Class SoarRunner

Defined in File SoarRunner.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class SoarRunner : public rclcpp::Node

ROS2 node that manages a Soar kernel and its agents.

Responsibilities:

Own the sml::Kernel and the spin thread.
Create sml::Agent instances on request and wrap them in SoarAgent.
Expose ROS2 service interfaces to start/stop the kernel and launch the Soar Java debugger.

I/O wiring is done on each SoarAgent returned from addAgent(), not here.

Public Functions

explicit SoarRunner(const std::string &node_name)

~SoarRunner()

std::shared_ptr<SoarAgent> addAgent(const std::string &agent_name, const std::string &source_file)

Create a new Soar agent and return a handle for I/O wiring.

Parameters:

agent_name – Name passed to sml::Kernel::CreateAgent().
source_file – Path to the .soar file to load. Empty = no load.

Returns:

Per-agent handle; call add*() methods on it.

void run(): Start the Soar decision-cycle thread.

inline void startThread(): Start the Soar decision-cycle thread (alias for run()).

inline void stopThread(): Stop and join the Soar decision-cycle thread.

inline void updateWorld(): Process all agents’ I/O. Called via updateEventHandler every decision cycle (smlEVENT_AFTER_ALL_OUTPUT_PHASES).

void debuggerLaunch(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response): /soar_ros/debugger/launch — stop the kernel thread and spawn the Soar Java debugger for all agents.

void getSoarKernelStatus(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response): /soar_ros/kernel/status — report whether the kernel thread is currently running.

void runSoarKernel(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response): /soar_ros/kernel/run — start the kernel thread via ROS.

void stopSoarKernel(const std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<std_srvs::srv::Trigger::Request> request, std::shared_ptr<std_srvs::srv::Trigger::Response> response): /soar_ros/kernel/stop — stop the kernel thread via ROS.