cz.cuni.amis.pogamut.sposh.usar2004
Class StateSposhLogicController<BOT extends cz.cuni.amis.pogamut.usar2004.agent.USAR2004Bot,CONTEXT extends IUSAR2004Context>

java.lang.Object
  cz.cuni.amis.pogamut.usar2004.agent.USAR2004BotController<BOT>
      cz.cuni.amis.pogamut.usar2004.agent.module.logic.USAR2004BotLogicController<BOT>
          cz.cuni.amis.pogamut.sposh.usar2004.SposhLogicController<BOT,cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor>
              cz.cuni.amis.pogamut.sposh.usar2004.StateSposhLogicController<BOT,CONTEXT>

All Implemented Interfaces:

cz.cuni.amis.pogamut.base.agent.module.IAgentLogic<cz.cuni.amis.pogamut.base.agent.module.LogicModule>, cz.cuni.amis.pogamut.usar2004.agent.IUSAR2004BotController<BOT>, cz.cuni.amis.pogamut.usar2004.agent.module.logic.IUSAR2004BotLogicController<BOT,cz.cuni.amis.pogamut.base.agent.module.LogicModule>

public abstract class StateSposhLogicController<BOT extends cz.cuni.amis.pogamut.usar2004.agent.USAR2004Bot,CONTEXT extends IUSAR2004Context>
extends SposhLogicController<BOT,cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor>

This class should be used as base for bot that utilizes sposh and state primitives. It is failry simple, it creates PoshEngine, IWorkExecutor and Context during StateSposhLogicController#initializeController(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot) . The IWorkExecutor takes all primitives from the plan and automatically tries to instantiate them. The automatic instantiation expects that names of the primitives are fully qualified names of classes (e.g. cz.cuni.pogamut.senses.Fail) that implement ISense for senses and IAction for actions. The classes are expected to have public constructor with one parameter that is of type CONTEXT (or its parent). It may be convinient to use classes StateAction and StateSense as basic classes for your own custom primitives. Custom instantiation can be utilized in method customPrimitiveInstantiation(cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor, java.util.Set, java.util.Set), simply insert your own primitives into the StateWorkExecutor. When automatic instantiation detects, that primitive with some name (probaly name that is not FQN of class) is already defined in the executor, the name is skipped (IOW: if you add sense hurt in the custom instantion, it won't cause error later one, although it is not defined by any class).

Author:

Honza

Field Summary

protected CONTEXT

context Context for states.

Fields inherited from class cz.cuni.amis.pogamut.sposh.usar2004.SposhLogicController

SPOSH_LOG_CATEGORY

Fields inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.logic.USAR2004BotLogicController

logicModule

Fields inherited from class cz.cuni.amis.pogamut.usar2004.agent.USAR2004BotController

bot, log, user, USER_LOG_CATEGORY_ID

Constructor Summary

StateSposhLogicController()

Method Summary

protected abstract CONTEXT	createContext() Create context for this logic controller.
protected cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor	createWorkExecutor() Create IWorkExecutor that will execute primitives contained in the plan.
protected void	customPrimitiveInstantiation(cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor executor, Set<String> actions, Set<String> senses) To be overriden in children, this method enables user to instantiate primitives in any way it desires.
CONTEXT	getContext() Get context.
void	initializeController(BOT bot) Initialize logic controller=call super initialization and create context and other stuff that is needed to have.

Methods inherited from class cz.cuni.amis.pogamut.sposh.usar2004.SposhLogicController

createTimer, getEngine, getPlan, getPlanFromFile, getPlanFromResource, getPlanFromStream, getTimer, getWorkExecutor, logic, logicAfterPlan, logicBeforePlan

Methods inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.logic.USAR2004BotLogicController

beforeFirstLogic, getLogicInitializeTime, getLogicShutdownTime, logicInitialize, logicShutdown

Methods inherited from class cz.cuni.amis.pogamut.usar2004.agent.USAR2004BotController

getAct, getLog, getWorldView, prepareBot, robotInitialized

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface cz.cuni.amis.pogamut.usar2004.agent.IUSAR2004BotController

prepareBot, robotInitialized

Field Detail

context

protected CONTEXT extends IUSAR2004Context context

Context for states.

Constructor Detail

StateSposhLogicController

public StateSposhLogicController()

Method Detail

initializeController

public void initializeController(BOT bot)

Initialize logic controller=call super initialization and create context and other stuff that is needed to have.

Specified by:

initializeController in interface cz.cuni.amis.pogamut.usar2004.agent.IUSAR2004BotController<BOT extends cz.cuni.amis.pogamut.usar2004.agent.USAR2004Bot>

Overrides:

initializeController in class SposhLogicController<BOT extends cz.cuni.amis.pogamut.usar2004.agent.USAR2004Bot,cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor>

Parameters:

bot -

getContext

public final CONTEXT getContext()

Get context.

Returns:

get context, possibly create one

customPrimitiveInstantiation

protected void customPrimitiveInstantiation(cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor executor,
                                            Set<String> actions,
                                            Set<String> senses)

To be overriden in children, this method enables user to instantiate primitives in any way it desires. If you keep it empty, logic will try to instantiate primitivies by their names and annotations.

Parameters:

executor - executor that will be used for primitives (empty, no primitive should be defined yet)

actions - set of actions used in the plan (unmodifiable)

senses - set of senses used in the plan (unmodifiable)

createWorkExecutor

protected cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor createWorkExecutor()

Description copied from class: SposhLogicController

Create IWorkExecutor that will execute primitives contained in the plan. This method will be called only once.

Specified by:

createWorkExecutor in class SposhLogicController<BOT extends cz.cuni.amis.pogamut.usar2004.agent.USAR2004Bot,cz.cuni.amis.pogamut.sposh.executor.StateWorkExecutor>

Returns:

executor to execute primitives.

createContext

protected abstract CONTEXT createContext()

Create context for this logic controller.

Returns:

new logic controller.