edu::wpi::hri::bml::realizer::BMLComm Class Reference

Inheritance diagram for edu::wpi::hri::bml::realizer::BMLComm:

Public Member Functions
	BMLComm (Logger logger, NodeHandle handle) throws RosException
void	call (Behavior behav)
void	publishEmit (SyncRef ref, String event, String body)
void	publishException (SchedulerException e)
void	publishException (SyncRef ref, byte status, String reason, boolean warning)
void	publishPerformance (SyncRef ref, byte status)
void	shutdown ()
void	waitForEndEmit (String id)
Private Attributes
final Publisher< BMLEmit >	emit
final Subscriber< Behavior >	endEmit
final Publisher< BMLException >	exception
final List< String >	finishedIds
final Logger	logger
final Publisher< BMLPerformance >	performing
final Publisher< BMLException >	warning

Detailed Description

This class is the communication from the realizer to the outside nodes. Each type of message that BML requires is created here and can be sent through ROS.

Author:: Aaron Holroyd (aholroyd (at) wpi (dot) edu)

Definition at line 62 of file BMLComm.java.

Constructor & Destructor Documentation

edu::wpi::hri::bml::realizer::BMLComm::BMLComm	(	Logger	logger,
		NodeHandle	handle
	)			throws RosException `[inline]`

Create a new BML Comm object which can send the messages as behaviors are being executed.

Parameters:

	logger	The logger to print messages to
	handle	The handle to attach the messages to. Normally this should be the base handle.

Exceptions:

RosException

This exception should only be thrown if ros is not setup properly.

Definition at line 85 of file BMLComm.java.

Member Function Documentation

void edu::wpi::hri::bml::realizer::BMLComm::call ( Behavior behav ) [inline]

Definition at line 217 of file BMLComm.java.

void edu::wpi::hri::bml::realizer::BMLComm::publishEmit	(	SyncRef	ref,
		String	event,
		String	body
	)			`[inline]`

Publish a message that indicates information that needed to be sent. This is the generic message which can contain information for calling other services or messages from a listening node.

Parameters:

	ref	The reference point from which the emit is being fired.
	event	The event id of the emit tag.
	body	The body of the emit's event tag.

Definition at line 137 of file BMLComm.java.

void edu::wpi::hri::bml::realizer::BMLComm::publishException ( SchedulerException e ) [inline]

Publish an exception thrown by the scheduler.

Parameters:

e

The exception that was thrown.

Definition at line 184 of file BMLComm.java.

void edu::wpi::hri::bml::realizer::BMLComm::publishException	(	SyncRef	ref,
		byte	status,
		String	reason,
		boolean	warning
	)			`[inline]`

Publish a message corresponding to an exception that occurred. If the warning flag is true, the exception will be broadcasted but the schedule is expected to continue to execute or be scheduled. If the warning flag is false, the schedule is expected to terminate.

Parameters:

	ref	The reference point that caused the exception.
	status	The status of that point.
	reason	The human readable reason for throwing the exception.
	warning	True for warning, false for error.