conscience_core::ai::CscEntityReflexion Class Reference

#include <CscEntityReflexion.h>

Public Member Functions
	CscEntityReflexion (ptr< CscEntityReflexionParameters > parameters, CscEnvironmentSimulator &globalEnvironmentSimulator)
virtual	~CscEntityReflexion ()
void	stopAndRelease (bool removeFromEnvironment=true)
void	setSensorValues (const string &sensorName, const map< string, double > &values)
bool	isLidarEngineActivated ()
bool	isLidarEngineInitialized ()
string	getEntityType (const CscEntityModel &model) const
void	restoreCartography (optional< fs::path > cartographyDirMaybe={})
CscPlaceCartography *	getCartography () const
void	setScene (CscWorldPlace *place)
CscCaptureEngine *	getCaptureEngine (const optional< string > &videoSourceId={}) const
void	resetToInitialState ()
ptr< CscEntityReflexion >	getSharedPtr () const
void	consumeVideoSource (const optional< string > &id={}, bool reopenEvenIfAlreadyOpened=true)
void	setVideoSource (ptr< CscEntityVideoSource > videoSource, bool consumeIfClosedOrSourceChanged=false)
void	resetParameters (ptr< CscEntityReflexionParameters >)
ptr< const CscEntityReflexionParameters >	getParameters () const
ptr< CscEntityReflexionDetectionParameters >	getDetectionParameters ()
void	setDetectionParameters (ptr< CscEntityReflexionDetectionParameters >)
void	unwatchAlerts (vector< CscAlertType > alertsToBeUnwatched)
void	fireLiveEnvironmentUpdate ()
ptr< CscEntityClient >	getEntityClient () const
optional< ptr< DetectionResult > >	getLastDetectionResult ()
CscEnvironmentSimulator &	getGlobalEnvironmentSimulator ()
void	addLiveEnvironmentUpdateListener (LiveEnvironmentUpdateListener listener)
void	onSequenceToBeSentToRealEntity (SequenceProcessorSendSequenceListener listener)
const string &	getSerialNumber () const
const string &	getEntityModelId () const
optional< fs::path >	stopLastPeriodCaptureRecordingToFile ()
void	startLastPeriodCaptureRecordingToFile (short durationSeconds, const fs::path &outputPath)
void	stopCaptureRecordingToFile ()
void	startCaptureRecordingToFile (const fs::path &outputPath, const optional< string > &videoSourceId={})
void	purgeAIObjectives ()
const CscEntityModel *	getEntityModel () const
const CscSimulationWorld *	getAISimulationWorld () const
float *	geAIObjectivesStatus () const
CscSequence *	processKnowledgeItem (CscKnowledgeItem *knowledgeItem, CscState *initialState)
void	stopLidarEngine ()
void	startLidarEngineLocalDevice (string devicePath, double *currentState)
void	startLidarEngineEntity ()
optional< string >	getStringDetectorResult ()
void	clearStringDetectorResult ()
void	vocalPhoneCallTest (const vector< string > &phoneNumbers, const map< string, string > &additionalParams)
void	removeObjectivesByAITypes (knowledge::CscArtificialIntelligenceType type)
void	setSlamCartographyActivated (bool enable)
void	stopAndSaveLidarCartography ()
void	setSlamLocalizationActivated (bool enable, CscPoint3dOriented *position=nullptr)
void	clearLidarCartography ()
CscEntityPositionManager *	getPositionManager () const
vector< ptr< HumanDecision > >	getOngoingDecisions ()
void	answerDecision (const string &decisionUid, bool accept)
const FocusParameter *	getFocusParameter ()
void	setFocusParameter (const FocusParameter *focusParam)
map< string, ptr< CscPublicAIData > >	getPublicAIDataForSubject (const string &subject)
void	clearPublicAIDataForSubject (const string &subject)
CscSequencesProcessor *	getSequenceProcessor () const
CscSlamEngine *	getSlamEngine ()
CscLidarEngine *	getLidarEngine ()
bool	isSimulated () const
	This method determines whether the reflection entity is simulated or real. A simulated entity is only available within the simulator and has no repercussions in the real world. On the other hand, a real entity exists outside the simulator; it is its digital twin that is displayed within the simulator. More...
bool	useGnssPositioning () const
	This method determines if the entity use a gnss positioning. It's use for determine the position send in sequence result. More...
ptr< CscEntityIdentity >	getEntityIdentity () const
void	sendSequenceToRealRobot (CscSequence *sequence) const
void	ifRunning (function< void()> action)
void	loadCartographyFromPoints (const vector< const CscPoint3d * > &points)
const vector< ptr< CscEntityVideoSource > > &	getVideoSources () const
ptr< CscEntityVideoSource >	getVideoSource (const optional< string > &id={}) const
void	addVideoSource (ptr< CscEntityVideoSource > videoSource)
void	removeVideoSource (ptr< CscEntityVideoSource > videoSource)
CscEntityReflexionActivity	getActivitySummary ()
ptr< CscEntityDetectionState >	getDetectionState () const
CscEntityStatusFlags	getAllEntityStatusFlags () const
bool	hasStatusFlag (const vector< CscEntityStatusFlagsList > &statuses) const
bool	hasStatusFlag (CscEntityStatusFlagsList status) const
void	setLastEntityStatusFlags (const string &lastEntityStatusFlags)
void	addAdditionalEntityStatusFlag (CscEntityStatusFlagsList flag)
void	removeAdditionalEntityStatusFlag (CscEntityStatusFlagsList flag)
void	startAutonomousExploration ()
void	stopAutonomousExploration ()
void	setEntityClient (ptr< CscEntityClient > entityClient)
void	ifNotStopped (const function< void()> &action)
void	addCustomData (const map< string, void * > &customData)
map< string, void * >	getCustomData () const
void *	getCustomDataValue (const string &key) const

Static Public Member Functions
static bool &	autoCloseStreamEnabled ()

Detailed Description

Processes "reflection" for an entity (identified by its serial number). Entity thinking process can be described as 2 main loops : 1) capture / detect / focus & notify 2) AI with genetical algorithms

Constructor & Destructor Documentation

CscEntityReflexion()

conscience_core::ai::CscEntityReflexion::CscEntityReflexion	(	ptr< CscEntityReflexionParameters >	parameters,
		CscEnvironmentSimulator &	globalEnvironmentSimulator
	)

Reflection starts when this constructor is called. Which means that instance initializes, entity is imported in simulator(s), and threads start

~CscEntityReflexion()

conscience_core::ai::CscEntityReflexion::~CscEntityReflexion ( )

virtual

Member Function Documentation

addAdditionalEntityStatusFlag()

void conscience_core::ai::CscEntityReflexion::addAdditionalEntityStatusFlag

(

CscEntityStatusFlagsList

flag

)

This will add a new additional flag (in addition to last entity status flags from real entity)

addCustomData()

void conscience_core::ai::CscEntityReflexion::addCustomData

(

const map< string, void * > &

customData

)

assign any user defined data to this entity

addLiveEnvironmentUpdateListener()

void conscience_core::ai::CscEntityReflexion::addLiveEnvironmentUpdateListener

(

LiveEnvironmentUpdateListener

listener

)

addVideoSource()

void conscience_core::ai::CscEntityReflexion::addVideoSource

(

ptr< CscEntityVideoSource >

videoSource

)

Adds a secondary video source for this entity reflexion. Primary video source is given in entity reflexion paramters

answerDecision()

void conscience_core::ai::CscEntityReflexion::answerDecision	(	const string &	decisionUid,
		bool	accept
	)

autoCloseStreamEnabled()

bool & conscience_core::ai::CscEntityReflexion::autoCloseStreamEnabled ( )

static

Default: true If true, reflexions will automatically close their stream consumption when idle (no detector enabled)

clearLidarCartography()

void conscience_core::ai::CscEntityReflexion::clearLidarCartography

(

)

clearPublicAIDataForSubject()

void conscience_core::ai::CscEntityReflexion::clearPublicAIDataForSubject

(

const string &

subject

)

clearStringDetectorResult()

void conscience_core::ai::CscEntityReflexion::clearStringDetectorResult

(

)

consumeVideoSource()

void conscience_core::ai::CscEntityReflexion::consumeVideoSource	(	const optional< string > &	id = {},
		bool	reopenEvenIfAlreadyOpened = true
	)

Closes currently opened stream, if any, and then open a new capture stream based on video source configured in parameters

Parameters

id	id of the video source to be consumed. If empty, primary video source will be consumed
reopenEvenIfAlreadyOpened	if true, captureEngine will be reopened on source. If false, captureEngine will be opened only if not already opened

See also

CscEntityReflexionParameters

fireLiveEnvironmentUpdate()

void conscience_core::ai::CscEntityReflexion::fireLiveEnvironmentUpdate

(

)

geAIObjectivesStatus()

float * conscience_core::ai::CscEntityReflexion::geAIObjectivesStatus

(

)

const

getActivitySummary()

CscEntityReflexionActivity conscience_core::ai::CscEntityReflexion::getActivitySummary

(

)

getAISimulationWorld()

const CscSimulationWorld * conscience_core::ai::CscEntityReflexion::getAISimulationWorld

(

)

const

getAllEntityStatusFlags()

CscEntityStatusFlags conscience_core::ai::CscEntityReflexion::getAllEntityStatusFlags

(

)

const

returns last known entity status flags (Only supported for real entities at the moment) and additional flags

See also

CscEntityStatusFlagsList

CscEntityReflexion::addAdditionalEntityStatusFlag(flag)

getCaptureEngine()

CscCaptureEngine * conscience_core::ai::CscEntityReflexion::getCaptureEngine

(

const optional< string > &

videoSourceId = {}

)

const

Gets capture engine for given videoSourceId or null if capture engine not found for requested video source

Parameters

videoSourceId

id of the video source of the capture engine. If empty, primary source will be used

getCartography()

CscPlaceCartography * conscience_core::ai::CscEntityReflexion::getCartography

(

)

const

getCustomData()

map< string, void * > conscience_core::ai::CscEntityReflexion::getCustomData

(

)

const

Returns

thread safe copy of this entity's user defined data

getCustomDataValue()

void * conscience_core::ai::CscEntityReflexion::getCustomDataValue

(

const string &

key

)

const

Returns

thread safe, return value of user defined data for given key, or nullptr if not found

getDetectionParameters()

ptr< CscEntityReflexionDetectionParameters > conscience_core::ai::CscEntityReflexion::getDetectionParameters

(

)

getDetectionState()

ptr<CscEntityDetectionState> conscience_core::ai::CscEntityReflexion::getDetectionState ( ) const

inline

getEntityClient()

ptr< CscEntityClient > conscience_core::ai::CscEntityReflexion::getEntityClient

(

)

const

getEntityIdentity()

ptr< CscEntityIdentity > conscience_core::ai::CscEntityReflexion::getEntityIdentity

(

)

const

getEntityModel()

const CscEntityModel * conscience_core::ai::CscEntityReflexion::getEntityModel

(

)

const

getEntityModelId()

const string & conscience_core::ai::CscEntityReflexion::getEntityModelId

(

)

const

getEntityType()

string conscience_core::ai::CscEntityReflexion::getEntityType

(

const CscEntityModel &

model

)

const

getFocusParameter()

const FocusParameter * conscience_core::ai::CscEntityReflexion::getFocusParameter

(

)

getGlobalEnvironmentSimulator()

CscEnvironmentSimulator & conscience_core::ai::CscEntityReflexion::getGlobalEnvironmentSimulator

(

)

getLastDetectionResult()

optional< ptr< DetectionResult > > conscience_core::ai::CscEntityReflexion::getLastDetectionResult

(

)

getLidarEngine()

CscLidarEngine * conscience_core::ai::CscEntityReflexion::getLidarEngine

(

)

getOngoingDecisions()

vector< ptr< HumanDecision > > conscience_core::ai::CscEntityReflexion::getOngoingDecisions

(

)

getParameters()

ptr< const CscEntityReflexionParameters > conscience_core::ai::CscEntityReflexion::getParameters

(

)

const

getPositionManager()

CscEntityPositionManager * conscience_core::ai::CscEntityReflexion::getPositionManager

(

)

const

getPublicAIDataForSubject()

map< string, ptr< CscPublicAIData > > conscience_core::ai::CscEntityReflexion::getPublicAIDataForSubject

(

const string &

subject

)

getSequenceProcessor()

CscSequencesProcessor * conscience_core::ai::CscEntityReflexion::getSequenceProcessor

(

)

const

getSerialNumber()

const string & conscience_core::ai::CscEntityReflexion::getSerialNumber

(

)

const

getSharedPtr()

ptr< CscEntityReflexion > conscience_core::ai::CscEntityReflexion::getSharedPtr

(

)

const

getSlamEngine()

CscSlamEngine * conscience_core::ai::CscEntityReflexion::getSlamEngine

(

)

getStringDetectorResult()

optional< string > conscience_core::ai::CscEntityReflexion::getStringDetectorResult

(

)

getVideoSource()

ptr< CscEntityVideoSource > conscience_core::ai::CscEntityReflexion::getVideoSource

(

const optional< string > &

id = {}

)

const

Parameters

id	id of the video source. If empty, primary source will be used

getVideoSources()

const vector< ptr< CscEntityVideoSource > > & conscience_core::ai::CscEntityReflexion::getVideoSources

(

)

const

hasStatusFlag() [1/2]

bool conscience_core::ai::CscEntityReflexion::hasStatusFlag

(

const vector< CscEntityStatusFlagsList > &

statuses

)

const

Returns

true if entity has any of the given status flags

hasStatusFlag() [2/2]

bool conscience_core::ai::CscEntityReflexion::hasStatusFlag

(

CscEntityStatusFlagsList

status

)

const

ifNotStopped()

void conscience_core::ai::CscEntityReflexion::ifNotStopped

(

const function< void()> &

action

)

ifRunning()

void conscience_core::ai::CscEntityReflexion::ifRunning

(

function< void()>

action

)

Thread safe method to run an action if and only if this entity reflexion is alive and running. Be sure to keep this action as short as possible because it locks entity reflexion loop

Thread safe method to run an action if and only if this entity reflexion is alive and running

isLidarEngineActivated()

bool conscience_core::ai::CscEntityReflexion::isLidarEngineActivated

(

)

isLidarEngineInitialized()

bool conscience_core::ai::CscEntityReflexion::isLidarEngineInitialized

(

)

isSimulated()

bool conscience_core::ai::CscEntityReflexion::isSimulated

(

)

const

This method determines whether the reflection entity is simulated or real. A simulated entity is only available within the simulator and has no repercussions in the real world. On the other hand, a real entity exists outside the simulator; it is its digital twin that is displayed within the simulator.

loadCartographyFromPoints()

void conscience_core::ai::CscEntityReflexion::loadCartographyFromPoints

(

const vector< const CscPoint3d * > &

points

)

onSequenceToBeSentToRealEntity()

void conscience_core::ai::CscEntityReflexion::onSequenceToBeSentToRealEntity

(

SequenceProcessorSendSequenceListener

listener

)

processKnowledgeItem()

CscSequence * conscience_core::ai::CscEntityReflexion::processKnowledgeItem	(	CscKnowledgeItem *	knowledgeItem,
		CscState *	initialState
	)

Parameters

knowledgeItem

will be DELETED after use

purgeAIObjectives()

void conscience_core::ai::CscEntityReflexion::purgeAIObjectives

(

)

removeAdditionalEntityStatusFlag()

void conscience_core::ai::CscEntityReflexion::removeAdditionalEntityStatusFlag

(

CscEntityStatusFlagsList

flag

)

removeObjectivesByAITypes()

void conscience_core::ai::CscEntityReflexion::removeObjectivesByAITypes

(

knowledge::CscArtificialIntelligenceType

type

)

removeVideoSource()

void conscience_core::ai::CscEntityReflexion::removeVideoSource

(

ptr< CscEntityVideoSource >

videoSource

)

Removes a video source.

See also

addVideoSource(ptr<CscEntityVideoSource> videoSource)

resetParameters()

void conscience_core::ai::CscEntityReflexion::resetParameters

(

ptr< CscEntityReflexionParameters >

parameters

)

Sets parameters for this entity reflexion. WARNING: consumeVideoSource() must be called to take in account video source changes

See also

CscEntityReflexion::consumeVideoSource()

resetToInitialState()

void conscience_core::ai::CscEntityReflexion::resetToInitialState

(

)

restoreCartography()

void conscience_core::ai::CscEntityReflexion::restoreCartography

(

optional< fs::path >

cartographyDirMaybe = {}

)

Parameters

cartographyDirMaybe

if empty, will load latest from FS (default directory), otherwise will try to open carto folder if directory, or points csv file if file

sendSequenceToRealRobot()

void conscience_core::ai::CscEntityReflexion::sendSequenceToRealRobot

(

CscSequence *

sequence

)

const

Parameters

sequence

will NOT be deleted by this method

setDetectionParameters()

void conscience_core::ai::CscEntityReflexion::setDetectionParameters

(

ptr< CscEntityReflexionDetectionParameters >

detectionParameters

)

setEntityClient()

void conscience_core::ai::CscEntityReflexion::setEntityClient

(

ptr< CscEntityClient >

entityClient

)

setFocusParameter()

void conscience_core::ai::CscEntityReflexion::setFocusParameter

(

const FocusParameter *

focusParam

)

setLastEntityStatusFlags()

void conscience_core::ai::CscEntityReflexion::setLastEntityStatusFlags

(

const string &

lastEntityStatusFlags

)

Only a string containing CscEntityStatusFlagsList or empty string are supported at the moment coming from the entity

setScene()

void conscience_core::ai::CscEntityReflexion::setScene

(

CscWorldPlace *

place

)

setSensorValues()

void conscience_core::ai::CscEntityReflexion::setSensorValues	(	const string &	sensorName,
		const map< string, double > &	values
	)

setSlamCartographyActivated()

void conscience_core::ai::CscEntityReflexion::setSlamCartographyActivated

(

bool

enable

)

setSlamLocalizationActivated()

void conscience_core::ai::CscEntityReflexion::setSlamLocalizationActivated	(	bool	enable,
		CscPoint3dOriented *	position = nullptr
	)

Parameters

position

force initial position

setVideoSource()

void conscience_core::ai::CscEntityReflexion::setVideoSource	(	ptr< CscEntityVideoSource >	videoSource,
		bool	consumeIfClosedOrSourceChanged = false
	)

Sets video source for this entity reflexion. WARNING: consumeVideoSource() must be called to take in account (or consumeIfClosedOrSourceChanged should be true)

Parameters

videoSource	new video source to be used as main source
consumeIfClosedOrSourceChanged	if true, will open video stream if not opened (or reopen if source changed)

See also

CscEntityReflexion::consumeVideoSource()

startAutonomousExploration()

void conscience_core::ai::CscEntityReflexion::startAutonomousExploration

(

)

startCaptureRecordingToFile()

void conscience_core::ai::CscEntityReflexion::startCaptureRecordingToFile	(	const fs::path &	outputPath,
		const optional< string > &	videoSourceId = {}
	)

startLastPeriodCaptureRecordingToFile()

void conscience_core::ai::CscEntityReflexion::startLastPeriodCaptureRecordingToFile	(	short	durationSeconds,
		const fs::path &	outputPath
	)

startLidarEngineEntity()

void conscience_core::ai::CscEntityReflexion::startLidarEngineEntity

(

)

startLidarEngineLocalDevice()

void conscience_core::ai::CscEntityReflexion::startLidarEngineLocalDevice	(	string	devicePath,
		double *	currentState
	)

stopAndRelease()

void conscience_core::ai::CscEntityReflexion::stopAndRelease

(

bool

removeFromEnvironment = true

)

Parameters

removeFromEnvironment

pass false if entity has already been removed from environment simulator

stopAndSaveLidarCartography()

void conscience_core::ai::CscEntityReflexion::stopAndSaveLidarCartography

(

)

stopAutonomousExploration()

void conscience_core::ai::CscEntityReflexion::stopAutonomousExploration

(

)

stopCaptureRecordingToFile()

void conscience_core::ai::CscEntityReflexion::stopCaptureRecordingToFile

(

)

stopLastPeriodCaptureRecordingToFile()

optional< fs::path > conscience_core::ai::CscEntityReflexion::stopLastPeriodCaptureRecordingToFile

(

)

Returns

path of recorded file OR empty if no capture was in progress

stopLidarEngine()

void conscience_core::ai::CscEntityReflexion::stopLidarEngine

(

)

unwatchAlerts()

void conscience_core::ai::CscEntityReflexion::unwatchAlerts

(

vector< CscAlertType >

alertsToBeUnwatched

)

useGnssPositioning()

bool conscience_core::ai::CscEntityReflexion::useGnssPositioning

(

)

const

This method determines if the entity use a gnss positioning. It's use for determine the position send in sequence result.

vocalPhoneCallTest()

void conscience_core::ai::CscEntityReflexion::vocalPhoneCallTest	(	const vector< string > &	phoneNumbers,
		const map< string, string > &	additionalParams
	)

---

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

• ArtificialIntelligence/CscEntityReflexion.h
• ArtificialIntelligence/CscEntityReflexion.cpp