RCL - RoboCLuedo  v1.0
Francesco Ganci - S4143910 - Experimental Robotics Lab - Assignment 1
Public Member Functions | Protected Attributes
ArmorTools Class Reference

A minimal C++ client for aRMOR. More...

#include <armor_tools.h>

+ Inheritance diagram for ArmorTools:
+ Collaboration diagram for ArmorTools:

Public Member Functions

 ArmorTools (std::string client=ARMOR_DEFAULT_CLIENT, std::string reference=ARMOR_DEFAULT_REFERENCE, bool dbmode=false)
 Class Constructor, 3 arguments. More...
 
 ArmorTools (bool dbmode)
 Class Constructor, only one argument. More...
 
 ~ArmorTools ()
 class destructor (empty) More...
 
armor_msgs::ArmorDirective GetRequest (std::string command, std::string first_spec="", std::string second_spec="", std::string arg1="", std::string arg2="", std::string arg3="", std::string arg4="", std::string arg5="")
 quick generation of an aRMOR request More...
 
bool CallArmor (armor_msgs::ArmorDirective &data)
 send a command to the aRMOR service. More...
 
bool LoadOntology (std::string path, std::string uri=ARMOR_DEFAULT_URI, bool manipulationFlag=true, std::string reasoner=ARMOR_DEFAULT_REASONER, bool buffered_reasoner=true)
 load the ontology from file. More...
 
bool Connect (float timeout=ARMOR_DEFAULT_TIMEOUT)
 open a connection with the aRMOR service. More...
 
bool ConnectAndLoad (std::string path, std::string uri=ARMOR_DEFAULT_URI, bool manipulationFlag=true, std::string reasoner=ARMOR_DEFAULT_REASONER, bool buffered_reasoner=true)
 connect to the server and load the ontology from file. More...
 
bool SaveOntology (std::string path)
 save the ontology on file More...
 
bool UpdateOntology ()
 send the command REASON More...
 
void PrintRequest (armor_msgs::ArmorDirective &d)
 print a request to the screen. More...
 
void PrintResponse (armor_msgs::ArmorDirective &d)
 print the response to the screen. More...
 
void SwitchDebugMode ()
 toggle the debug mode More...
 
int GetLastErrorCode ()
 err code referred to the last call More...
 
std::string GetLastErrorDescription ()
 last err description More...
 
bool Success ()
 check the 'success' flag referred to the last aRMOR call More...
 
bool LoadedOntology ()
 check if the ontology was loaded or not More...
 
bool TestInterface ()
 check the status of the interface More...
 
bool SendCommand (std::string command, std::string first_spec="", std::string second_spec="", std::string arg1="", std::string arg2="", std::string arg3="", std::string arg4="", std::string arg5="", bool printRequest=false)
 fill in a command and send it to aRMOR More...
 
armor_msgs::ArmorDirectiveRes & GetLastRes ()
 get a reference to the last response More...
 
armor_msgs::ArmorDirectiveReq & GetLastReq ()
 get a reference to the last request More...
 
void PrintLastRes ()
 print the last response More...
 
void PrintLastReq ()
 print the last request More...
 

Protected Attributes

bool DebugMode = false
 debug mode enabled or not More...
 

Detailed Description

A minimal C++ client for aRMOR.

The class ArmorTools aims at giving a first abstraction of the service aRMOR by providing few "shortcuts". A strong point of this interface lies in the fact that a roscpp node can communicate with aRMOR through functions instead of direct callings to the service.

Another important feature is the debug mode: the programmer can turn on and off the messages inside the code, in order to understand what is going on "underneath the hood".

The class lets the programmer to not waste time in fill in the ArmorDirective message each time: client_name and reference_name are set only once in the constructor, whereas the remaining fields can be set using functions. Also the connection is contained in the class, and there are checks for understanding if the connection is valid or not.
In the end, the class stores the last request and the last response at each call, so the programmer can easily retrieve them and print, again using function calls.

Todo:
actually the class has some methods missing, for example methods for modifying client name and reference name.
Todo:
sequential commands to aRMOR is not supported right now: only the single command service is used.
Todo:
the interface actually can load the ontology only from file. It could be a good idea to have tools also for loading it from another source.
See also
ArmorCluedo an applciation of this interface
the official aRMOR documentation
Examples
ArmorTools - 001 - Essential usage of ArmorTools, and ArmorTools - 002 - The quickest way to use ArmorTools.

Definition at line 90 of file armor_tools.h.

The documentation for this class was generated from the following files: