22 #include "gologpp_fawkes_backend.h"
24 #include "message_action_executor.h"
25 #include "print_action_executor.h"
26 #include "remote_skiller_executor.h"
27 #include "skiller_action_executor.h"
28 #include "sleep_action_executor.h"
30 #include <config/config.h>
31 #include <golog++/model/activity.h>
32 #include <golog++/model/transition.h>
37 using namespace gologpp;
52 std::string cfg_prefix,
60 for (
const string &robot :
62 const std::string agent_prefix = cfg_prefix +
"/agents/" + robot;
63 const std::string &hostname =
65 const unsigned short int &port =
67 action_dispatcher_.
register_executor(std::make_shared<RemoteSkillerActionExecutor>(
68 logger,
"robot", robot, hostname, port, config, cfg_prefix));
72 std::make_shared<SkillerActionExecutor>(logger, blackboard, config, cfg_prefix));
75 std::make_shared<BBMessageActionExecutor>(logger, blackboard, config, cfg_prefix));
76 action_dispatcher_.
register_executor(std::make_shared<SleepActionExecutor>(logger));
77 action_dispatcher_.
register_executor(std::make_shared<PrintActionExecutor>(logger));
80 GologppFawkesBackend::~GologppFawkesBackend()
98 gologpp::Clock::time_point
101 return gologpp::Clock::time_point{
102 gologpp::Clock::duration{
clock->
now().
in_sec() / gologpp::Clock::duration::period::den}};
109 GologppFawkesBackend::execute_activity(shared_ptr<Activity> a)