HighLevelActionUnit.java
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2011, 2012
00004  *
00005  * School of Engineering, Cardiff University, UK
00006  *
00007  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00008  *
00009  * Project name: srs EU FP7 (www.srs-project.eu)
00010  * ROS stack name: srs
00011  * ROS package name: srs_knowledge
00012  * Description: 
00013  *                                                              
00014  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00015  *
00016  * @author Ze Ji, email: jiz1@cf.ac.uk
00017  *
00018  * Date of creation: Oct 2011:
00019  * ToDo: 
00020  *
00021  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00022  *
00023  * Redistribution and use in source and binary forms, with or without
00024  * modification, are permitted provided that the following conditions are met:
00025  *
00026  *       * Redistributions of source code must retain the above copyright
00027  *         notice, this list of conditions and the following disclaimer.
00028  *       * Redistributions in binary form must reproduce the above copyright
00029  *         notice, this list of conditions and the following disclaimer in the
00030  *         documentation and/or other materials provided with the distribution.
00031  *       * Neither the name of the school of Engineering, Cardiff University nor 
00032  *         the names of its contributors may be used to endorse or promote products 
00033  *         derived from this software without specific prior written permission.
00034  *
00035  * This program is free software: you can redistribute it and/or modify
00036  * it under the terms of the GNU Lesser General Public License LGPL as 
00037  * published by the Free Software Foundation, either version 3 of the 
00038  * License, or (at your option) any later version.
00039  * 
00040  * This program is distributed in the hope that it will be useful,
00041  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00042  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00043  * GNU Lesser General Public License LGPL for more details.
00044  * 
00045  * You should have received a copy of the GNU Lesser General Public 
00046  * License LGPL along with this program. 
00047  * If not, see <http://www.gnu.org/licenses/>.
00048  *
00049  ****************************************************************/
00050 
00051 package org.srs.srs_knowledge.task;
00052 
00053 import java.io.*;
00054 import java.util.StringTokenizer;
00055 //import org.apache.commons.logging.Log;
00056 import java.util.ArrayList;
00057 import ros.pkg.srs_knowledge.msg.*;
00058 import ros.pkg.geometry_msgs.msg.Pose2D;
00059 import org.srs.srs_knowledge.knowledge_engine.*;
00060 import org.srs.srs_knowledge.task.Task;
00061 import java.util.HashMap;
00062 
00069 public abstract class HighLevelActionUnit {    
00070     public abstract String getActionType();
00071     public static final int COMPLETED_SUCCESS = -10;
00072     public static final int COMPLETED_FAIL = -11;
00073     public static final int INVALID_INDEX = -100;
00074 
00075     public int getNumOfActions() {
00076         return actionUnits.size();
00077     }
00078 
00079     public int getCurrentCUActionIndex() {
00080         
00081         return currentActionInd;
00082     }
00083 
00084     public int getNextCUActionIndex(boolean statusLastStep) {
00085         
00086         if(currentActionInd == -1) {
00087             return 0;
00088         }
00089         //currentActionInd++;
00090 
00091         if ( currentActionInd >= 0 && currentActionInd < actionUnits.size() ) {
00092             if(statusLastStep) {
00093                 return nextActionMapIfSuccess[currentActionInd];
00094             }
00095             else {
00096                 return nextActionMapIfFail[currentActionInd];
00097             }
00098         }
00099         else {
00100             return INVALID_INDEX;
00101         }
00102     }
00103 
00104     public CUAction getCUActionAt(int ind) {
00105         
00106         currentActionInd = ind;
00107         if (ind < 0) {
00108             System.out.println("Invalid index " + ind);
00109             return null;
00110         }
00111         
00112         CUAction ca = new CUAction(); 
00113 
00114         if(ind == COMPLETED_FAIL) {
00115             GenericAction genericAction = new GenericAction();
00116             //genericAction.actionInfo.add("finish_fail");
00117             
00118             genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("finish_fail", null);
00119             ca.generic = genericAction;
00120             ca.actionType = "generic";
00121             
00122             ca.status = -1;
00123             
00124             return ca;
00125         }
00126         else if (ind == COMPLETED_SUCCESS){
00127             GenericAction genericAction = new GenericAction();
00128             //genericAction.actionInfo.add("finish_success");
00129             genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("finish_success", null);
00130             
00131             ca.generic = genericAction;
00132             ca.actionType = "generic";
00133             
00134             ca.status = 1;
00135             
00136             return ca;
00137         }
00138         else if (ind == INVALID_INDEX) {
00139             GenericAction genericAction = new GenericAction();
00140             //genericAction.actionInfo.add("no_action");
00141             genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("no_action", null);
00142                     
00143             ca.generic = genericAction;
00144             ca.actionType = "generic";
00145             
00146             ca.status = -1;
00147             return ca;
00148         }
00149 
00150         GenericAction genericAction = new GenericAction();
00151         try {
00152             genericAction = actionUnits.get(ind);
00153         }
00154         catch(IndexOutOfBoundsException e) {
00155             return null;
00156         }
00157 
00158         ca.generic = genericAction;
00159 
00160         ca.actionType = "generic";
00161         return ca;
00162     }
00163 
00164     public boolean addFeedback(String key, ActionFeedback fb) {
00165         if(fb == null) {
00166             return false;
00167         }
00168         feedbacks.put(key, fb);
00169         return true;
00170     }
00171 
00172     public ActionFeedback getFeedback(String key) {
00173         return feedbacks.get(key);
00174     }
00175 
00176     // a not very safe, but flexible way to assign parameters, using arraylist<string> 
00177     //public abstract boolean setParameters(ArrayList<String> para);
00178     public abstract boolean ifParametersSet();
00179 
00180     public boolean setParameters(String action, String para, String reservedParam) {
00181         return this.ifParametersSet;
00182     }
00183 
00184     protected String actionType = "";
00185     protected ArrayList<GenericAction> actionUnits = new ArrayList<GenericAction>();
00186     protected int[] nextActionMapIfFail;
00187     protected int[] nextActionMapIfSuccess;
00188     protected HashMap<String, ActionFeedback> feedbacks;
00189 
00190     protected int currentActionInd = -1;
00191     protected boolean ifParametersSet;
00192 }


srs_knowledge
Author(s): Ze Ji
autogenerated on Mon Oct 6 2014 08:27:32