ALAutonomousLife API

NAOqi Core - Overview | API | Launch trigger conditions | Advanced

Namespace : AL

#include <alproxies/alautonomouslifeproxy.h>

Methods

void ALAutonomousLifeProxy::setState(const std::string& state)

Lets the developer manually set limited state changes in AutonomousLife. For futher details, see: Autonomous Life states.

When changing the state to “disabled” or “safeguard”, stopAll() is called internally.

Note Manual change from interactive to solitary state will fail.

Parameters:
std::string ALAutonomousLifeProxy::getState()

Retrieves the current state of AutonomousLife.

Returns:Can be one of the Autonomous Life states.
void ALAutonomousLifeProxy::setRobotOffsetFromFloor(const float& offset)

Allows you to set if the robot is on the floor, or higher up such as on a table.

This notably have an effect on how the robot search for humans with Basic Awareness. Set it correctly to enhance tracking success.

The default offset is 0.

Parameters:
  • offset – A float value in meters.
float ALAutonomousLifeProxy::getRobotOffsetFromFloor()

Retrieves the current offset of the robot from the floor.

The default offset is 0.

Returns:A float value in meters.
void ALAutonomousLifeProxy::setSafeguardEnabled(const std::string& name)

Sets if a given safeguard will be handled by Autonomous Life or not. Default for all safeguards is true.

These parameters are automatically reset to default at the end of each activity.

Parameters:
  • name – Name of the safeguard to consider: RobotPushed, RobotFell, RobotMoved, CriticalDiagnosis, CriticalTemperature
bool ALAutonomousLifeProxy::isSafeguardEnabled(const std::string& name)

Checks if a given safeguard will be handled by Autonomous Life or not. Default for all safeguards is true.

Parameters:
  • name – Name of the safeguard to consider: RobotPushed, RobotFell, RobotMoved, CriticalDiagnosis, CriticalTemperature
Returns:

A bool, true if Autonomous Life handles the safeguard.
std::string ALAutonomousLifeProxy::focusedActivity()

Retrieves the current focused activity.

Returns:The name of the focused activity. Is an empty string (“”) if no activity is focused.
void ALAutonomousLifeProxy::switchFocus()

There are two overloads of this function:

int ALAutonomousLifeProxy::switchFocus(const std::string& activity_name)

The focused activity is the one running activity.

Parameters:
  • activity_name –

    The name of the activity to start and switch focus to.

    The current focused activity is stopped first.

    Format: “package-uuid/behavior-path”
int ALAutonomousLifeProxy::switchFocus(const std::string& activity_name, const int& flags)

The focused activity is the one running activity.

This function allows to utilize the stacking feature of activity focus.

Parameters:
  • activity_name –

    The name of the activity to start and switch focus to.

    The current focused activity is stopped first.

    Format: “package-uuid/behavior-path”

  • flags –

    STOP_CURRENT(0) or STOP_AND_STACK_CURRENT(1).

    If STOP_AND_STACK_CURRENT is used, then the current focused activity will remain on the stack. When the newly focused activity is stopped, the previous one in the stack will automatically be restarted and regain focus.
void ALAutonomousLifeProxy::stopFocus()

This will stop the focused activity.

If there is a previous activity remaining on the stack, it is restarted and focused.

See switchFocus() and STOP_AND_STACK_CURRENT to see how to leave activities on the stack when switching focus.

void ALAutonomousLifeProxy::stopAll()

This will stop the focused activity.

It will also clear the stack; no stacked activities will automatically be restarted and focused.

See switchFocus() and STOP_AND_STACK_CURRENT to see how to leave activities on the stack when switching focus.

int ALAutonomousLifeProxy::getLifeTime()

Gets the time in seconds as life sees it. Based on gettimeofday().

Returns:The int time in seconds as Autonomous Life sees it.
AL::ALValue ALAutonomousLifeProxy::getActivityStatistics()

Gets focus count, last focused time, etc for each activity.

Times based on getLifeTime()

Returns:A map of activity names, with a corresponding map of “prevFocusTime”, “prevUnfocusTime”, “focusCount”, “totalDuration”. Times are 0 for unlaunched Activities.
AL::ALValue ALAutonomousLifeProxy::getAutonomousActivityStatistics()

Gets focus count, last focused time, etc just for each autonomous activity. This returns a subset of what ALAutonomousLifeProxy::getActivityStatistics() returns. An autonomous activity is one that has launch trigger conditions.

Times based on getLifeTime()

Returns:A map of activity names, with a corresponding map of “prevFocusTime”, “prevUnfocusTime”, “focusCount”, “totalDuration”. Times are 0 for unlaunched Activities.
AL::ALValue ALAutonomousLifeProxy::getFocusHistory()

There are two overloads of this function. It is recommended to specify maximum depth to prevent large ALValues from being transmitted.

AL::ALValue ALAutonomousLifeProxy::getFocusHistory()

Gets a list of the order that activities that have been focused, and their time focused.

Times based on getLifeTime()

Returns:A list of pairs, each pair is ActivityName, PreviousFocusedTime.
AL::ALValue ALAutonomousLifeProxy::getFocusHistory(const int& depth)

Gets a list of the order that activities that have been focused, and their time focused.

Times based on getLifeTime()

Parameters:
  • depth – The maximum number of items in history to return, starting from most recent.
Returns:

A list of pairs, each pair is ActivityName, PreviousFocusedTime.
AL::ALValue ALAutonomousLifeProxy::getStateHistory()

There are two overloads of this function. It is recommended to specify maximum depth to prevent large ALValues from being transmitted.

AL::ALValue ALAutonomousLifeProxy::getStateHistory()

Gets a list of the order that states that have been entered, and their time entered.

Times based on getLifeTime()

Returns:A list of pairs, each pair is StateName, PreviousEnteredTime.
AL::ALValue ALAutonomousLifeProxy::getStateHistory(const int& depth)

Gets a list of the order that states that have been entered, and their time entered.

Times based on getLifeTime()

Parameters:
  • depth – The maximum number of items in history to return, starting from most recent.
Returns:

A list of pairs, each pair is StateName, PreviousEnteredTime.
std::string ALAutonomousLifeProxy::getActivityNature(const std::string& activity_name)

Tells you if an activity has “interactive” or “solitary” nature.

If you pass a string which is not an activity, this will throw.

Parameters:
  • activity_name –

    The name of the activity to query.

    Format: “package-uuid/behavior-path”
Returns:

“interactive” or “solitary”

Events

Event: "AutonomousLife/State"
callback(std::string eventName, std::string state, std::string subscriberIdentifier)

Raised when the state of autonomous life changes.

Note that if one interactive activity switches focus to another interactive activity, this event is raised, as the “interactive” state is being reasserted.

This event is raised after Autonomous Life has completed all necessary internal operations to prepare for the state.

Parameters:
  • eventName (std::string) – “AutonomousLife/State”
  • state – The current state of Autonomous Life. Can be one of the Autonomous Life states.
  • subscriberIdentifier (std::string) –
Event: "AutonomousLife/FocusedActivity"
callback(std::string eventName, std::string activity_name, std::string subscriberIdentifier)

Raised whenever the focused activity changes.

Parameters:
  • eventName (std::string) – “AutonomousLife/FocusedActivity”
  • activity_name – The name of the focused activity. If no activity is focused it is an empty string: “”
  • subscriberIdentifier (std::string) –
Event: "AutonomousLife/CompletedActivity"
callback(std::string eventName, std::string activity_name, std::string subscriberIdentifier)

Raised whenever an activity completes its execution and exits.

Note This event is raised before the FocusedActivity event.

Parameters:
  • eventName (std::string) – “AutonomousLife/CompletedActivity”
  • activity_name – The name of the previous activity that exited.
  • subscriberIdentifier (std::string) –
Event: "AutonomousLife/NextActivity"
callback(std::string eventName, std::string activity_name, std::string subscriberIdentifier)

Raised whenever an activity is going to be focused.

Note This event is raised before the FocusedActivity event.

Parameters:
  • eventName (std::string) – “AutonomousLife/NextActivity”
  • activity_name – The name of the activity that will be focused next.
  • subscriberIdentifier (std::string) –
Event: "AutonomousLife/LaunchSuggestions"
callback(std::string eventName, std::vector<std::string> activity_names, std::string subscriberIdentifier)

Raised whenever there are activities that have launch conditions triggered.

Parameters:
  • eventName (std::string) – “AutonomousLife/LaunchSuggestions”
  • activity_names – The list of activities that currently have their launch conditions triggered.
  • subscriberIdentifier (std::string) –
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