Module for quick control of default complex behaviors. More...

Collaboration diagram for behaviorManager:

Classes
class	Behavior

class	BehaviorManager

class	Dummy

class	MoveObject

class	Pointing

class	RecognitionOrder

class	Tagging

Detailed Description

Module for quick control of default complex behaviors.

Version:1.0

Author: Clément Moulin-Frier cleme.nosp@m.nt.m.nosp@m.oulin.nosp@m.frie.nosp@m.r@gma.nosp@m.il.c.nosp@m.om, Jordi-Ysard Puigbò jordi.nosp@m.ysar.nosp@m.d.pui.nosp@m.gbo@.nosp@m.upf.e.nosp@m.du

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

Description

This module contains an interface to easily schedule behaviors. The interface allows the creation of default complex behaviors (e.g. asking for the name of an object while pointing to it and looking to a human partner). It allows to easily define this behaviors through calls to the icub-client library or other modules. This behaviours can receive arguments with additional metadata (e.g. internal ID of the object to ask for) or obtain this information from sensationManager. The behaviours are scheduled in order to avoid conflicts, only allowing one behaviour to run at the same time. Moreover, all drives can be called by an RPC command with the name and the corresponding arguments. Additionally, through a config file, the user can select which drives will be available at every execution. In the context of the reactiveLayer, behaviorManager exists to execute behaviors triggered by the drives in the allostaticController.

Find an example of a behavior in behaviorManager/src/tagging.cpp.

All necessary ports must be defined at the behavior creation and are connected automatically at the start of the behaviorManager instance.

Parameters

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

Input Ports

/BehaviorManager/trigger:i [Bottle] [default carrier:tcp]: Response port. Supported commands:
- help
- ['behavior_name'] [arguments]: Triggers a behavior
- ['is_available'] : Replies behaviorManager availability
- ['names'] : Returns a list of all available behaviors

Output Ports

Services

Class Documentation

◆ Behavior

class Behavior

Definition at line 13 of file behavior.h.

Inheritance diagram for Behavior:

Public Member Functions
	Behavior (yarp::os::Mutex _mut, yarp::os::ResourceFinder &_rf, icubclient::ICubClient _iCub, std::string _behaviorName)

	Behavior ()=delete
	No default constructor! More...

virtual	~Behavior ()

void	openPorts (std::string port_name_prefix)
	openPorts open ports defined for a behavior More...

bool	trigger (const yarp::os::Bottle &args)
	trigger triggers this behavior and blocks the mutex More...

virtual void	configure ()=0

void	interrupt_ports ()
	interrupt_ports interrupt ports defined for a behavior More...

void	close_ports ()
	close_ports close ports defined for a behavior More...

Public Attributes
yarp::os::Port	rpc_out_port
	Port to external module. More...

std::string	behaviorName

std::string	from_sensation_port_name

std::string	external_port_name

yarp::os::BufferedPort< yarp::os::Bottle >	sensation_port_in
	Input port from sensationManager. More...

Protected Member Functions
virtual void	run (const yarp::os::Bottle &args)=0

virtual void	close_extra_ports ()=0

Protected Attributes
icubclient::ICubClient *	iCub

yarp::os::ResourceFinder &	rf

Constructor & Destructor Documentation

◆ Behavior() [1/2]

Behavior::Behavior	(	yarp::os::Mutex *	_mut,
		yarp::os::ResourceFinder &	_rf,
		icubclient::ICubClient *	_iCub,
		std::string	_behaviorName
	)

inline

Definition at line 30 of file behavior.h.

◆ Behavior() [2/2]

Behavior::Behavior ( )

delete

No default constructor!

◆ ~Behavior()

virtual Behavior::~Behavior ( )

inlinevirtual

Definition at line 36 of file behavior.h.

Member Function Documentation

◆ close_extra_ports()

virtual void Behavior::close_extra_ports ( )

protectedpure virtual

Implemented in Dummy, RecognitionOrder, MoveObject, Pointing, and Tagging.

◆ close_ports()

void Behavior::close_ports ( )

inline

close_ports close ports defined for a behavior

Definition at line 97 of file behavior.h.

◆ configure()

virtual void Behavior::configure ( )

pure virtual

Implemented in Dummy, MoveObject, RecognitionOrder, Pointing, and Tagging.

◆ interrupt_ports()

void Behavior::interrupt_ports ( )

inline

interrupt_ports interrupt ports defined for a behavior

Definition at line 88 of file behavior.h.

◆ openPorts()

void Behavior::openPorts ( std::string port_name_prefix )

inline

openPorts open ports defined for a behavior

Parameters

port_name_prefix unique prefix name for the port

Returns: void

Definition at line 43 of file behavior.h.

◆ run()

virtual void Behavior::run ( const yarp::os::Bottle & args )

protectedpure virtual

Implemented in RecognitionOrder, Dummy, Tagging, Pointing, and MoveObject.

◆ trigger()

bool Behavior::trigger ( const yarp::os::Bottle & args )

inline

trigger triggers this behavior and blocks the mutex

Parameters

args	bottle with arguments for this behaviours if not provided, taken from sensations or return error

Returns: bool false if not triggered because of mutex blocked

Definition at line 58 of file behavior.h.

Member Data Documentation

◆ behaviorName

std::string Behavior::behaviorName

Definition at line 27 of file behavior.h.

◆ external_port_name

std::string Behavior::external_port_name

Definition at line 27 of file behavior.h.

◆ from_sensation_port_name

std::string Behavior::from_sensation_port_name

Definition at line 27 of file behavior.h.

◆ iCub

icubclient::ICubClient* Behavior::iCub

protected

Definition at line 20 of file behavior.h.

◆ rf

yarp::os::ResourceFinder& Behavior::rf

protected

Definition at line 21 of file behavior.h.

◆ rpc_out_port

yarp::os::Port Behavior::rpc_out_port

Port to external module.

Definition at line 26 of file behavior.h.

◆ sensation_port_in

yarp::os::BufferedPort<yarp::os::Bottle> Behavior::sensation_port_in

Input port from sensationManager.

Definition at line 28 of file behavior.h.

◆ BehaviorManager

class BehaviorManager

Definition at line 12 of file behaviorManager.h.

Inheritance diagram for BehaviorManager:

Public Member Functions
	BehaviorManager ()

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

bool	interruptModule ()

bool	close ()

double	getPeriod ()

bool	updateModule ()

bool	respond (const yarp::os::Bottle &cmd, yarp::os::Bottle &reply)

Constructor & Destructor Documentation

◆ BehaviorManager()

BehaviorManager::BehaviorManager ( )

inline

Definition at line 28 of file behaviorManager.h.

Member Function Documentation

◆ close()

bool BehaviorManager::close ( )

Definition at line 22 of file behaviorManager.cpp.

◆ configure()

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

Definition at line 40 of file behaviorManager.cpp.

◆ getPeriod()

double BehaviorManager::getPeriod ( )

inline

Definition at line 38 of file behaviorManager.h.

◆ interruptModule()

bool BehaviorManager::interruptModule ( )

Definition at line 12 of file behaviorManager.cpp.

◆ respond()

bool BehaviorManager::respond	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	reply
	)

Definition at line 122 of file behaviorManager.cpp.

◆ updateModule()

bool BehaviorManager::updateModule ( )

Definition at line 116 of file behaviorManager.cpp.

◆ Dummy

class Dummy

Definition at line 12 of file dummy.h.

Inheritance diagram for Dummy:

Public Member Functions
	Dummy (yarp::os::Mutex mut, yarp::os::ResourceFinder &rf, icubclient::ICubClient iCub, std::string behaviorName)

void	configure ()

Public Member Functions inherited from Behavior
	Behavior (yarp::os::Mutex _mut, yarp::os::ResourceFinder &_rf, icubclient::ICubClient _iCub, std::string _behaviorName)

	Behavior ()=delete
	No default constructor! More...

virtual	~Behavior ()

void	openPorts (std::string port_name_prefix)
	openPorts open ports defined for a behavior More...

bool	trigger (const yarp::os::Bottle &args)
	trigger triggers this behavior and blocks the mutex More...

void	interrupt_ports ()
	interrupt_ports interrupt ports defined for a behavior More...

void	close_ports ()
	close_ports close ports defined for a behavior More...

Protected Member Functions
void	run (const yarp::os::Bottle &)

void	close_extra_ports ()

Additional Inherited Members
Public Attributes inherited from Behavior
yarp::os::Port	rpc_out_port
	Port to external module. More...

std::string	behaviorName

std::string	from_sensation_port_name

std::string	external_port_name

yarp::os::BufferedPort< yarp::os::Bottle >	sensation_port_in
	Input port from sensationManager. More...

Protected Attributes inherited from Behavior
icubclient::ICubClient *	iCub

yarp::os::ResourceFinder &	rf

Constructor & Destructor Documentation

◆ Dummy()

Dummy::Dummy	(	yarp::os::Mutex *	mut,
		yarp::os::ResourceFinder &	rf,
		icubclient::ICubClient *	iCub,
		std::string	behaviorName
	)

inline

Definition at line 30 of file dummy.h.

Member Function Documentation

◆ close_extra_ports()

void Dummy::close_extra_ports ( )

inlineprotectedvirtual

Implements Behavior.

Definition at line 25 of file dummy.h.

◆ configure()

void Dummy::configure ( )

inlinevirtual

Implements Behavior.

Definition at line 35 of file dummy.h.

◆ run()

void Dummy::run ( const yarp::os::Bottle & )

inlineprotectedvirtual

Implements Behavior.

Definition at line 19 of file dummy.h.

◆ MoveObject

class MoveObject

Definition at line 9 of file moveObject.h.

Inheritance diagram for MoveObject:

Public Member Functions
	MoveObject (yarp::os::Mutex mut, yarp::os::ResourceFinder &rf, icubclient::ICubClient iCub, std::string behaviorName)

void	configure ()

Public Member Functions inherited from Behavior
	Behavior (yarp::os::Mutex _mut, yarp::os::ResourceFinder &_rf, icubclient::ICubClient _iCub, std::string _behaviorName)

	Behavior ()=delete
	No default constructor! More...

virtual	~Behavior ()

void	openPorts (std::string port_name_prefix)
	openPorts open ports defined for a behavior More...

bool	trigger (const yarp::os::Bottle &args)
	trigger triggers this behavior and blocks the mutex More...

void	interrupt_ports ()
	interrupt_ports interrupt ports defined for a behavior More...

void	close_ports ()
	close_ports close ports defined for a behavior More...

Protected Member Functions
void	run (const yarp::os::Bottle &args)

void	close_extra_ports ()

Protected Attributes
double	target_pullback

double	target_pushfront

double	target_pushleft

double	target_pushright

Protected Attributes inherited from Behavior
icubclient::ICubClient *	iCub

yarp::os::ResourceFinder &	rf

Additional Inherited Members
Public Attributes inherited from Behavior
yarp::os::Port	rpc_out_port
	Port to external module. More...

std::string	behaviorName

std::string	from_sensation_port_name

std::string	external_port_name

yarp::os::BufferedPort< yarp::os::Bottle >	sensation_port_in
	Input port from sensationManager. More...

Constructor & Destructor Documentation

◆ MoveObject()

MoveObject::MoveObject	(	yarp::os::Mutex *	mut,
		yarp::os::ResourceFinder &	rf,
		icubclient::ICubClient *	iCub,
		std::string	behaviorName
	)

inline

Definition at line 24 of file moveObject.h.

Member Function Documentation

◆ close_extra_ports()

void MoveObject::close_extra_ports ( )

inlineprotectedvirtual

Implements Behavior.

Definition at line 19 of file moveObject.h.

◆ configure()

void MoveObject::configure ( )

virtual

Implements Behavior.

Definition at line 6 of file moveObject.cpp.

◆ run()

void MoveObject::run ( const yarp::os::Bottle & args )

protectedvirtual

Implements Behavior.

Definition at line 14 of file moveObject.cpp.

Member Data Documentation

◆ target_pullback

double MoveObject::target_pullback

protected

Definition at line 14 of file moveObject.h.

◆ target_pushfront

double MoveObject::target_pushfront

protected

Definition at line 15 of file moveObject.h.

◆ target_pushleft

double MoveObject::target_pushleft

protected

Definition at line 16 of file moveObject.h.

◆ target_pushright

double MoveObject::target_pushright

protected

Definition at line 17 of file moveObject.h.

◆ Pointing

class Pointing

Definition at line 12 of file pointing.h.

Inheritance diagram for Pointing:

Public Member Functions
	Pointing (yarp::os::Mutex mut, yarp::os::ResourceFinder &rf, icubclient::ICubClient iCub, std::string behaviorName)

void	configure ()

Public Member Functions inherited from Behavior
	Behavior (yarp::os::Mutex _mut, yarp::os::ResourceFinder &_rf, icubclient::ICubClient _iCub, std::string _behaviorName)

	Behavior ()=delete
	No default constructor! More...

virtual	~Behavior ()

void	openPorts (std::string port_name_prefix)
	openPorts open ports defined for a behavior More...

bool	trigger (const yarp::os::Bottle &args)
	trigger triggers this behavior and blocks the mutex More...

void	interrupt_ports ()
	interrupt_ports interrupt ports defined for a behavior More...

void	close_ports ()
	close_ports close ports defined for a behavior More...

Protected Member Functions
void	run (const yarp::os::Bottle &args)

void	close_extra_ports ()

Additional Inherited Members
Public Attributes inherited from Behavior
yarp::os::Port	rpc_out_port
	Port to external module. More...

std::string	behaviorName

std::string	from_sensation_port_name

std::string	external_port_name

yarp::os::BufferedPort< yarp::os::Bottle >	sensation_port_in
	Input port from sensationManager. More...

Protected Attributes inherited from Behavior
icubclient::ICubClient *	iCub

yarp::os::ResourceFinder &	rf

Constructor & Destructor Documentation

◆ Pointing()

Pointing::Pointing	(	yarp::os::Mutex *	mut,
		yarp::os::ResourceFinder &	rf,
		icubclient::ICubClient *	iCub,
		std::string	behaviorName
	)

inline

Definition at line 22 of file pointing.h.

Member Function Documentation

◆ close_extra_ports()

void Pointing::close_extra_ports ( )

inlineprotectedvirtual

Implements Behavior.

Definition at line 17 of file pointing.h.

◆ configure()

void Pointing::configure ( )

virtual

Implements Behavior.

Definition at line 7 of file pointing.cpp.

◆ run()

void Pointing::run ( const yarp::os::Bottle & args )

protectedvirtual

Implements Behavior.

Definition at line 12 of file pointing.cpp.

◆ RecognitionOrder

class RecognitionOrder

Definition at line 12 of file recognitionOrder.h.

Inheritance diagram for RecognitionOrder:

Public Member Functions
	RecognitionOrder (yarp::os::Mutex mut, yarp::os::ResourceFinder &rf, icubclient::ICubClient iCub, std::string behaviorName)

void	configure ()

Public Member Functions inherited from Behavior
	Behavior (yarp::os::Mutex _mut, yarp::os::ResourceFinder &_rf, icubclient::ICubClient _iCub, std::string _behaviorName)

	Behavior ()=delete
	No default constructor! More...

virtual	~Behavior ()

void	openPorts (std::string port_name_prefix)
	openPorts open ports defined for a behavior More...

bool	trigger (const yarp::os::Bottle &args)
	trigger triggers this behavior and blocks the mutex More...

void	interrupt_ports ()
	interrupt_ports interrupt ports defined for a behavior More...

void	close_ports ()
	close_ports close ports defined for a behavior More...

Public Attributes
bool	manual

Public Attributes inherited from Behavior
yarp::os::Port	rpc_out_port
	Port to external module. More...

std::string	behaviorName

std::string	from_sensation_port_name

std::string	external_port_name

yarp::os::BufferedPort< yarp::os::Bottle >	sensation_port_in
	Input port from sensationManager. More...

Protected Member Functions
void	run (const yarp::os::Bottle &args)

void	close_extra_ports ()

Additional Inherited Members
Protected Attributes inherited from Behavior
icubclient::ICubClient *	iCub

yarp::os::ResourceFinder &	rf

Constructor & Destructor Documentation

◆ RecognitionOrder()

RecognitionOrder::RecognitionOrder	(	yarp::os::Mutex *	mut,
		yarp::os::ResourceFinder &	rf,
		icubclient::ICubClient *	iCub,
		std::string	behaviorName
	)

inline

Definition at line 27 of file recognitionOrder.h.

Member Function Documentation

◆ close_extra_ports()

void RecognitionOrder::close_extra_ports ( )

inlineprotectedvirtual

Implements Behavior.

Definition at line 21 of file recognitionOrder.h.

◆ configure()

void RecognitionOrder::configure ( )

virtual

Implements Behavior.

Definition at line 6 of file recognitionOrder.cpp.

◆ run()

void RecognitionOrder::run ( const yarp::os::Bottle & args )

protectedvirtual

Implements Behavior.

Definition at line 15 of file recognitionOrder.cpp.

Member Data Documentation

◆ manual

bool RecognitionOrder::manual

Definition at line 32 of file recognitionOrder.h.

◆ Tagging

class Tagging

Definition at line 13 of file tagging.h.

Inheritance diagram for Tagging:

Public Member Functions
	Tagging (yarp::os::Mutex mut, yarp::os::ResourceFinder &rf, icubclient::ICubClient iCub, std::string behaviorName)

void	configure ()

Public Member Functions inherited from Behavior
	Behavior (yarp::os::Mutex _mut, yarp::os::ResourceFinder &_rf, icubclient::ICubClient _iCub, std::string _behaviorName)

	Behavior ()=delete
	No default constructor! More...

virtual	~Behavior ()

void	openPorts (std::string port_name_prefix)
	openPorts open ports defined for a behavior More...

bool	trigger (const yarp::os::Bottle &args)
	trigger triggers this behavior and blocks the mutex More...

void	interrupt_ports ()
	interrupt_ports interrupt ports defined for a behavior More...

void	close_ports ()
	close_ports close ports defined for a behavior More...

Protected Member Functions
void	run (const yarp::os::Bottle &args)

void	close_extra_ports ()

Additional Inherited Members
Public Attributes inherited from Behavior
yarp::os::Port	rpc_out_port
	Port to external module. More...

std::string	behaviorName

std::string	from_sensation_port_name

std::string	external_port_name

yarp::os::BufferedPort< yarp::os::Bottle >	sensation_port_in
	Input port from sensationManager. More...

Protected Attributes inherited from Behavior
icubclient::ICubClient *	iCub

yarp::os::ResourceFinder &	rf

Constructor & Destructor Documentation

◆ Tagging()

Tagging::Tagging	(	yarp::os::Mutex *	mut,
		yarp::os::ResourceFinder &	rf,
		icubclient::ICubClient *	iCub,
		std::string	behaviorName
	)

inline

Definition at line 22 of file tagging.h.

Member Function Documentation

◆ close_extra_ports()

void Tagging::close_extra_ports ( )

inlineprotectedvirtual

Implements Behavior.

Definition at line 17 of file tagging.h.

◆ configure()

void Tagging::configure ( )

virtual

Implements Behavior.

Definition at line 7 of file tagging.cpp.

◆ run()

void Tagging::run ( const yarp::os::Bottle & args )

protectedvirtual

Implements Behavior.

Definition at line 12 of file tagging.cpp.

Classes

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ Behavior

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ Behavior() [1/2]

◆ Behavior() [2/2]

◆ ~Behavior()

Member Function Documentation

◆ close_extra_ports()

◆ close_ports()

◆ configure()

◆ interrupt_ports()

◆ openPorts()

◆ run()

◆ trigger()

Member Data Documentation

◆ behaviorName

◆ external_port_name

◆ from_sensation_port_name

◆ iCub

◆ rf

◆ rpc_out_port

◆ sensation_port_in

◆ BehaviorManager

Public Member Functions

Constructor & Destructor Documentation

◆ BehaviorManager()

Member Function Documentation

◆ close()

◆ configure()

◆ getPeriod()

◆ interruptModule()

◆ respond()

◆ updateModule()

◆ Dummy

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Dummy()

Member Function Documentation

◆ close_extra_ports()

◆ configure()

◆ run()

◆ MoveObject

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ MoveObject()

Member Function Documentation

◆ close_extra_ports()

◆ configure()

◆ run()

Member Data Documentation

◆ target_pullback

◆ target_pushfront

◆ target_pushleft

◆ target_pushright

◆ Pointing

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Pointing()

Member Function Documentation

◆ close_extra_ports()

◆ configure()

◆ run()