StopTask.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 import ros.*;
00066 import ros.communication.*;
00067 
00068 public class StopTask extends Task {
00069 
00070     public StopTask() {
00071         // empty constructor.
00072         this.initTask();
00073     }
00074 
00075     private void initTask() {
00076         acts = new ArrayList<ActionTuple>();
00077         
00078         System.out.println("TASK.JAVA: Created CurrentTask " + "stop ");
00079         constructTask();
00080     }
00081         
00082     protected boolean constructTask() {
00083         return createSimpleMoveTaskNew();
00084     }
00085     
00086     private boolean createSimpleMoveTaskNew() {
00087         // boolean addNewActionTuple(ActionTuple act)
00088         ActionTuple act = new ActionTuple();
00089         
00090         CUAction ca = new CUAction();
00091         GenericAction genericAction = new GenericAction();
00092 
00093         // add finish action __ success
00094         //genericAction.actionInfo.add("finish_success");
00095         genericAction.jsonActionInfo = SRSJSONParser.encodeCustomAction("finish_success", null);
00096 
00097         ca.generic = genericAction;
00098         ca.actionType = "generic";
00099         
00100         act.setActionName("finish_success");
00101         ca.status = 1;
00102         
00103         act.setCUAction(ca);
00104         act.setActionId(1);
00105         //act.setParentId(1);
00106         //act.setCondition(true);
00107         addNewActionTuple(act);
00108         
00109         System.out.println("number of actions: " + acts.size());
00110         return true;
00111     }
00112 
00113 
00114     public boolean replan(OntologyDB onto, OntoQueryUtil ontoQuery) {
00115         return false;
00116     }
00117 
00118 }


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