ActionTransition.java

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package edu.tum.cs.ias.knowrob.vis.actions;

import java.util.HashMap;
import java.util.HashSet;
import java.util.Vector;

import javax.vecmath.Vector2f;
import processing.core.PApplet;

import edu.tum.cs.ias.knowrob.owl.OWLClass;
import edu.tum.cs.ias.knowrob.owl.OWLIndividual;
import edu.tum.cs.ias.knowrob.owl.OWLThing;
import edu.tum.cs.ias.knowrob.prolog.PrologInterface;
import edu.tum.cs.ias.knowrob.vis.applets.PlanVisAppletFsm;

public class ActionTransition extends OWLIndividual {

        Action from;
        Action to;
        String caused_by;

        Vector2f fromPosition;
        Vector2f toPosition;
        
//      public static enum TransitionType {OK, ERROR, ABORT, OUT_OF_RESOURCES, TIMEOUT};
        
        
        boolean active = false;
        

        protected ActionTransition(String iri, String label) {
                
                super(iri, label);
                
        }


        protected ActionTransition(OWLIndividual ind) {
                
                this(ind.getIRI(), ind.getLabel());
                this.types.addAll(ind.getTypes());
                this.data_props.putAll(ind.getDataProperties());
                this.obj_props.putAll(ind.getObjProperties());
        }
        
        
        public static ActionTransition getActionTransition(String iri, String label) {

                // return exact match if available
                if(identifiers.containsKey(iri) && identifiers.get(iri) instanceof ActionTransition) {
                        return (ActionTransition) identifiers.get(iri);                 
                }
                
                // create ActionTransition from higher-level objects if the existing object for this IRI has a more abstract type
                ActionTransition res = new ActionTransition(OWLIndividual.getOWLIndividual(iri, label));
                identifiers.put(iri, res);
                return res;
        }
        
        public static ActionTransition getActionTransition(String iri) {
                return getActionTransition(iri, null); 
        }
        
        public static ActionTransition getActionTransition(String iri, Action from, Action to, String type) {
                ActionTransition res = getActionTransition(iri, null);
                res.setFrom(from);
                res.setTo(to);
                res.setCause(type);
                return res;
        }
        
        
        public void readFromProlog() {  
                
                
                try {
                        
                        HashMap<String, Vector<String>> qProp = 
                                PrologInterface.executeQuery("owl_has('" + iri + "', Prop, Val)");
                        
                        
                        if(qProp != null) {
                                
                                Vector<String> prop = qProp.get("Prop");
                                Vector<String> val  = qProp.get("Val");

                                
                                // Make sure each property is added only once 
                                // (properties may be present two or more times in the result set)
                                
                                HashSet<String> alreadyAdded = new HashSet<String>();
                                if(prop != null && val != null)
                                        
                                        for(int i=0;i<prop.size() && i<val.size();i++) {
                                                
                                                if (alreadyAdded.contains(prop.get(i)+val.get(i)))
                                                        continue;
                                                
                                                alreadyAdded.add(prop.get(i)+val.get(i));
                                                String p = OWLThing.removeSingleQuotes(prop.get(i));
                                                String v = OWLThing.removeSingleQuotes(val.get(i));
                                                
                                                if(p.endsWith("fromState")) {

                                                        if(!obj_props.containsKey(p))
                                                                obj_props.put(p, new Vector<String>());
                                                        this.obj_props.get(p).add(v);
                                                        
                                                        from = Action.getAction(v);
                                                        
                                                }else if(p.endsWith("toState")) {

                                                        if(!obj_props.containsKey(p))
                                                                obj_props.put(p, new Vector<String>());
                                                        this.obj_props.get(p).add(v);
                                                        
                                                        to = Action.getAction(v);
                                                        
                                                        
                                                } else if(p.endsWith("causedBy")) {
                                                        this.caused_by=v;
                                                        
                                                } else if(p.endsWith("type")) {
                                                        this.types.add(OWLClass.getOWLClass(v));
                                                }
                                                
                                        }
                        }

                } catch (Exception e) {
                        e.printStackTrace();
                }


        }
        
        

        public Action getFrom() {
                return from;
        }


        public void setFrom(Action from) {
                this.from = from;
        }


        public Action getTo() {
                return to;
        }


        public void setTo(Action to) {
                this.to = to;
        }


        public String getType() {
                
                if(!types.isEmpty())
                        return types.firstElement().getShortName();
                
                else return null;
        }


        public void setType(String type) {
                
                if(type.startsWith("http")) {
                        this.types.add(OWLClass.getOWLClass(type));
                } else {
                        if(OWLThing.getOWLThingByShortname(type) != null)
                                this.types.add(OWLClass.getOWLClass(OWLThing.getOWLThingByShortname(type).getIRI()));
                }
        }


        public void drawConnection(PApplet app) {
                
                // default: grey
                if(this.caused_by != null) {
                        
                        if(this.caused_by.endsWith("OK")) {

                                if(active) {
                                        app.stroke(app.color(60, 140, 60));
                                        app.fill(app.color(80, 180, 80));
                                } else {
                                        app.stroke(app.color(60, 100, 60));
                                        app.fill(app.color(80, 120, 80));
                                }

                        } else if(this.caused_by.endsWith("CONDITION_TRUE")) {
                                if(active) {
                                        app.stroke(app.color(20, 140, 140));  // light blue?
                                        app.fill(app.color(80, 180, 190));
                                } else {
                                        app.stroke(app.color(60, 100, 100));
                                        app.fill(app.color(80, 120, 130));
                                }

                        } else if(this.caused_by.endsWith("CONDITION_FALSE")) {
                                if(active) {
                                        app.stroke(app.color(10, 120, 120));  // dark blue
                                        app.fill(app.color(40, 140, 150));
                                } else {
                                        app.stroke(app.color(30, 60, 60));
                                        app.fill(app.color(40, 90, 100));
                                }

                        } else if(this.caused_by.endsWith("ERROR")) {
                                if(active) {
                                        app.stroke(app.color(130, 30, 30)); // dark red
                                        app.fill(app.color(140, 70, 70));
                                } else {
                                        app.stroke(app.color(90, 30, 30));
                                        app.fill(app.color(100, 50, 50));
                                }

                        } else if(this.caused_by.endsWith("OUT_OF_RESOURCES")) {
                                if(active) {
                                        app.stroke(app.color(140, 20, 20)); // light red
                                        app.fill(app.color(180, 80, 80));
                                } else {
                                        app.stroke(app.color(100, 60, 60));
                                        app.fill(app.color(120, 80, 80));
                                }

                        } else if(this.caused_by.endsWith("ABORT")) {
                                if(active) {
                                        app.stroke(app.color(140, 20, 140));  // purple
                                        app.fill(app.color(190, 80, 180));
                                } else {
                                        app.stroke(app.color(100, 60, 100));
                                        app.fill(app.color(130, 80, 120));
                                }

                        } else if(this.caused_by.endsWith("TIMEOUT")) {
                                if(active) {
                                        app.stroke(app.color(160, 140, 20));  // orange
                                        app.fill(app.color(220, 180, 80));
                                } else {
                                        app.stroke(app.color(120, 100, 60));
                                        app.fill(app.color(160, 120, 80));
                                }
                        }
                } else {
                        if(active) {
                                app.stroke(app.color(120));
                                app.fill(app.color(150));
                        } else {
                                app.stroke(app.color(80));
                                app.fill(app.color(100));
                        }
                }
                
                
                this.fromPosition = this.from.getDrawInfo().getOutboundConnectorPos();
                this.toPosition   = new Vector2f(to.getDrawInfo().getInboundConnectorPos().x,
                                                                                 to.getDrawInfo().getInboundConnectorPos().y-5);
                
                PlanVisAppletFsm.arrowFromTo(app, fromPosition, toPosition, 5, -1);
                
        }
        
        public boolean checkPosInArrow(Vector2f pos, PApplet app) {

                Vector2f[] vertices = PlanVisAppletFsm.getArrowVertices(app, fromPosition, toPosition, 5f, -1f).toArray(new Vector2f[]{});
                
                int i, j=vertices.length-1;
                int sides = vertices.length;
                boolean oddNodes = false;
                
                
                for (i=0; i<sides; i++) {
                
                        if ((vertices[i].y < pos.y && vertices[j].y >= pos.y || 
                                 vertices[j].y < pos.y && vertices[i].y >= pos.y) && (vertices[i].x <= pos.x || 
                                 vertices[j].x <= pos.x)) {
                                
                                oddNodes^=(vertices[i].x + (pos.y-vertices[i].y)/(vertices[j].y - vertices[i].y)*(vertices[j].x-vertices[i].x)<pos.x);
                        }
                        j=i;
                }
                return oddNodes;

        }

        public boolean isActive() {
                return active;
        }

        public void setActive(boolean b) {
                active = b;
        }

        public void toggleActive() {
                active = !active;
        }
        
        public String getCause() {
                return caused_by;
        }
        public void setCause(String cause) {
                caused_by = cause;
        }
        
        
}