Difference between revisions of "Architecture:Unique Event Codes"
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<tr><td>HAD_Laser_Hokuyo:0-3</td><td> 1205:1208 (on new laser scan) </td></tr> | <tr><td>HAD_Laser_Hokuyo:0-3</td><td> 1205:1208 (on new laser scan) </td></tr> | ||
<tr><td>HAD_MobileBase_Simulator</td><td> 1210 (on new laser scan) </td></tr> | <tr><td>HAD_MobileBase_Simulator</td><td> 1210 (on new laser scan) </td></tr> | ||
| + | <tr><td>HAD_MobileBase_Pioneer</td><td> 1215 (on new sonar data) </td></tr> | ||
<tr><td>...</td><td> </td> </tr> | <tr><td>...</td><td> </td> </tr> | ||
</table> | </table> | ||
| Line 59: | Line 60: | ||
<tr><td>BA_Speech</td> <td>2000</td></tr> | <tr><td>BA_Speech</td> <td>2000</td></tr> | ||
<tr><td>FE_HumanRobotInterfaces </td> <td>2500</td></tr> | <tr><td>FE_HumanRobotInterfaces </td> <td>2500</td></tr> | ||
| − | <tr><td>FE_ReactiveNavigation </td> <td> | + | <tr><td>FE_ReactiveNavigation </td> <td>60: End Navigation<br> 70: Error navigation <br> 80: Start navigation </td></tr> |
<tr><td>FE_PathFollowing </td> <td>2510</td></tr> | <tr><td>FE_PathFollowing </td> <td>2510</td></tr> | ||
<tr><td>FE_DoorOpening </td> <td>2515</td></tr> | <tr><td>FE_DoorOpening </td> <td>2515</td></tr> | ||
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</center> | </center> | ||
| − | == | + | == Others == |
<center> | <center> | ||
<table border="1"> | <table border="1"> | ||
<tr><td>'''Module name'''</td> | <tr><td>'''Module name'''</td> | ||
| − | <td>''' | + | <td>'''Event code'''</td></tr> |
| − | <tr><td> | + | <tr><td>Localization_Publisher</td> <td>6000 (On new estimate available)</td></tr> |
| + | <tr><td>Localization_PF</td> <td>6005 (On new estimate available)</td></tr> | ||
</table> | </table> | ||
</center> | </center> | ||
Latest revision as of 21:11, 28 May 2009
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Contents
Event Codes
Events are a form of asynchronous communications between modules allowed by the BABEL framework. Each event is represented by a symbolic name within each module, but nothing avoids two programmers to accidentally set the same value for different events.
To avoid such problems, please, use and update these tables to ensure that event IDs remain unique.
Normalized events for HAD modules
| Module name | Code for onNewObservation events |
| HAD_Laser_Hokuyo:0-3 | 1205:1208 (on new laser scan) |
| HAD_MobileBase_Simulator | 1210 (on new laser scan) |
| HAD_MobileBase_Pioneer | 1215 (on new sonar data) |
| ... |
Normalized events for modules with the standardized "Common Sensory IF"
| Module name | Code for onNewObservation events | Code for onFailure events |
| BS_IncrementalEgoMotion | 1000 | 1001 |
| BS_RangeSensors | 1005 | 1006 |
| BS_GPS | 1010 | 1011 |
| BS_GasSensors | 1015 | 1016 |
| BS_Vision | 1020 | 1021 |
| BS_Batteries | 1025 | 1026 |
| ... | ||
| SD_HumanRobotInterfaces | 1500 | 1501 |
| SD_PeopleDetector | 1505 | 1506 |
| SD_Local3DMap | 1510 | 1511 |
| SD_VisualLandmarks3D | 1515 | 1516 |
| SD_HumanRobotInterfaces | 1520 | 1521 |
| ... |
Normalized events for modules with standardized "Function Executor IF"
Note that an event is raised whether the action finished successfully or by an error: the module should be asked for the termination state after the reception of a termination event:
| Module name | Code for onActionTermination events |
| BA_Speech | 2000 |
| FE_HumanRobotInterfaces | 2500 |
| FE_ReactiveNavigation | 60: End Navigation 70: Error navigation 80: Start navigation |
| FE_PathFollowing | 2510 |
| FE_DoorOpening | 2515 |
| ... |
Others
| Module name | Event code |
| Localization_Publisher | 6000 (On new estimate available) |
| Localization_PF | 6005 (On new estimate available) |
