API

RISE is designed to allow external components to start and interrupt configurable Behaviors on the RISE-Scheduler. These Behaviors can be configured internally and are controllable from other applications. The way of controlling such behaviors is ROS.

Using RISE-Functions

Use RISE-Functions inside a DomainTask

  Topic: /rise/set/domainTask/goal
  Message: ros_tcp_endpoint/DomainTaskActionGoal

  rostopic pub -1 /rise/set/domainTask/goal ros_tcp_endpoint/DomainTaskActionGoal
  "header:
    seq: 0
    stamp:
        secs: 0
        nsecs: 0
    frame_id: ''
    goal_id:
    stamp:
        secs: 0
        nsecs: 0
    id: ''
    goal:
    domain_task_behavior: ''
    function_type: ''
    calling_type: ''" 

Parameter	Type	Description
`domain_task_behavior`	`string`	Required. Name or description of the Behavior
`function_type`	`string`	Required. Name of Function Function-Types
`calling_type`	`string`	`None` or `Blocking` Calling-Types

Function-Types and Behaviors

Function-Type	Description	Example DomainTask-Behaviors
`startCommunicationRobotAct`	Start CRA on scheduler	Name of CRA which is defined in Configurations
`stopCommunicationRobotAct`	Stop CRA	Name of CRA which is defined in Configurations
`startInteractionRule`	Start IR	Name of IR which is defined in Configurations
`stopInteractionRule`	Stop IR	Name of IR which is defined in Configurations
`raiseEventTopic`	Raise internal EvenTopic	Name of Topic which should be raised internally
`assignValue`	Set Working-Memory entry	Json Key-Value Pair: `{"key" : value}`

Calling-Types

None: Goal is handled without any restrictions for scheduling and is not blocking other tasks and can be interrupted.
Blocking: Goal cannot be interrupted by other goals.

Cancel a DomainTask

  Topic: /rise/set/domainTask/cancel
  Message: actionlib_msgs/GoalID

  rostopic pub -1 /rise/set/domainTask/cancel actionlib_msgs/GoalID 
  "stamp:
    secs: 0
    nsecs: 0
    id: ''" 

Parameter	Type	Description
`id`	`string`	Required. Id of DomainTask to cancel

Request Working Memory Informations

  Topic: /rise/set/memoryService
  Call: /rise/set/memoryService "request_by_key: ''"

  rosservice call /rise/set/memoryService "request_by_key: ''" 

Parameter	Type	Description
Input: `request_by_key`	`string`	Required. Key in Working-Memory
Output: `json_response`	`string`	Required. Json Key-Value Pair (“{“key”:value}”)

Receiving Informations about DomainTasks

Receive Result of a DomainTask

  Topic: /rise/set/domainTask/result
  Message: ros_tcp_endpoint/DomainTaskActionResult

Parameter	Type	Description
`task_id`	`integer`	Required. Id of DomainTask
`result`	`integer`	Required. Result in 1 (true) or 0 (false)

Receive Status of a DomainTask

  Topic: /rise/set/domainTask/status
  Message: actionlib_msgs/GoalStatusArray

  rostopic echo /rise/set/domainTask/status

Receive Feedback of a DomainTask

  Topic: /rise/set/domainTask/feedback
  Message: ros_tcp_endpoint/DomainTaskActionFeedback

  rostopic echo /rise/set/domainTask/feedback

Receive Status of internal RISE-States

  Topic: /rise/state/update
  Message: std_msgs/String

Parameter	Type	Description
`data`	`string`	Required. Current State of RISE

Example of the output of a message from RISE to external components about the previos state (WaitingForTimer), the current state (AutonomousLife) and the state-change as transition (/R_Wait_Idle_end) of a specific InteractionRule (R_background_behavior).

data: "{\"interactionrule_name\":\"R_background_behavior\",
        \"previous_state\":\"WaitingForTimer\",
        \"transition_event\":\"/R_Wait_Idle_end\",
        \"current_state\":\"AutonomousLife\"}"

You can access this update message in Python, for instance, by deserializing the values by keys from the JSON format:

rise_state_prev_state = json.loads(data.data)["previous_state"]
rise_state_event      = json.loads(data.data)["transition_event"]