces_) {
61  blackboard_->close(interface.second);
62  }
63 }
64 
65 bool
66 BBMessageActionExecutor::can_execute_activity(std::shared_ptr<gologpp::Activity> activity) const
67 {
68  return activity->mapped_name() == "send_message";
69 }
70 
71 void
72 BBMessageActionExecutor::start(std::shared_ptr<gologpp::Activity> activity)
73 {
74  if (!can_execute_activity(activity)) {
75  throw Exception("Cannot execute activity '%s' with BBMessageActionExecutor",
76  activity->mapped_name().c_str());
77  }
78  activity->update(gologpp::Transition::Hook::START);
79  std::string interface_type =
80  static_cast<std::string>(activity->mapped_arg_value("interface_type"));
81  std::string interface_id = static_cast<std::string>(activity->mapped_arg_value("interface_id"));
82  std::string message_type = static_cast<std::string>(activity->mapped_arg_value("message_type"));
83  if (open_interfaces_.find(interface_id) == open_interfaces_.end()) {
84  open_interfaces_[interface_id] =
85  blackboard_->open_for_reading(interface_type.c_str(), interface_id.c_str());
86  }
87  Interface *interface = open_interfaces_[interface_id];
88  auto msg = interface->create_message(message_type.c_str());
89 
90  for (auto field = msg->fields(); field != msg->fields_end(); field++) {
91  if (activity->target()->mapping().is_mapped(field.get_name())) {
92  auto value = activity->mapped_arg_value(field.get_name());
93  try {
94  value_to_field(value, &field);
95  } catch (boost::bad_get &e) {
96  logger_->log_error("BBMessageActionExecutor",
97  "Failed to convert value '%s' of field '%s' with type '%s': '%s'",
98  value.string_representation().c_str(),
99  field.get_name(),
100  field.get_typename(),
101  e.what());
102  activity->update(gologpp::Transition::Hook::FAIL);
103  return;
104  }
105  }
106  }
107  interface->msgq_enqueue(msg);
108  activity->update(gologpp::Transition::Hook::FINISH);
109  return;
110 }
111 
112 void
113 BBMessageActionExecutor::stop(std::shared_ptr<gologpp::Grounding<gologpp::Action>> activity)
114 {
115  logger_->log_error("BBMessageActionExecutor",
116  "Cannot stop a message that has already been sent!");
117 }
118 
119 } // namespace gpp
120 } // namespace fawkes
The BlackBoard abstract class.
Definition: blackboard.h:46
virtual Interface * open_for_reading(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for reading.
virtual void close(Interface *interface)=0
Close interface.
Interface for configuration handling.
Definition: config.h:65
Base class for exceptions in Fawkes.
Definition: exception.h:36
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
InterfaceFieldIterator fields_end()
Invalid iterator.
Definition: interface.cpp:1207
InterfaceFieldIterator fields()
Get iterator over all fields of this interface instance.
Definition: interface.cpp:1198
Interface for logging.
Definition: logger.h:42
virtual void log_error(const char *component, const char *format,...)=0
Log error message.
Abstract class to execute a Golog++ activity.
Logger * logger_
The logger to use for logging messages.
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 start(std::shared_ptr< gologpp::Activity > activity) override
Start the given activity.
void stop(std::shared_ptr< gologpp::Grounding< gologpp::Action >> activity) override
Stop the given activity.
Fawkes library namespace.