HighLevelActionUnit.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 org.srs.srs_knowledge.task.Task;
import java.util.HashMap;

public abstract class HighLevelActionUnit {    
    public abstract String getActionType();
    public static final int COMPLETED_SUCCESS = -10;
    public static final int COMPLETED_FAIL = -11;
    public static final int INVALID_INDEX = -100;

    public int getNumOfActions() {
        return actionUnits.size();
    }

    public int getCurrentCUActionIndex() {
        
        return currentActionInd;
    }

    public int getNextCUActionIndex(boolean statusLastStep) {
        
        if(currentActionInd == -1) {
            return 0;
        }
        //currentActionInd++;

        if ( currentActionInd >= 0 && currentActionInd < actionUnits.size() ) {
            if(statusLastStep) {
                return nextActionMapIfSuccess[currentActionInd];
            }
            else {
                return nextActionMapIfFail[currentActionInd];
            }
        }
        else {
            return INVALID_INDEX;
        }
    }

    public CUAction getCUActionAt(int ind) {
        
        currentActionInd = ind;
        if (ind < 0) {
            System.out.println("Invalid index " + ind);
            return null;
        }
        
        CUAction ca = new CUAction(); 

        if(ind == COMPLETED_FAIL) {
            GenericAction genericAction = new GenericAction();
            //genericAction.actionInfo.add("finish_fail");
            
            genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("finish_fail", null);
            ca.generic = genericAction;
            ca.actionType = "generic";
            
            ca.status = -1;
            
            return ca;
        }
        else if (ind == COMPLETED_SUCCESS){
            GenericAction genericAction = new GenericAction();
            //genericAction.actionInfo.add("finish_success");
            genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("finish_success", null);
            
            ca.generic = genericAction;
            ca.actionType = "generic";
            
            ca.status = 1;
            
            return ca;
        }
        else if (ind == INVALID_INDEX) {
            GenericAction genericAction = new GenericAction();
            //genericAction.actionInfo.add("no_action");
            genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("no_action", null);
                    
            ca.generic = genericAction;
            ca.actionType = "generic";
            
            ca.status = -1;
            return ca;
        }

        GenericAction genericAction = new GenericAction();
        try {
            genericAction = actionUnits.get(ind);
        }
        catch(IndexOutOfBoundsException e) {
            return null;
        }

        ca.generic = genericAction;

        ca.actionType = "generic";
        return ca;
    }

    public boolean addFeedback(String key, ActionFeedback fb) {
        if(fb == null) {
            return false;
        }
        feedbacks.put(key, fb);
        return true;
    }

    public ActionFeedback getFeedback(String key) {
        return feedbacks.get(key);
    }

    // a not very safe, but flexible way to assign parameters, using arraylist<string> 
    //public abstract boolean setParameters(ArrayList<String> para);
    public abstract boolean ifParametersSet();

    public boolean setParameters(String action, String para, String reservedParam) {
        return this.ifParametersSet;
    }

    protected String actionType = "";
    protected ArrayList<GenericAction> actionUnits = new ArrayList<GenericAction>();
    protected int[] nextActionMapIfFail;
    protected int[] nextActionMapIfSuccess;
    protected HashMap<String, ActionFeedback> feedbacks;

    protected int currentActionInd = -1;
    protected boolean ifParametersSet;
}