kaos.robots.core
Class KAoSRobot

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.KAoSRobot

All Implemented Interfaces:

KAoSObservable, ObserverManager, FeedbackReceiver, HashMapRequestReceiver

Direct Known Subclasses:

BreveBot, ER1, KAoSPlayer, KAoSRobotTest, KBot, StubBot

public abstract class KAoSRobot
extends MethodCallRequestHandler
implements HashMapRequestReceiver, KAoSObservable, FeedbackReceiver, ObserverManager

Nested Class Summary

class

KAoSRobot.RequestHandlerThread

Field Summary

protected java.lang.String	_actorID
protected javax.swing.JTextField	_address
protected KAoSAgentDescription	_agentDescription
protected java.util.Vector	_classificationListeners
protected javax.swing.JButton	_connectBtn
protected boolean	_connected
javax.swing.JComboBox	_connectToCmb
java.util.Vector	_currentActions
protected java.util.HashMap	_enablingClasses
protected RobotEnforcer	_enforcer
boolean	_gpsIsAvailable
GPSPosition	_gpsOrigin
protected java.util.HashMap	_learnedTasks
protected java.util.HashMap	_learnedTaskVariables
protected boolean	_learning
protected java.util.HashMap	_listeners
protected Logger	_logger
protected MessageReceiver	_messageReceiver
protected Locator	_myLocator
protected java.lang.String	_nickName
protected PolicyChecking	_policyService
protected javax.swing.JTextField	_port
protected boolean	_registeredWithKAoS
protected Registration	_registration
ActionStatusCallback	_reniaCallback
protected MessageSender	_sender
protected java.util.Vector	_subtasks
protected java.lang.String	_taskName
protected java.lang.String	_transportName

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_helper, _mts, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Constructor Summary

KAoSRobot()

Method Summary

void	assertNotLocatable(boolean exp, java.lang.String msg)
ActionInstanceDescription	buildAID(java.lang.String action, java.util.HashMap properties) buildAID Utility for turning string-hashmaps into ActionInstanceDeescriptions
javax.swing.JPanel	buildConnectPanel()
void	checkObligations(ActionInstanceDescription aid)
protected void	checkPermissionForAction(ActionInstanceDescription aid)
abstract boolean	connect() This function is used to connect to robot
void	deregisterObserver(KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, KAoSEntityDescription observableDesc) Deregister the given KAoSObserver from the registry of observers asoociated with the KAoSObservable, whose KAoSEntityDescription is given.
void	deregisterObserver(KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, java.lang.String observableGUID) Deregister the given KAoSObserver from the registry of observers associated with the KAoSObservable, whose GUID is given.
void	deregisterObserver(java.lang.String updateType, java.lang.Object updateCondition, KAoSObserver observer) Deregister the given KAoSObserver for the given update type from the registry of observers associated with this KAoSObservable.
abstract void	disconnect() This function is used to disconnect from robot
java.lang.Object	executeLearnedAction(ActionInstanceDescription aid)
void	ExtendTimeout(java.util.HashMap properties)
protected java.util.Vector	getActions() getActions retrieves all implemented interfaces.
java.lang.String	getActorID()
KAoSAgentDescription	getAgentDescription() Creates a new AgentDescription for this KAoSRobot.
KAoSAgentDescription	getAgentDescriptionFromName(java.lang.String name)
java.util.List	getAllAgents() Return all agent ids stored in the KAoS directory.
java.util.Vector	getCurrentActions()
DetectedObjectObservableImpl	getDetectedObjectObservable()
int	getGPSCommPort()
Locator	getLocator()
MessageTransportService	getMTS()
java.util.HashMap	getPropertiesFromAID(ActionInstanceDescription aid)
int	getTimeoutPeriod()
boolean	gpsIsAvailable()
void	init(java.lang.String[] args)
boolean	isRegisteredWithKAoS()
java.lang.Object	makeActionAllowable(ActionInstanceDescription aid)
void	modifySpatialProperties(Location3D location, Orientation3D orientation, Block3D block)
void	notify(java.lang.String updateType, java.lang.Object updateCondition, java.lang.Object update) Notify observers interested in the given updateType wiht the given update object.
void	onAborted(java.util.Calendar time, java.lang.Object reason, java.lang.String actionID, java.lang.String robotID) This method is invoked when the requested action is aborted.
void	onAccepted(java.util.Calendar time, java.lang.Object acceptInfo, java.lang.String actionID, java.lang.String robotID) This method is invoked when the request is accepted by the robot.
void	onCompleted(java.util.Calendar time, java.lang.Object result, java.lang.String actionID, java.lang.String robotID) This method is invoked upon completion of the request byt the requested robot.
void	onRefused(java.util.Calendar time, java.lang.Object reason, java.lang.String actionID, java.lang.String robotID) This method is invoked when the request is refused by the robot.
void	onStarted(java.util.Calendar time, java.lang.Object startedInfo, java.lang.String actionID, java.lang.String robotID) This method is invoked when the robot starts the requested action.
protected void	printDebugString(java.lang.String msg, int loggerDisplayLevel)
java.lang.Object	processHashMapRequest(java.lang.String actionName) This method accepts a request described by the given String containing action name.
void	processHashMapRequest(java.lang.String actionName, ActionStatusCallback statusCallback) This method accepts a request described by the given String containing the action name.
java.lang.Object	processHashMapRequest(java.lang.String actionName, java.util.HashMap properties) This method accepts a request described by the given String and HashMap of properties.
void	processHashMapRequest(java.lang.String actionName, java.util.HashMap properties, ActionStatusCallback statusCallback) This method accepts a request described by the given String and HashMap of properties.
void	receiveKAoSStatus(java.lang.String statusMsg, java.lang.String actionID, java.lang.String robotID) Receive a status message describing the execution of the requested action.
void	registerObserver(KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, KAoSEntityDescription observableDesc) Register the given KAoSObserver with the KAoSObservable, whose KAoSEntityDescription is given, for updates described by the updateType and updateConstraints.
void	registerObserver(KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, java.lang.String observableGUID) Register the given KAoSObserver with the KAoSObservable, whose GUID is given for updates described by the updateType and updateConditions.
void	registerObserver(KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, java.lang.String observableGUID, java.lang.String brokerGUID) Register the given KAoSObserver with the KAoSObservable, whose GUID is given for updates described by the updateType and updateConditions.
void	registerObserver(java.lang.String updateType, java.lang.Object updateCondition, KAoSObserver observer) Register the given KAoSObserver with this KAoSObservable for updates described by the updateType and updateConstraints.
void	registerWithKAoS()
void	registerWithSpatialProperties(Location3D location, Orientation3D orientation, Block3D block)
java.lang.String	requestAction(java.lang.String action, java.util.HashMap properties, KAoSEntityDescription receiverDesc) Request a given action/information with the described properties from a robot whose KAoS agent description is given.
void	sendMessage(java.lang.String GUID, java.io.Serializable content)
void	sendRequestToKaa(java.lang.String action, java.util.HashMap properties)
protected void	setRegisteredWithKAoS(boolean registered)
void	startLearning(java.util.HashMap properties)
void	stopLearning()
int	updateTimeout()

Methods inherited from class kaos.core.util.MethodCallRequestHandler

bindToTransport, handleMsgContent, handleObjContent, initialize, receiveMessage

Methods inherited from class java.lang.Object

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

Methods inherited from interface kaos.core.csi.observe.ObserverManager

registerKAoSExtensionComponentObserver

Field Detail

_logger

protected Logger _logger

_actorID

protected java.lang.String _actorID

_messageReceiver

protected MessageReceiver _messageReceiver

_sender

protected MessageSender _sender

_nickName

protected java.lang.String _nickName

_myLocator

protected Locator _myLocator

_agentDescription

protected KAoSAgentDescription _agentDescription

_classificationListeners

protected java.util.Vector _classificationListeners

_enforcer

protected RobotEnforcer _enforcer

_registeredWithKAoS

protected boolean _registeredWithKAoS

_connectToCmb

public javax.swing.JComboBox _connectToCmb

_address

protected javax.swing.JTextField _address

_port

protected javax.swing.JTextField _port

_connected

protected boolean _connected

_connectBtn

protected javax.swing.JButton _connectBtn

_enablingClasses

protected java.util.HashMap _enablingClasses

_currentActions

public java.util.Vector _currentActions

_listeners

protected java.util.HashMap _listeners

_reniaCallback

public ActionStatusCallback _reniaCallback

_gpsOrigin

public GPSPosition _gpsOrigin

_gpsIsAvailable

public boolean _gpsIsAvailable

_transportName

protected java.lang.String _transportName

_registration

protected Registration _registration

_learning

protected boolean _learning

_subtasks

protected java.util.Vector _subtasks

_taskName

protected java.lang.String _taskName

_learnedTasks

protected java.util.HashMap _learnedTasks

_learnedTaskVariables

protected java.util.HashMap _learnedTaskVariables

_policyService

protected PolicyChecking _policyService

Constructor Detail

KAoSRobot

public KAoSRobot()

Method Detail

connect

public abstract boolean connect()

This function is used to connect to robot

Returns:

boolean indicating true if successful and false if failed

disconnect

public abstract void disconnect()

This function is used to disconnect from robot

init

public void init(java.lang.String[] args)

getCurrentActions

public java.util.Vector getCurrentActions()

processHashMapRequest

public void processHashMapRequest(java.lang.String actionName,
                                  java.util.HashMap properties,
                                  ActionStatusCallback statusCallback)
                           throws ActionFailureException

This method accepts a request described by the given String and HashMap of properties. Feedback from the action execution is sent to the requestor via the given ActionStatusCallback.

Specified by:

processHashMapRequest in interface HashMapRequestReceiver

Parameters:

actionName - is a String representing the name of the action as defined in the associated ontology.

properties - is an HashMap of ontological Strings representing the desired properties of the action and the associated values.

statusCallback - ActionStatusCallback to be called to pass back to the action requestor information about progression of the action execution and the final result.

Throws:

ActionFailureException - containing the reason for failure. See ontology to determine specific reasons available for a given action

processHashMapRequest

public void processHashMapRequest(java.lang.String actionName,
                                  ActionStatusCallback statusCallback)
                           throws ActionFailureException

This method accepts a request described by the given String containing the action name. Feedback from the action execution is sent to the requestor via the given ActionStatusCallback.

Specified by:

processHashMapRequest in interface HashMapRequestReceiver

Parameters:

actionName - is a String representing the name of the action as defined in the associated ontology.

statusCallback - ActionStatusCallback to be called to pass back to the action requestor information about progression of the action execution and the final result.

Throws:

ActionFailureException - containing the reason for failure. See ontology to determine specific reasons available for a given action

processHashMapRequest

public java.lang.Object processHashMapRequest(java.lang.String actionName,
                                              java.util.HashMap properties)
                                       throws ActionFailureException

This method accepts a request described by the given String and HashMap of properties. The result is returned synchronously.

Specified by:

processHashMapRequest in interface HashMapRequestReceiver

Parameters:

actionName - is a String representing the name of the action as defined in the associated ontology.

properties - is an HashMap of ontological Strings representing the desired properties of the action and the associated values.

Returns:

Object containing the final result of the action.

Throws:

ActionFailureException - containing the reason for failure. See ontology to determine specific reasons available for a given action

processHashMapRequest

public java.lang.Object processHashMapRequest(java.lang.String actionName)
                                       throws ActionFailureException

This method accepts a request described by the given String containing action name. The result is returned synchronously.

Specified by:

processHashMapRequest in interface HashMapRequestReceiver

Parameters:

actionName - is a String representing the name of the action as defined in the associated ontology.

Returns:

Object containing the final result of the action.

Throws:

ActionFailureException - containing the reason for failure. See ontology to determine specific reasons available for a given action

buildAID

public ActionInstanceDescription buildAID(java.lang.String action,
                                          java.util.HashMap properties)

buildAID Utility for turning string-hashmaps into ActionInstanceDeescriptions

Returns:

ActionInstanceDescription

startLearning

public void startLearning(java.util.HashMap properties)

stopLearning

public void stopLearning()

makeActionAllowable

public java.lang.Object makeActionAllowable(ActionInstanceDescription aid)
                                     throws java.lang.Exception

Throws:

java.lang.Exception

checkObligations

public void checkObligations(ActionInstanceDescription aid)
                      throws java.lang.Exception

Throws:

java.lang.Exception

getAgentDescription

public KAoSAgentDescription getAgentDescription()

Creates a new AgentDescription for this KAoSRobot. Utilizing the AgentDirectoryService an empty AgentDescription is obtained and then populated with the robot's name.

Returns:

an AgentDescription for this robot.

isRegisteredWithKAoS

public boolean isRegisteredWithKAoS()

setRegisteredWithKAoS

protected void setRegisteredWithKAoS(boolean registered)

registerWithKAoS

public void registerWithKAoS()

getActions

protected java.util.Vector getActions()

getActions retrieves all implemented interfaces. it provides a list of actions that this agent can execute

Returns:

Vector Vector of actions available to this agent

getPropertiesFromAID

public java.util.HashMap getPropertiesFromAID(ActionInstanceDescription aid)

executeLearnedAction

public java.lang.Object executeLearnedAction(ActionInstanceDescription aid)
                                      throws java.lang.Exception

Throws:

java.lang.Exception

buildConnectPanel

public javax.swing.JPanel buildConnectPanel()

getMTS

public MessageTransportService getMTS()

getLocator

public Locator getLocator()

getActorID

public java.lang.String getActorID()

getAllAgents

public java.util.List getAllAgents()
                            throws SearchException,
                                   DirectoryFailure

Return all agent ids stored in the KAoS directory.

Returns:

List of all agent unique IDs in the agent directory, or null, if there aren't any.

Throws:

SearchException - if an exception is thrown during the search.

DirectoryFailure - if the directory cannot be found/is not available.

getAgentDescriptionFromName

public KAoSAgentDescription getAgentDescriptionFromName(java.lang.String name)
                                                 throws SearchException,
                                                        DirectoryFailure

Throws:

SearchException

DirectoryFailure

getGPSCommPort

public int getGPSCommPort()

getTimeoutPeriod

public int getTimeoutPeriod()

updateTimeout

public int updateTimeout()

ExtendTimeout

public void ExtendTimeout(java.util.HashMap properties)

gpsIsAvailable

public boolean gpsIsAvailable()

getDetectedObjectObservable

public DetectedObjectObservableImpl getDetectedObjectObservable()

registerObserver

public void registerObserver(KAoSObserver observer,
                             java.lang.String updateType,
                             java.io.Serializable updateCondition,
                             java.lang.String observableGUID)
                      throws NotLocatableException,
                             TransportFailure

Description copied from interface: ObserverManager

Register the given KAoSObserver with the KAoSObservable, whose GUID is given for updates described by the updateType and updateConditions.

Specified by:

registerObserver in interface ObserverManager

Parameters:

observer - KAoSObserver requesting registration for updates.

updateType - String indicating type of update the KAoSObserver is interested in.

updateCondition - Serializable describing the conditions under which to send the update.

observableGUID - String containing the GUID of the KAoSObservable to register with.

Throws:

NotLocatableException - when the KAoSObservable cannot be located.

TransportFailure - when transport services fails.

registerObserver

public void registerObserver(KAoSObserver observer,
                             java.lang.String updateType,
                             java.io.Serializable updateCondition,
                             KAoSEntityDescription observableDesc)
                      throws NotLocatableException,
                             TransportFailure

Description copied from interface: ObserverManager

Register the given KAoSObserver with the KAoSObservable, whose KAoSEntityDescription is given, for updates described by the updateType and updateConstraints.

Specified by:

registerObserver in interface ObserverManager

Parameters:

observer - KAoSObserver registering with for updates.

updateType - String indicating type of update the KAoSObserver is interested in.

updateCondition - Object describing the conditions under which to send the update.

observableDesc - KAoSEntityDescription describing the observable.

Throws:

NotLocatableException - when the KAoSObservable cannot be located.

TransportFailure - when transport services fail.

registerObserver

public void registerObserver(KAoSObserver observer,
                             java.lang.String updateType,
                             java.io.Serializable updateCondition,
                             java.lang.String observableGUID,
                             java.lang.String brokerGUID)
                      throws NotLocatableException,
                             TransportFailure

Description copied from interface: ObserverManager

Register the given KAoSObserver with the KAoSObservable, whose GUID is given for updates described by the updateType and updateConditions.

Specified by:

registerObserver in interface ObserverManager

Parameters:

observer - KAoSObserver requesting registration for updates.

updateType - String indicating type of update the KAoSObserver is interested in.

updateCondition - Serializable describing the conditions under which to send the update.

observableGUID - String containing the GUID of the KAoSObservable to register with.

brokerGUID - String containing the GUID of the broker, through which to reach the observable.

Throws:

NotLocatableException - when the KAoSObservable or broker cannot be located.

TransportFailure - when transport services fail. the rgistration will be processed.

deregisterObserver

public void deregisterObserver(KAoSObserver observer,
                               java.lang.String updateType,
                               java.io.Serializable updateCondition,
                               java.lang.String observableGUID)
                        throws NotLocatableException,
                               TransportFailure

Description copied from interface: ObserverManager

Deregister the given KAoSObserver from the registry of observers associated with the KAoSObservable, whose GUID is given.

Specified by:

deregisterObserver in interface ObserverManager

Parameters:

observer - KAoSObserver deregistering.

updateType - String indicating type of update the KAoSObserver is no longer interested in.

updateCondition - Serializable containing the condition the KAoSObserver is no longer interested in.

observableGUID - String specifying the GUID of the observable, from which to deregister for the given update type.

Throws:

NotLocatableException - when the KAoSObservable cannot be located.

TransportFailure - when transport services fail.

deregisterObserver

public void deregisterObserver(KAoSObserver observer,
                               java.lang.String updateType,
                               java.io.Serializable updateCondition,
                               KAoSEntityDescription observableDesc)
                        throws NotLocatableException,
                               TransportFailure

Description copied from interface: ObserverManager

Deregister the given KAoSObserver from the registry of observers asoociated with the KAoSObservable, whose KAoSEntityDescription is given.

Specified by:

deregisterObserver in interface ObserverManager

Parameters:

observer - KAoSObserver deregistering.

updateType - String indicating type of update the KAoSObserver is no longer interested in.

updateCondition - Serializable containing the condition the KAoSObserver is no longer interested in.

observableDesc - KAoSEntityDescription of the observable, from which to deregister for the given update type.

Throws:

NotLocatableException - when the KAoSObservable cannot be located.

TransportFailure - when transport services fail.

registerObserver

public void registerObserver(java.lang.String updateType,
                             java.lang.Object updateCondition,
                             KAoSObserver observer)

Register the given KAoSObserver with this KAoSObservable for updates described by the updateType and updateConstraints.

Specified by:

registerObserver in interface KAoSObservable

Parameters:

updateType - String indicating type of update the KAoSObserver is interested in.

updateCondition - Object describing the conditions under which to send the update.

observer - KAoSObserver registering with for updates.

deregisterObserver

public void deregisterObserver(java.lang.String updateType,
                               java.lang.Object updateCondition,
                               KAoSObserver observer)

Deregister the given KAoSObserver for the given update type from the registry of observers associated with this KAoSObservable.

Specified by:

deregisterObserver in interface KAoSObservable

Parameters:

updateType - String indicating type of update the KAoSObserver is no longer interested in.

observer - KAoSObserver deregistering.

notify

public void notify(java.lang.String updateType,
                   java.lang.Object updateCondition,
                   java.lang.Object update)

Notify observers interested in the given updateType wiht the given update object.

Specified by:

notify in interface KAoSObservable

Parameters:

updateType - String describing the type of update to perform.

update - Object containing the update.

requestAction

public java.lang.String requestAction(java.lang.String action,
                                      java.util.HashMap properties,
                                      KAoSEntityDescription receiverDesc)
                               throws NotLocatableException,
                                      TransportFailure

Request a given action/information with the described properties from a robot whose KAoS agent description is given.

Parameters:

action - String containing the name of the requested action. *** Important: the name has to be defined in the ontology describing robot's actions.

properties - HashMap containing the properties of the requested action. *** Important: the names of properties have to be defined in the ontology describing robot's actions.

receiverDesc - KAoSEntityDescription of the robot to send the request to.

Returns:

String uniquely identifying the requested action. It can be used for matching with the returned results.

Throws:

NotLocatableException

TransportFailure

sendMessage

public void sendMessage(java.lang.String GUID,
                        java.io.Serializable content)
                 throws NotLocatableException,
                        TransportFailure,
                        SearchException,
                        DirectoryFailure

Throws:

NotLocatableException

TransportFailure

SearchException

DirectoryFailure

assertNotLocatable

public void assertNotLocatable(boolean exp,
                               java.lang.String msg)
                        throws NotLocatableException

Throws:

NotLocatableException - if exp is true.

sendRequestToKaa

public void sendRequestToKaa(java.lang.String action,
                             java.util.HashMap properties)
                      throws java.lang.Exception

Throws:

java.lang.Exception

onAccepted

public void onAccepted(java.util.Calendar time,
                       java.lang.Object acceptInfo,
                       java.lang.String actionID,
                       java.lang.String robotID)

This method is invoked when the request is accepted by the robot.

Specified by:

onAccepted in interface FeedbackReceiver

Parameters:

time - Calendar time of acceptance.

acceptInfo - Object containing additional (optional) info about the acceptance.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onRefused

public void onRefused(java.util.Calendar time,
                      java.lang.Object reason,
                      java.lang.String actionID,
                      java.lang.String robotID)

This method is invoked when the request is refused by the robot.

Specified by:

onRefused in interface FeedbackReceiver

Parameters:

time - Calendar time of refusal.

reason - Object containing the reason for refusing the request.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onCompleted

public void onCompleted(java.util.Calendar time,
                        java.lang.Object result,
                        java.lang.String actionID,
                        java.lang.String robotID)

This method is invoked upon completion of the request byt the requested robot.

Specified by:

onCompleted in interface FeedbackReceiver

Parameters:

time - Calendar time of information/action completion.

result - Object containing the result of the requested action.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onStarted

public void onStarted(java.util.Calendar time,
                      java.lang.Object startedInfo,
                      java.lang.String actionID,
                      java.lang.String robotID)

This method is invoked when the robot starts the requested action.

Specified by:

onStarted in interface FeedbackReceiver

Parameters:

time - Calendar time of starting an action.

startedInfo - Object containing additional (optional) info about the start of the action.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onAborted

public void onAborted(java.util.Calendar time,
                      java.lang.Object reason,
                      java.lang.String actionID,
                      java.lang.String robotID)

This method is invoked when the requested action is aborted.

Specified by:

onAborted in interface FeedbackReceiver

Parameters:

time - Calendar time of aborting an action.

reason - Object containing the reason for aborting an action.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

receiveKAoSStatus

public void receiveKAoSStatus(java.lang.String statusMsg,
                              java.lang.String actionID,
                              java.lang.String robotID)

Receive a status message describing the execution of the requested action. There maybe several status messages sent during action execution.

Specified by:

receiveKAoSStatus in interface FeedbackReceiver

Parameters:

statusMsg - Object containing the result of the requested action/information.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

registerWithSpatialProperties

public void registerWithSpatialProperties(Location3D location,
                                          Orientation3D orientation,
                                          Block3D block)

modifySpatialProperties

public void modifySpatialProperties(Location3D location,
                                    Orientation3D orientation,
                                    Block3D block)

checkPermissionForAction

protected void checkPermissionForAction(ActionInstanceDescription aid)
                                 throws ActionFailureException

Throws:

ActionFailureException

printDebugString

protected void printDebugString(java.lang.String msg,
                                int loggerDisplayLevel)