ChargingTask.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 org.srs.srs_knowledge.task.Task;

public class ChargingTask extends org.srs.srs_knowledge.task.Task
{
    public ChargingTask() 
    {
        this.initTask();
        setTaskType(TaskType.MOVETO_LOCATION);
    }
    
    private void initTask() {
        acts = new ArrayList<ActionTuple>();
        
        //setTaskTarget(targetContent);
        System.out.println("TASK.JAVA: Created CurrentTask " + "Charging ");
        constructTask();
    }
    
    protected boolean constructTask() {
        return createSimpleChargingTask();
    }
    
    private boolean createSimpleChargingTask() {
        // boolean addNewActionTuple(ActionTuple act)
        ActionTuple act = new ActionTuple();
        
        CUAction ca = new CUAction();
        GenericAction genericAction = new GenericAction();
        ca.actionType = "generic";
        
        double x = 0;
        double y = 0;
        double theta = 0;
        
        targetContent = "ChargingStation0";
        setTaskTarget(targetContent);
        /*
        String prefix = "PREFIX srs: <http://www.srs-project.eu/ontologies/srs.owl#>\n"
            + "PREFIX rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>\n"
            + "PREFIX ipa-kitchen-map: <http://www.srs-project.eu/ontologies/ipa-kitchen-map.owl#>\n";
        String queryString = "SELECT ?x ?y ?theta WHERE { "
            + "ipa-kitchen-map:" + targetContent
            + " srs:xCoordinate ?x . " + "ipa-kitchen-map:"
            + targetContent + " srs:yCoordinate ?y . "
            + "ipa-kitchen-map:" + targetContent
            + " srs:orientationTheta ?theta .}";
        */
        String prefix = "PREFIX srs: <http://www.srs-project.eu/ontologies/srs.owl#>\n"
            + "PREFIX rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>\n"
            + "PREFIX map: <" + OntoQueryUtil.ObjectNameSpace.trim() + ">\n";
        
        String queryString = "SELECT ?x ?y ?theta WHERE { "
            + "map:" + targetContent + " srs:xCoordinate ?x . " 
            + "map:" + targetContent + " srs:yCoordinate ?y . "
            + "map:" + targetContent + " srs:orientationTheta ?theta .}";
        if (KnowledgeEngine.ontoDB == null) {
            System.out.println("Ontology Database is NULL");
            return false;
        }
        
        try {
            ArrayList<QuerySolution> rset = KnowledgeEngine.ontoDB.executeQueryRaw(prefix + queryString);
            if (rset.size() == 0) {
                System.out.println("ERROR: No move target found from database");
                return false;
            } else if (rset.size() == 1) {
                System.out
                    .println("INFO: OK info retrieved from DB... ");
                QuerySolution qs = rset.get(0);
                x = qs.getLiteral("x").getFloat();
                y = qs.getLiteral("y").getFloat();
                theta = qs.getLiteral("theta").getFloat();
                System.out.println("x is " + x + ". y is  " + y
                                   + ". theta is " + theta);
            } else {
                System.out.println("WARNING: Multiple options... ");
                QuerySolution qs = rset.get(0);
                x = qs.getLiteral("x").getFloat();
                y = qs.getLiteral("y").getFloat();
                theta = qs.getLiteral("theta").getFloat();
                System.out.println("x is " + x + ". y is  " + y
                                   + ". theta is " + theta);
            }
        } catch (Exception e) {
            System.out.println("Exception -->  " + e.getMessage());
            return false;
        }
        /*      
        genericAction.actionInfo.add("charging");
        genericAction.actionInfo.add(Double.toString(x));
        genericAction.actionInfo.add(Double.toString(y));
        genericAction.actionInfo.add(Double.toString(theta));
        */
        genericAction.jsonActionInfo = SRSJSONParser.encodeMoveAction("charging", x, y, theta);
        ca.generic = genericAction;
        
        act.setCUAction(ca);
        act.setActionId(1);
        addNewActionTuple(act);
        
        // add finish action __ success
        
        act = new ActionTuple();
        
        ca = new CUAction();
        genericAction = new GenericAction();
        ca.generic = genericAction;
        
        act.setActionName("finish_success");
        
        ca.status = 1;
        
        act.setCUAction(ca);
        act.setActionId(2);
        act.setParentId(1);
        act.setCondition(true);
        addNewActionTuple(act);
        
        // add finish action __ fail
        
        act = new ActionTuple();
        
        ca = new CUAction();
        genericAction = new GenericAction();
        
        ca.generic = genericAction;
        
        act.setActionName("finish_fail");
        
        ca.status = -1;
        
        act.setCUAction(ca);
        act.setActionId(3);
        act.setParentId(1);
        act.setCondition(false);
        addNewActionTuple(act);
        
        System.out.println("number of actions: " + acts.size());
        return true;
    }
    
    public boolean replan(OntologyDB onto, OntoQueryUtil ontoQuery) {
        return false;
    }
}