StopTask.java

Go to the documentation of this file.

/****************************************************************
 *
 * 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 class StopTask extends Task {

    public StopTask() {
        // empty constructor.
        this.initTask();
    }

    private void initTask() {
        acts = new ArrayList<ActionTuple>();
        
        System.out.println("TASK.JAVA: Created CurrentTask " + "stop ");
        constructTask();
    }
        
    protected boolean constructTask() {
        return createSimpleMoveTaskNew();
    }
    
    private boolean createSimpleMoveTaskNew() {
        // boolean addNewActionTuple(ActionTuple act)
        ActionTuple act = new ActionTuple();
        
        CUAction ca = new CUAction();
        GenericAction genericAction = new GenericAction();

        // add finish action __ success
        //genericAction.actionInfo.add("finish_success");
        genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("finish_success", null);

        ca.generic = genericAction;
        ca.actionType = "generic";
        
        act.setActionName("finish_success");
        ca.status = 1;
        
        act.setCUAction(ca);
        act.setActionId(1);
        //act.setParentId(1);
        //act.setCondition(true);
        addNewActionTuple(act);
        
        System.out.println("number of actions: " + acts.size());
        return true;
    }


    public boolean replan(OntologyDB onto, OntoQueryUtil ontoQuery) {
        return false;
    }

}