HighLevelActionSequence.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 java.util.ArrayList;
import java.util.HashMap;
import java.util.Set;
import ros.pkg.srs_knowledge.msg.*;
import ros.pkg.geometry_msgs.msg.Pose2D;

import org.srs.srs_knowledge.task.*;
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 com.hp.hpl.jena.ontology.Individual;

public class HighLevelActionSequence {
    public HighLevelActionSequence() {
        indOfCurrent = 0;
    }

    public void appendHighLevelAction(HighLevelActionUnit actUnit) {
        highLevelActionList.add(actUnit);
    }
    
    public int getSizeOfHighLevelActionList() {
        return highLevelActionList.size();
    }
    
    public boolean hasNextHighLevelActionUnit() {
        if(indOfCurrent + 1 < getSizeOfHighLevelActionList() && indOfCurrent + 1 >= 0) { 
            return true;
        }
        else {
            return false;
        }
    }

    public HighLevelActionUnit getNextHighLevelActionUnit() {
        HighLevelActionUnit ha;
        //System.out.println("++++++++ >>   " + indOfCurrent + "   SIZE: " + highLevelActionList.size());
        try{ 
            ha = highLevelActionList.get(indOfCurrent + 1);
            indOfCurrent = indOfCurrent + 1;
        }
        catch(NullPointerException ne) {
            System.out.println(ne.getMessage());
            return null;
        }
        return ha;
    }
    
    public HighLevelActionUnit getCurrentHighLevelActionUnit() {
        try{ 
            return highLevelActionList.get(indOfCurrent);
        }
        catch(Exception ne) {
            System.out.println(ne.getMessage());
            return null;
        }
    }
    
    public boolean shiftToNextActionUnit() {
        HighLevelActionUnit ha;
        if((indOfCurrent + 1 )< highLevelActionList.size()) {
            indOfCurrent++;
            return true;
        }  
        return false;
    }

    public void setParameter(String key, Object value) {
        parameters.put(key, value);
    }

    public Object getParameter(String key) {
        return parameters.get(key);
    }

    public Set<String> parametersSet() {
        return (Set<String>)parameters.keySet();
    }

    protected int indOfCurrent;
    
    protected ArrayList<HighLevelActionUnit> highLevelActionList = new ArrayList<HighLevelActionUnit>();

    protected HashMap<String, Object> parameters = new HashMap<String, Object>();
}