ChargingTask.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 com.hp.hpl.jena.rdf.model.*;
00061 import com.hp.hpl.jena.query.QueryExecutionFactory;
00062 import com.hp.hpl.jena.query.ResultSet;
00063 import com.hp.hpl.jena.query.QueryExecution;
00064 import com.hp.hpl.jena.query.QuerySolution;
00065 
00066 import org.srs.srs_knowledge.task.Task;
00067 
00068 public class ChargingTask extends org.srs.srs_knowledge.task.Task
00069 {
00070     public ChargingTask() 
00071     {
00072         this.initTask();
00073         setTaskType(TaskType.MOVETO_LOCATION);
00074     }
00075     
00076     private void initTask() {
00077         acts = new ArrayList<ActionTuple>();
00078         
00079         //setTaskTarget(targetContent);
00080         System.out.println("TASK.JAVA: Created CurrentTask " + "Charging ");
00081         constructTask();
00082     }
00083     
00084     protected boolean constructTask() {
00085         return createSimpleChargingTask();
00086     }
00087     
00088     private boolean createSimpleChargingTask() {
00089         // boolean addNewActionTuple(ActionTuple act)
00090         ActionTuple act = new ActionTuple();
00091         
00092         CUAction ca = new CUAction();
00093         GenericAction genericAction = new GenericAction();
00094         ca.actionType = "generic";
00095         
00096         double x = 0;
00097         double y = 0;
00098         double theta = 0;
00099         
00100         targetContent = "ChargingStation0";
00101         setTaskTarget(targetContent);
00102         /*
00103         String prefix = "PREFIX srs: <http://www.srs-project.eu/ontologies/srs.owl#>\n"
00104             + "PREFIX rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>\n"
00105             + "PREFIX ipa-kitchen-map: <http://www.srs-project.eu/ontologies/ipa-kitchen-map.owl#>\n";
00106         String queryString = "SELECT ?x ?y ?theta WHERE { "
00107             + "ipa-kitchen-map:" + targetContent
00108             + " srs:xCoordinate ?x . " + "ipa-kitchen-map:"
00109             + targetContent + " srs:yCoordinate ?y . "
00110             + "ipa-kitchen-map:" + targetContent
00111             + " srs:orientationTheta ?theta .}";
00112         */
00113         String prefix = "PREFIX srs: <http://www.srs-project.eu/ontologies/srs.owl#>\n"
00114             + "PREFIX rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>\n"
00115             + "PREFIX map: <" + OntoQueryUtil.ObjectNameSpace.trim() + ">\n";
00116         
00117         String queryString = "SELECT ?x ?y ?theta WHERE { "
00118             + "map:" + targetContent + " srs:xCoordinate ?x . " 
00119             + "map:" + targetContent + " srs:yCoordinate ?y . "
00120             + "map:" + targetContent + " srs:orientationTheta ?theta .}";
00121         if (KnowledgeEngine.ontoDB == null) {
00122             System.out.println("Ontology Database is NULL");
00123             return false;
00124         }
00125         
00126         try {
00127             ArrayList<QuerySolution> rset = KnowledgeEngine.ontoDB.executeQueryRaw(prefix + queryString);
00128             if (rset.size() == 0) {
00129                 System.out.println("ERROR: No move target found from database");
00130                 return false;
00131             } else if (rset.size() == 1) {
00132                 System.out
00133                     .println("INFO: OK info retrieved from DB... ");
00134                 QuerySolution qs = rset.get(0);
00135                 x = qs.getLiteral("x").getFloat();
00136                 y = qs.getLiteral("y").getFloat();
00137                 theta = qs.getLiteral("theta").getFloat();
00138                 System.out.println("x is " + x + ". y is  " + y
00139                                    + ". theta is " + theta);
00140             } else {
00141                 System.out.println("WARNING: Multiple options... ");
00142                 QuerySolution qs = rset.get(0);
00143                 x = qs.getLiteral("x").getFloat();
00144                 y = qs.getLiteral("y").getFloat();
00145                 theta = qs.getLiteral("theta").getFloat();
00146                 System.out.println("x is " + x + ". y is  " + y
00147                                    + ". theta is " + theta);
00148             }
00149         } catch (Exception e) {
00150             System.out.println("Exception -->  " + e.getMessage());
00151             return false;
00152         }
00153         /*      
00154         genericAction.actionInfo.add("charging");
00155         genericAction.actionInfo.add(Double.toString(x));
00156         genericAction.actionInfo.add(Double.toString(y));
00157         genericAction.actionInfo.add(Double.toString(theta));
00158         */
00159         genericAction.jsonActionInfo = SRSJSONParser.encodeMoveAction("charging", x, y, theta);
00160         ca.generic = genericAction;
00161         
00162         act.setCUAction(ca);
00163         act.setActionId(1);
00164         addNewActionTuple(act);
00165         
00166         // add finish action __ success
00167         
00168         act = new ActionTuple();
00169         
00170         ca = new CUAction();
00171         genericAction = new GenericAction();
00172         ca.generic = genericAction;
00173         
00174         act.setActionName("finish_success");
00175         
00176         ca.status = 1;
00177         
00178         act.setCUAction(ca);
00179         act.setActionId(2);
00180         act.setParentId(1);
00181         act.setCondition(true);
00182         addNewActionTuple(act);
00183         
00184         // add finish action __ fail
00185         
00186         act = new ActionTuple();
00187         
00188         ca = new CUAction();
00189         genericAction = new GenericAction();
00190         
00191         ca.generic = genericAction;
00192         
00193         act.setActionName("finish_fail");
00194         
00195         ca.status = -1;
00196         
00197         act.setCUAction(ca);
00198         act.setActionId(3);
00199         act.setParentId(1);
00200         act.setCondition(false);
00201         addNewActionTuple(act);
00202         
00203         System.out.println("number of actions: " + acts.size());
00204         return true;
00205     }
00206     
00207     public boolean replan(OntologyDB onto, OntoQueryUtil ontoQuery) {
00208         return false;
00209     }
00210 }


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