Drive scheduler for the reactiveLayer Version:1.0 More...

Collaboration diagram for allostaticController:

Classes
struct	DriveOutCZ

class	AllostaticDrive

class	AllostaticController

Enumerations
enum	OutCZ { UNDER, OVER, UNDEFINED }

enum	DriveUpdateMode { SENSATION_ON, SENSATION_OFF }

Detailed Description

Drive scheduler for the reactiveLayer Version:1.0

Author: Jordi-Ysard Puigbò jordi.nosp@m.ysar.nosp@m.d@gma.nosp@m.il.c.nosp@m.om, Clément Moulin-Frier cleme.nosp@m.nt.m.nosp@m.oulin.nosp@m.-fri.nosp@m.er@up.nosp@m.f.ed.nosp@m.u, Stéphane Lallée steph.nosp@m.ane..nosp@m.lalle.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

Copyright: Released under the terms of the GNU GPL v2.0

Description

On top of the homeostasis module, the allostatic controller monitors all needs in homeostasis and triggers corresponding behaviors in function of which need requires to be addressed sooner. We call this pre-defined sensory-motor association a drive. This module creates needs in homeostasis from a config file or RPC command, and provides an interface to freeze them and change their parameters depending on their internal values. This module is strongly dependent on sensationManager, homeostasis and behaviorManager and is the core of the reactiveLayer. See the default.ini config file to see an example on how to define a new drive.

Parameters

– name : name of the module
– period : change the update rate of this module

Input Ports

/AllostaticController/rpc [Bottle] [default carrier:tcp]: Response port. Supported commands:
- help
- ['manual'] ['on'/'off'] : sets the allostaticController in manual mode. It the drives needs are frozen and behaviors can be triggered through rpc commands or a gui
/AllostaticController/toHomeoRPC:o [Bottle] [default carrier:tcp]: Communication port to create and manage homeostatic needs.
/AllostaticController/toBehaviorManager:o [Bottle] [default carrier:tcp]: Communication port to trigger behaviors.
/AllostaticController/driveName/min:o [Bottle] [default carrier:tcp]: Port to quickly read when a need crosses its lower boundary.
/AllostaticController/driveName/max:o [Bottle] [default carrier:tcp]: Port to quickly read when a need crosses its upper boundary.

Output Ports

Services

Class Documentation

◆ DriveOutCZ

struct DriveOutCZ

Definition at line 28 of file allostaticController.h.

Class Members
OutCZ	level
string	name

◆ AllostaticDrive

class AllostaticDrive

Definition at line 42 of file allostaticController.h.

Public Member Functions
	AllostaticDrive ()

bool	interrupt_ports ()
	Interrupt ports of the drive. More...

bool	close_ports ()
	Close ports of the drive. More...

Bottle	update (DriveUpdateMode mode)

void	triggerBehavior (OutCZ mode)
	triggers a behavior if needs are out of threshold More...

Public Attributes
string	name
	Name of the drive. More...

bool	active

bool	manualMode

Port *	behaviorUnderPort
	Port to be used when drive falls below homeostatic level. More...

Port *	behaviorOverPort
	Port to be used when drive hits upper threshold of homeostatic level. More...

Port *	homeoPort
	Port to homeostasis module. More...

BufferedPort< Bottle > *	inputSensationPort
	Port from sensationManager. More...

Bottle	behaviorUnderCmd
	Command to be send to behaviorUnderPort when drive falls below homeostatic level. More...

Bottle	behaviorOverCmd
	Command to be send to behaviorOverPort when drive hits upper threshold of homeostatic level. More...

Bottle	sensationOnCmd

Bottle	sensationOffCmd

Bottle	beforeTriggerCmd

Bottle	afterTriggerCmd

Constructor & Destructor Documentation

◆ AllostaticDrive()

AllostaticDrive::AllostaticDrive ( )

inline

Definition at line 55 of file allostaticController.h.

Member Function Documentation

◆ close_ports()

bool AllostaticDrive::close_ports ( )

Close ports of the drive.

Definition at line 440 of file allostaticController.cpp.

◆ interrupt_ports()

bool AllostaticDrive::interrupt_ports ( )

Interrupt ports of the drive.

Definition at line 427 of file allostaticController.cpp.

◆ triggerBehavior()

void AllostaticDrive::triggerBehavior ( OutCZ mode )

triggers a behavior if needs are out of threshold

Parameters

mode	under or below threshold

Definition at line 489 of file allostaticController.cpp.

◆ update()

Bottle AllostaticDrive::update ( DriveUpdateMode mode )

Definition at line 462 of file allostaticController.cpp.

Member Data Documentation

◆ active

bool AllostaticDrive::active

Definition at line 46 of file allostaticController.h.

◆ afterTriggerCmd

Bottle AllostaticDrive::afterTriggerCmd

Definition at line 53 of file allostaticController.h.

◆ beforeTriggerCmd

Bottle AllostaticDrive::beforeTriggerCmd

Definition at line 53 of file allostaticController.h.

◆ behaviorOverCmd

Bottle AllostaticDrive::behaviorOverCmd

Command to be send to behaviorOverPort when drive hits upper threshold of homeostatic level.

Definition at line 52 of file allostaticController.h.

◆ behaviorOverPort

Port* AllostaticDrive::behaviorOverPort

Port to be used when drive hits upper threshold of homeostatic level.

Definition at line 48 of file allostaticController.h.

◆ behaviorUnderCmd

Bottle AllostaticDrive::behaviorUnderCmd

Command to be send to behaviorUnderPort when drive falls below homeostatic level.

Definition at line 51 of file allostaticController.h.

◆ behaviorUnderPort

Port* AllostaticDrive::behaviorUnderPort

Port to be used when drive falls below homeostatic level.

Definition at line 47 of file allostaticController.h.

◆ homeoPort

Port* AllostaticDrive::homeoPort

Port to homeostasis module.

Definition at line 49 of file allostaticController.h.

◆ inputSensationPort

BufferedPort<Bottle>* AllostaticDrive::inputSensationPort

Port from sensationManager.

Definition at line 50 of file allostaticController.h.

◆ manualMode

bool AllostaticDrive::manualMode

Definition at line 46 of file allostaticController.h.

◆ name

string AllostaticDrive::name

Name of the drive.

Definition at line 45 of file allostaticController.h.

◆ sensationOffCmd

Bottle AllostaticDrive::sensationOffCmd

Definition at line 53 of file allostaticController.h.

◆ sensationOnCmd

Bottle AllostaticDrive::sensationOnCmd

Definition at line 53 of file allostaticController.h.

◆ AllostaticController

class AllostaticController

Definition at line 86 of file allostaticController.h.

Inheritance diagram for AllostaticController:

Public Member Functions
	AllostaticController ()

bool	configure (yarp::os::ResourceFinder &rf)

bool	interruptModule ()

bool	close ()

double	getPeriod ()

bool	updateModule ()

bool	updateAllostatic ()
	updateAllostatic Update the drives accordingly to the stimuli More...

bool	Normalize (vector< double > &vec)
	Normalize normalize drive priorities. More...

DriveOutCZ	chooseDrive ()
	chooseDrive Choose a drive out of CZ, according to drive priorities More...

bool	respond (const Bottle &cmd, Bottle &reply)

Constructor & Destructor Documentation

◆ AllostaticController()

AllostaticController::AllostaticController ( )

inline

Definition at line 120 of file allostaticController.h.

Member Function Documentation

◆ chooseDrive()

DriveOutCZ AllostaticController::chooseDrive ( )

chooseDrive Choose a drive out of CZ, according to drive priorities

Returns: bool success

Definition at line 312 of file allostaticController.cpp.

◆ close()

bool AllostaticController::close ( )

Definition at line 30 of file allostaticController.cpp.

◆ configure()

bool AllostaticController::configure ( yarp::os::ResourceFinder & rf )

Definition at line 117 of file allostaticController.cpp.

◆ getPeriod()

double AllostaticController::getPeriod ( )

inline

Definition at line 129 of file allostaticController.h.

◆ interruptModule()

bool AllostaticController::interruptModule ( )

Definition at line 3 of file allostaticController.cpp.

◆ Normalize()

bool AllostaticController::Normalize ( vector< double > & vec )

Normalize normalize drive priorities.

Parameters

vec	list of priorities for each drive

Returns: bool false if no priority, true otherwise

Definition at line 273 of file allostaticController.cpp.

◆ respond()

bool AllostaticController::respond	(	const Bottle &	cmd,
		Bottle &	reply
	)

Definition at line 390 of file allostaticController.cpp.

◆ updateAllostatic()

bool AllostaticController::updateAllostatic ( )

updateAllostatic Update the drives accordingly to the stimuli

Returns: bool success

Definition at line 363 of file allostaticController.cpp.

◆ updateModule()

bool AllostaticController::updateModule ( )

Definition at line 284 of file allostaticController.cpp.

Enumeration Type Documentation

◆ DriveUpdateMode

enum DriveUpdateMode

Enumerator
SENSATION_ON
SENSATION_OFF

Definition at line 37 of file allostaticController.h.

◆ OutCZ

enum OutCZ

Enumerator
UNDER
OVER
UNDEFINED

Definition at line 23 of file allostaticController.h.

Classes

Enumerations

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ DriveOutCZ

◆ AllostaticDrive

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ AllostaticDrive()

Member Function Documentation

◆ close_ports()

◆ interrupt_ports()

◆ triggerBehavior()

◆ update()

Member Data Documentation

◆ active

◆ afterTriggerCmd

◆ beforeTriggerCmd

◆ behaviorOverCmd

◆ behaviorOverPort

◆ behaviorUnderCmd

◆ behaviorUnderPort

◆ homeoPort

◆ inputSensationPort

◆ manualMode

◆ name

◆ sensationOffCmd

◆ sensationOnCmd

◆ AllostaticController

Public Member Functions

Constructor & Destructor Documentation

◆ AllostaticController()

Member Function Documentation

◆ chooseDrive()

◆ close()

◆ configure()

◆ getPeriod()

◆ interruptModule()

◆ Normalize()

◆ respond()

◆ updateAllostatic()

◆ updateModule()

Enumeration Type Documentation

◆ DriveUpdateMode

◆ OutCZ