Fawkes API
Fawkes Development Version
clips_navgraph_thread.h
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/***************************************************************************
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* clips_navgraph_thread.h - NavGraph feature for CLIPS
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*
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* Created: Wed Oct 09 19:26:41 2013
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* Copyright 2006-2013 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_CLIPS_NAVGRAPH_CLIPS_NAVGRAPH_THREAD_H_
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#define _PLUGINS_CLIPS_NAVGRAPH_CLIPS_NAVGRAPH_THREAD_H_
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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#include <navgraph/aspect/navgraph.h>
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#include <navgraph/navgraph.h>
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#include <plugins/clips/aspect/clips_feature.h>
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#include <map>
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#include <string>
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#include <vector>
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namespace
fawkes
{
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class
NavGraphStaticListEdgeConstraint;
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}
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class
ClipsNavGraphThread
:
public
fawkes::Thread
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::NavGraphAspect
,
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public
fawkes::CLIPSFeature
,
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public
fawkes::CLIPSFeatureAspect
,
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public
fawkes::NavGraph::ChangeListener
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{
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public
:
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ClipsNavGraphThread
();
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virtual
~ClipsNavGraphThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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// for CLIPSFeature
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virtual
void
clips_context_init
(
const
std::string & env_name,
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fawkes::LockPtr<CLIPS::Environment>
&clips);
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virtual
void
clips_context_destroyed
(
const
std::string &env_name);
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virtual
void
graph_changed
()
throw
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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void
clips_navgraph_load(
fawkes::LockPtr<CLIPS::Environment>
&clips);
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void
clips_navgraph_block_edge(std::string env_name, std::string from, std::string to);
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void
clips_navgraph_unblock_edge(std::string env_name, std::string from, std::string to);
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private
:
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std::map<std::string, fawkes::LockPtr<CLIPS::Environment>> envs_;
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fawkes::NavGraphStaticListEdgeConstraint
*edge_constraint_;
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};
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#endif
ClipsNavGraphThread
Definition:
clips_navgraph_thread.h:40
ClipsNavGraphThread::ClipsNavGraphThread
ClipsNavGraphThread()
Constructor.
Definition:
clips_navgraph_thread.cpp:37
fawkes::LockPtr< CLIPS::Environment >
ClipsNavGraphThread::init
virtual void init()
Initialize the thread.
Definition:
clips_navgraph_thread.cpp:50
ClipsNavGraphThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
clips_navgraph_thread.h:66
ClipsNavGraphThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
clips_navgraph_thread.cpp:59
fawkes::NavGraph::ChangeListener
Definition:
navgraph.h:181
ClipsNavGraphThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
clips_navgraph_thread.cpp:200
fawkes
fawkes::LoggingAspect
Definition:
logging.h:36
fawkes::NavGraphAspect
Definition:
navgraph.h:39
fawkes::CLIPSFeature
Definition:
clips_feature.h:40
ClipsNavGraphThread::clips_context_destroyed
virtual void clips_context_destroyed(const std::string &env_name)
Definition:
clips_navgraph_thread.cpp:93
ClipsNavGraphThread::graph_changed
virtual void graph_changed()
Definition:
clips_navgraph_thread.cpp:187
fawkes::Thread
Definition:
thread.h:44
fawkes::ConfigurableAspect
Definition:
configurable.h:36
ClipsNavGraphThread::~ClipsNavGraphThread
virtual ~ClipsNavGraphThread()
Destructor.
Definition:
clips_navgraph_thread.cpp:45
ClipsNavGraphThread::clips_context_init
virtual void clips_context_init(const std::string &env_name, fawkes::LockPtr< CLIPS::Environment > &clips)
Definition:
clips_navgraph_thread.cpp:69
fawkes::CLIPSFeatureAspect
Definition:
clips_feature.h:56
fawkes::NavGraphStaticListEdgeConstraint
Definition:
static_list_edge_constraint.h:39
src
plugins
clips-navgraph
clips_navgraph_thread.h
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