Architecture:Unique Event Codes

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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	2505
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)