Task.java

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/****************************************************************
 *
 * Copyright (c) 2011, 2012
 *
 * School of Engineering, Cardiff University, UK
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: srs EU FP7 (www.srs-project.eu)
 * ROS stack name: srs
 * ROS package name: srs_knowledge
 * Description: 
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * @author Ze Ji, email: jiz1@cf.ac.uk
 *
 * Date of creation: Oct 2011:
 * ToDo: 
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *         notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *         notice, this list of conditions and the following disclaimer in the
 *         documentation and/or other materials provided with the distribution.
 *       * Neither the name of the school of Engineering, Cardiff University nor 
 *         the names of its contributors may be used to endorse or promote products 
 *         derived from this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

package org.srs.srs_knowledge.task;

import java.io.*;
import java.util.StringTokenizer;
//import org.apache.commons.logging.Log;
import java.util.ArrayList;
import ros.pkg.srs_knowledge.msg.*;
import ros.pkg.geometry_msgs.msg.Pose2D;
import org.srs.srs_knowledge.knowledge_engine.*;
import com.hp.hpl.jena.rdf.model.*;
import com.hp.hpl.jena.query.QueryExecutionFactory;
import com.hp.hpl.jena.query.ResultSet;
import com.hp.hpl.jena.query.QueryExecution;
import com.hp.hpl.jena.query.QuerySolution;
import ros.*;
import ros.communication.*;

public abstract class Task {
    public enum TaskType {
        GET_OBJECT, MOVETO_LOCATION, SEARCH_OBJECT, SCAN_AROUND, STOP_TASK, UNSPECIFIED
            };
    
    public Task() {
        // empty constructor.
        acts = new ArrayList<ActionTuple>();     // to be deprecated and replaced with allSubSeqs
        
        setTaskType(TaskType.UNSPECIFIED);
        currentAction = null;
        //ontoDB = new OntologyDB();
    }

    public abstract boolean replan(OntologyDB onto, OntoQueryUtil ontoQuery);

    protected abstract boolean constructTask();

    public void setTaskId(int id) {
        this.taskId = id;
    }
    
    public int getTaskId() {
        return taskId;
    }
    
    public void setTaskTarget(String target) {
        this.targetContent = target;
    }
    
    public String getTaskTarget() {
        return this.targetContent;
    }
    
    public void setTaskType(TaskType type) {
        this.taskType = type;
    }

    public CUAction getNextCUActionNew(boolean stateLastAction, String jsonFeedback) {
        
        if (currentAction == null) {
            for (int i = 0; i < acts.size(); i++) {
                if (acts.get(i).getActionId() == 1) {
                    currentAction = acts.get(i);
                    currentActionLoc = i;
                    System.out.println(currentAction.getActionName());
                    
                    if (currentAction != null) 
                        return currentAction.getCUAction();
                    else 
                        return null;
                }
            }
        } else {
            // ActionTuple at;
            // int parentId = at.getParentId();
            for (int i = 0; i < acts.size(); i++) {
                // if(acts.get(currentActionLoc).getId() ==
                // acts.get(i).getParentId() && stateLastAction ==
                // acts.get(i).getCondition()){
                if (currentAction.getActionId() == acts.get(i).getParentId()
                    && stateLastAction == acts.get(i).getCondition()) {
                    currentAction = acts.get(i);
                    currentActionLoc = i;
                    System.out.println(i);
                    System.out.println(currentAction.getActionName());
                    if (currentAction != null) 
                        return currentAction.getCUAction();
                    else 
                        return null;
                }
            }
            System.out.println("no action found");
        }       
        
        return null;
    }

    public boolean addNewActionTuple(ActionTuple act) {
        return acts.add(act);
    }

    public boolean isEmpty() {
        try {
            if(allSubSeqs.size() == 0 && acts.size() == 0) {
                return true;
            }
        }
        catch(NullPointerException e) {
            System.out.println(e.getMessage() + "\n" + e.toString());
            return true;
        }
        return false;
    }

    protected TaskType taskType;
    protected String targetContent;
    protected int taskId;
    protected ArrayList<ActionTuple> acts;
    protected int currentActionId = 1;
    protected ActionTuple currentAction;
    protected int currentActionLoc = 0;
    //   protected NodeHandle nodeHandle;
    protected ArrayList<HighLevelActionSequence> allSubSeqs = new ArrayList<HighLevelActionSequence>();
}