MoveAndDetectionActionUnit.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 java.util.ArrayList;
00056 
00057 import ros.pkg.srs_knowledge.msg.*;
00058 import ros.pkg.geometry_msgs.msg.Pose2D;
00059 
00060 import org.srs.srs_knowledge.task.Task;
00061 import org.srs.srs_knowledge.knowledge_engine.*;
00062 
00063 import org.json.simple.JSONArray;
00064 import org.json.simple.JSONObject;
00065 import org.json.simple.JSONValue;
00066 import org.json.simple.parser.ParseException;
00067 import org.json.simple.parser.JSONParser;
00068 
00073 public class MoveAndDetectionActionUnit extends HighLevelActionUnit {
00074 
00075     public MoveAndDetectionActionUnit(ArrayList<Pose2D> positions, String objectClassName, int houseHoldId) {
00076         init(positions, objectClassName, houseHoldId, "");
00077     }
00078 
00079 
00080     public MoveAndDetectionActionUnit(ArrayList<Pose2D> positions, String objectClassName, int houseHoldId, String workspace) {
00081         init(positions, objectClassName, houseHoldId, workspace);
00082     }
00083 
00084     private void init(ArrayList<Pose2D> positions, String objectClassName, int houseHoldId, String workspace) {
00085         for(Pose2D position:positions) {
00086             GenericAction ga = new GenericAction();
00087             // new json stuff
00088             ga.jsonActionInfo = SRSJSONParser.encodeMoveAction("move", position.x, position.y, position.theta);
00089             actionUnits.add(ga);
00090 
00091             GenericAction detAct = new GenericAction();
00092             detAct.jsonActionInfo = SRSJSONParser.encodeDetectAction("detect", houseHoldId, objectClassName, workspace);
00093             actionUnits.add(detAct);
00094         }
00095 
00096         // this actionunit is always set with sufficient parameters
00097         ifParametersSet = true;
00098 
00099         int size = actionUnits.size(); 
00100         nextActionMapIfFail = new int[size];
00101         nextActionMapIfSuccess = new int[size];
00102 
00103         for(int i = 0; i < size; i++) {
00104             JSONObject tempAct = SRSJSONParser.decodeJsonActionInfo(actionUnits.get(i).jsonActionInfo);
00105             if(tempAct.get("action").equals("move")) {
00106                 nextActionMapIfSuccess[i] = i + 1;
00107                 nextActionMapIfFail[i] = i + 2;
00108             }
00109             else if(tempAct.get("action").equals("detect")) {
00110                 nextActionMapIfSuccess[i] = COMPLETED_SUCCESS;    // 
00111                 nextActionMapIfFail[i] = i + 1;
00112             }
00113             if(nextActionMapIfFail[i] >= size) {
00114                 // out of bound, means this is the last step in this action unit. so -1 means there is no further solution to the current task within this actionunit
00115                 nextActionMapIfFail[i] = COMPLETED_FAIL;  
00116             }       
00117         }
00118     }
00119 
00120     @Override
00121     public String getActionType() {
00122         actionType = "MoveAndDetection";
00123         return actionType;
00124     }
00125 
00126     // a not very safe, but flexible way to assign parameters, using arraylist<string> 
00127     // set robot move target and object pose etc.
00128     /*
00129     public boolean setParameters(ArrayList<String> para) {
00130         boolean res = ifParametersSet;
00131         return res;
00132     }
00133     */
00134     public boolean ifParametersSet() {
00135         return ifParametersSet;
00136     }
00137 
00138 }


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