Module integrating an interface for dealing with homeostatic needs Version:1.0. More...

Collaboration diagram for homeostasis:

Classes
class	Drive

class	HomeostasisManager

class	HomeostaticModule

Detailed Description

Module integrating an interface for dealing with homeostatic needs Version:1.0.

Author: Jordi-Ysard Puigbò jordi.nosp@m.ysar.nosp@m.d.pui.nosp@m.gbo@.nosp@m.upf.e.nosp@m.du, 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

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

Description

Module that internally handles the dynamics of the defined needs. Needs are internal variables linked to external measurements (or sensations) and associated drives (e.g. the drive to ask satisfies the need of acquiring new knowledge). Needs are tipically defined by some dynamics (i.e. a decay or a direct dependence to a variable), their internal value (i.e. current state of the need) and an upper and lower boundaries, limiting a zone of confort where an action is not required. This module is strongly dependent on the allostaticController and sensationsManager. An example of how to create a drive can be found in app/reactiveLayer/homeostasis/conf/example.ini

Parameters

– name : name of the module
– verbose : change degree of verbosity of the module
– period : change the update rate of this module

Input Ports

/homeostasis/rpc [Bottle] [default carrier:tcp]: Response port. Supported commands:
- help
- ['par'] ['drive'] ['val'/'min'/'max'/'dec'] [value] : Assigns a value to a specific parameter
- ['delta'] ['drive'] ['val'/'min'/'max'/'dec'] [value] : Adds a value to a specific parameter
- ['ask'] ['drive'] ['val'/'min'/'max'/'dec'] [value] : Returns a value to a specific parameter
- ['add'] ['conf'] [drive Bottle] : Adds a drive to the manager as a drive directly read from conf-file
- ['add'] ['botl'] [drive Bottle] : Adds a drive to the manager as a Bottle of values of shape
- ['add'] ['new'] [drive name] : Adds a default drive to the manager
- ['rm'] [drive name] : removes a drive from the manager
- ['sleep'] [drive name] [time] : prevent drive update for a certain time (in seconds)
- [freeze'/'unfreeze'] [drive name] : prevent / allow drive to update
- ['sleep'] ['all'] [time] : prevent all drive updates for a certain time (in seconds)
- [freeze'/'unfreeze'] ['all'] [time] : prevent / allow all drive updates
- ['names'] : returns an ordered list of the drives in the manager
- ['verbose'] [true/false] : change verbosity
/homeostasis/fromSensations:i [Bottle] [default carrier:tcp]: Communication port to sensations to adapt needs accordingly.

Output Ports

/homeostasis/drive_name/min:o [Bottle] [default carrier:tcp]: Communication port to allostaticController.
/homeostasis/drive_name/max:o [Bottle] [default carrier:tcp]: Communication port to allostaticController.

Services

Class Documentation

◆ Drive

class Drive

Definition at line 14 of file homeostasis.h.

Public Member Functions
	Drive (std::string d_name, double d_period, std::string d_key="default", double d_value=0.5, double d_homeo_min=0.25, double d_homeo_max=0.75, double d_decay=0.05, double d_value_min=std::numeric_limits< double >::min(), double d_value_max=std::numeric_limits< double >::max(), bool d_gradient=false)

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

void	setKey (std::string d_key)

void	setValue (double d_value)

void	deltaValue (double d_value)

void	setHomeostasisMin (double d_homeo_min)

void	deltaHomeostasisMin (double d_homeo_min)

void	setHomeostasisMax (double d_homeo_max)

void	deltaHomeostasisMax (double d_homeo_max)

void	setDecay (double d_decay)

void	deltaDecay (double d_decay)

void	setDecayMultiplier (double mult)

void	sleep (double t)
	sleep Sleep drive for t seconds, i.e. More...

void	freeze ()
	freeze Freeze (sleep) drive indefinitely More...

void	reset ()
	reset Set value back to default_value More...

void	unfreeze ()
	unfreeze Unfreeze drive More...

void	update ()
	update Let drive decay More...

double	getValue ()

void	setName (std::string n)

void	setGradient (bool b)

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

std::string	key
	Deprecated, not used anymore. More...

double	period

double	value

double	homeostasisMin

double	homeostasisMax

double	decay

double	valueMin

double	valueMax

double	default_value

double	decay_multiplier

bool	gradient

time_t	start_sleep
	Time when the drive started to be sleeping. More...

bool	is_sleeping
	Whether drive is sleeping. More...

double	time_to_sleep
	Timespan to be sleeping. More...

Constructor & Destructor Documentation

◆ Drive() [1/2]

Drive::Drive	(	std::string	d_name,
		double	d_period,
		std::string	d_key = `"default"`,
		double	d_value = `0.5`,
		double	d_homeo_min = `0.25`,
		double	d_homeo_max = `0.75`,
		double	d_decay = `0.05`,
		double	d_value_min = `std::numeric_limits<double>::min()`,
		double	d_value_max = `std::numeric_limits<double>::max()`,
		bool	d_gradient = `false`
	)

inline

Definition at line 26 of file homeostasis.h.

◆ Drive() [2/2]

Drive::Drive ( )

delete

No default constructor!

Member Function Documentation

◆ deltaDecay()

void Drive::deltaDecay ( double d_decay )

inline

Definition at line 88 of file homeostasis.h.

◆ deltaHomeostasisMax()

void Drive::deltaHomeostasisMax ( double d_homeo_max )

inline

Definition at line 79 of file homeostasis.h.

◆ deltaHomeostasisMin()

void Drive::deltaHomeostasisMin ( double d_homeo_min )

inline

Definition at line 70 of file homeostasis.h.

◆ deltaValue()

void Drive::deltaValue ( double d_value )

inline

Definition at line 61 of file homeostasis.h.

◆ freeze()

void Drive::freeze ( )

inline

freeze Freeze (sleep) drive indefinitely

Definition at line 111 of file homeostasis.h.

◆ getValue()

double Drive::getValue ( )

inline

Definition at line 146 of file homeostasis.h.

◆ reset()

void Drive::reset ( )

inline

reset Set value back to default_value

Definition at line 120 of file homeostasis.h.

◆ setDecay()

void Drive::setDecay ( double d_decay )

inline

Definition at line 84 of file homeostasis.h.

◆ setDecayMultiplier()

void Drive::setDecayMultiplier ( double mult )

inline

Definition at line 93 of file homeostasis.h.

◆ setGradient()

void Drive::setGradient ( bool b )

inline

Definition at line 156 of file homeostasis.h.

◆ setHomeostasisMax()

void Drive::setHomeostasisMax ( double d_homeo_max )

inline

Definition at line 75 of file homeostasis.h.

◆ setHomeostasisMin()

void Drive::setHomeostasisMin ( double d_homeo_min )

inline

Definition at line 66 of file homeostasis.h.

◆ setKey()

void Drive::setKey ( std::string d_key )

inline

Definition at line 53 of file homeostasis.h.

◆ setName()

void Drive::setName ( std::string n )

inline

Definition at line 151 of file homeostasis.h.

◆ setValue()

void Drive::setValue ( double d_value )

inline

Definition at line 57 of file homeostasis.h.

◆ sleep()

void Drive::sleep ( double t )

inline

sleep Sleep drive for t seconds, i.e.

drive won't decay

Parameters

t	time to sleep

Definition at line 102 of file homeostasis.h.

◆ unfreeze()

void Drive::unfreeze ( )

inline

unfreeze Unfreeze drive

Definition at line 127 of file homeostasis.h.

◆ update()

void Drive::update ( )

inline

update Let drive decay

Definition at line 134 of file homeostasis.h.

Member Data Documentation

◆ decay

double Drive::decay

Definition at line 20 of file homeostasis.h.

◆ decay_multiplier

double Drive::decay_multiplier

Definition at line 20 of file homeostasis.h.

◆ default_value

double Drive::default_value

Definition at line 20 of file homeostasis.h.

◆ gradient

bool Drive::gradient

Definition at line 21 of file homeostasis.h.

◆ homeostasisMax

double Drive::homeostasisMax

Definition at line 20 of file homeostasis.h.

◆ homeostasisMin

double Drive::homeostasisMin

Definition at line 20 of file homeostasis.h.

◆ is_sleeping

bool Drive::is_sleeping

Whether drive is sleeping.

Definition at line 23 of file homeostasis.h.

◆ key

std::string Drive::key

Deprecated, not used anymore.

Definition at line 18 of file homeostasis.h.

◆ name

std::string Drive::name

Name of the drive.

Definition at line 17 of file homeostasis.h.

◆ period

double Drive::period

Definition at line 19 of file homeostasis.h.

◆ start_sleep

time_t Drive::start_sleep

Time when the drive started to be sleeping.

Definition at line 22 of file homeostasis.h.

◆ time_to_sleep

double Drive::time_to_sleep

Timespan to be sleeping.

Definition at line 24 of file homeostasis.h.

◆ value

double Drive::value

Definition at line 20 of file homeostasis.h.

◆ valueMax

double Drive::valueMax

Definition at line 20 of file homeostasis.h.

◆ valueMin

double Drive::valueMin

Definition at line 20 of file homeostasis.h.

◆ HomeostasisManager

class HomeostasisManager

Definition at line 13 of file homeostasisManager.h.

Public Member Functions
void	addDrive (Drive *D)
	addDrive Generates a drive in the homeostasis manager. More...

void	removeDrive (int D)
	removeDrive Removes a drive in homeostasis manager. More...

void	sleep (int D, double time)
	sleep cancels update function for a time More...

bool	updateDrives ()
	updateDrives updates all internal values More...

Public Attributes
std::vector< Drive * >	drives

Member Function Documentation

◆ addDrive()

void HomeostasisManager::addDrive ( Drive * D )

addDrive Generates a drive in the homeostasis manager.

Homeostasis manager will take care of updating it. Input must be a drive and its position

Parameters

D	drive instance to add

Definition at line 13 of file homeostasisManager.cpp.

◆ removeDrive()

void HomeostasisManager::removeDrive ( int D )

removeDrive Removes a drive in homeostasis manager.

Anything related to this drive outside here should also be removed. This is specially useful for temporal needs or subgoals.

Parameters

D	drive ID to remove

Definition at line 18 of file homeostasisManager.cpp.

◆ sleep()

void HomeostasisManager::sleep	(	int	D,
		double	time
	)

sleep cancels update function for a time

Parameters

D	ID drive to add
time	time to sleep

Definition at line 23 of file homeostasisManager.cpp.

◆ updateDrives()

bool HomeostasisManager::updateDrives ( )

updateDrives updates all internal values

Returns: bool success

Definition at line 4 of file homeostasisManager.cpp.

Member Data Documentation

◆ drives

std::vector<Drive*> HomeostasisManager::drives

Definition at line 18 of file homeostasisManager.h.

◆ HomeostaticModule

class HomeostaticModule

Definition at line 18 of file homeostasisManagerIcub.h.

Inheritance diagram for HomeostaticModule:

Public Member Functions
Drive	bDrive (yarp::os::Bottle *b)
	bDrive Create Drive from Bottle More...

int	openPorts (std::string driveName)
	openPorts opens default ports for external communication More...

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)

Member Function Documentation

◆ bDrive()

Drive HomeostaticModule::bDrive ( yarp::os::Bottle * b )

inline

bDrive Create Drive from Bottle

Parameters

b	Bottle from which to create drive from

Returns: Drive newly created Drive

Definition at line 61 of file homeostasisManagerIcub.h.

◆ close()

bool HomeostaticModule::close ( )

Definition at line 451 of file homeostasisManagerIcub.cpp.

◆ configure()

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

Definition at line 79 of file homeostasisManagerIcub.cpp.

◆ getPeriod()

double HomeostaticModule::getPeriod ( )

inline

Definition at line 82 of file homeostasisManagerIcub.h.

◆ interruptModule()

bool HomeostaticModule::interruptModule ( )

inline

Definition at line 75 of file homeostasisManagerIcub.h.

◆ openPorts()

int HomeostaticModule::openPorts ( std::string driveName )

openPorts opens default ports for external communication

Parameters

driveName name of the drive

Returns: int success

Definition at line 49 of file homeostasisManagerIcub.cpp.

◆ respond()

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

Definition at line 135 of file homeostasisManagerIcub.cpp.

◆ updateModule()

bool HomeostaticModule::updateModule ( )

Definition at line 394 of file homeostasisManagerIcub.cpp.

Classes

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ Drive

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ Drive() [1/2]

◆ Drive() [2/2]

Member Function Documentation

◆ deltaDecay()

◆ deltaHomeostasisMax()

◆ deltaHomeostasisMin()

◆ deltaValue()

◆ freeze()

◆ getValue()

◆ reset()

◆ setDecay()

◆ setDecayMultiplier()

◆ setGradient()

◆ setHomeostasisMax()

◆ setHomeostasisMin()

◆ setKey()

◆ setName()

◆ setValue()

◆ sleep()

◆ unfreeze()

◆ update()

Member Data Documentation

◆ decay

◆ decay_multiplier

◆ default_value

◆ gradient

◆ homeostasisMax

◆ homeostasisMin

◆ is_sleeping

◆ key

◆ name

◆ period

◆ start_sleep

◆ time_to_sleep

◆ value

◆ valueMax

◆ valueMin

◆ HomeostasisManager

Public Member Functions

Public Attributes

Member Function Documentation

◆ addDrive()

◆ removeDrive()

◆ sleep()

◆ updateDrives()

Member Data Documentation

◆ drives

◆ HomeostaticModule

Public Member Functions

Member Function Documentation

◆ bDrive()

◆ close()

◆ configure()

◆ getPeriod()

◆ interruptModule()

◆ openPorts()

◆ respond()

◆ updateModule()