cluedo_armor_interface.cpp File Reference

Dedicated RobotCLuedo-aRMOR client. More...

#include "ros/ros.h"
#include "armor_tools/armor_tools.h"
#include "armor_tools/armor_cluedo.h"
#include "std_srvs/Trigger.h"
#include "armor_msgs/ArmorDirective.h"
#include "armor_msgs/ArmorDirectiveList.h"
#include "armor_msgs/ArmorDirectiveReq.h"
#include "armor_msgs/ArmorDirectiveRes.h"
#include "armor_msgs/QueryItem.h"
#include "robocluedo_msgs/AddHint.h"
#include "robocluedo_msgs/Hypothesis.h"
#include "robocluedo_msgs/FindConsistentHypotheses.h"
#include "robocluedo_msgs/DiscardHypothesis.h"
#include <iostream>
#include <fstream>
#include <string>
#include <vector>

Include dependency graph for cluedo_armor_interface.cpp:

Go to the source code of this file.

Macros
#define	SERVICE_INTERFACE_ADD_HINT   "/cluedo_armor/add_hint"
#define	SERVICE_INTERFACE_FIND_CONSISTENT_HYP   "/cluedo_armor/find_consistent_h"
#define	SERVICE_INTERFACE_WRONG_HYPOTHESIS   "/cluedo_armor/wrong_hypothesis"
#define	SERVICE_INTERFACE_SAVE_ONTOLOGY   "/cluedo_armor/backup"
#define	ONTOLOGY_PARAM   "cluedo_path_owlfile"
#define	PARAM_ONTOLOGY_BACKUP_PATH   "cluedo_path_owlfile_backup"
#define	OUTLABEL   "[cluedo_armor_interface]"
#define	OUTLOG(msg)   ROS_INFO_STREAM( OUTLABEL << " " << msg );
#define	LOGSQUARE(str)   "[" << str << "] "
#define	SS(this_string)   std::string( this_string )
#define	SSS(this_thing)   std::to_string( this_thing )

Functions
std::vector< std::string >	PerformDifferenceBetween (std::vector< std::string > list1, std::vector< std::string > list2)
	delete all the occurrences of list2 inside list1 More...
bool	ServiceAddHint (robocluedo_msgs::AddHint::Request &hint, robocluedo_msgs::AddHint::Response &success)
	implementation of service SERVICE_INTERFACE_ADD_HINT More...
bool	ServiceFindConsistentHypotheses (robocluedo_msgs::FindConsistentHypotheses::Request &empty, robocluedo_msgs::FindConsistentHypotheses::Response &hyplist)
	implementation of service SERVICE_INTERFACE_FIND_CONSISTENT_HYP More...
bool	DiscardHypothesis (robocluedo_msgs::DiscardHypothesis::Request &tag, robocluedo_msgs::DiscardHypothesis::Response &success)
	implementation of service SERVICE_INTERFACE_WRONG_HYPOTHESIS More...
bool	ServiceBackupOntology (std_srvs::Trigger::Request &emptyrequest, std_srvs::Trigger::Response &success)
	implementation of service SERVICE_INTERFACE_SAVE_ONTOLOGY More...
int	main (int argc, char *argv[])
	ROS node main. More...

Detailed Description

Dedicated RobotCLuedo-aRMOR client.

ROS Node Name

• cluedo_armor_interface

Authors

Francesco Ganci (S4143910)

Version

v1.0

Description:

This node implements an inferface which simplifies and abstracts the communication with the aRMOR service, with particular attention to the most common operations performed by RCL during the search of a solution.

UML components
(See RoboCLuedo – COMP – UML Components Diagram the overal architecture, for further informations)

Services:

• /cluedo_armor/add_hint : AddHint.srv
  register a hint in the ontology
  
  
• /cluedo_armor/find_consistent_h : FindConsistentHypotheses.srv
  find all the consistent hypotheses
  
  
• /cluedo_armor/wrong_hypothesis : DiscardHypothesis.srv
  discard an hypothesis, due to a negative response from the oracle
  
  
• /cluedo_armor/backup : std_srvs::Trigger
  export the ontology to file
  
  

Hidden services and topics

• (from ArmorTools : client) /armor_interface_srv
  

Parameters:

• [GET] ONTOLOGY_PARAM : string
  path of the ontology
  
  
• [GET] PARAM_ONTOLOGY_BACKUP_PATH : string
  name for the backup ontology file exported
  
  

Definition in file cluedo_armor_interface.cpp.