kaos.spatial
Class LocalSpatialDB

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.spatial.SpatialDB
          kaos.spatial.LocalSpatialDB

All Implemented Interfaces:

SpatialDatabase

public class LocalSpatialDB
extends SpatialDB

This class implements functionality of the local spatial database conected to the central database

Nested Class Summary

protected static class

LocalSpatialDB.OperationWaiter This class is used as a helper class to block Threads invoking the various SpatialDB operations.

Field Summary

Fields inherited from class kaos.spatial.SpatialDB

myAlternativeNames, mySpatialObjects, mySpatialObjectsAlternativeNames, mySpatialObjectsBoundingPoints, mySpatialObjectsLocations, mySpatialObjectsOccupiedSpaces, mySpatialObjectsOntologyTypes, mySpatialObjectsOrientations, SPATIAL_DB

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_agentDescription, _helper, _mts, _nickName, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Method Summary

protected java.lang.Object	callDS(MethodCallRequestMsg request)
void	deregisterSpatialObject(java.lang.String objectID) Deregister object identified by the given objectID and its spatial properties in the SpatialReasoner.
java.util.Vector	findUsingAlternativeName(java.lang.String objectAlternativeName) This method finds the spatial objects with the given alternative name
java.util.Vector<SpatialObject>	getAllSpatialObjects() This method allows to obtain a vector of all registered spatial object.
java.util.Vector	getAlternativeNames(java.lang.String objectID) This method get the alternative names of the spatial object.
java.util.Vector<Location3D>	getBoundingPoints(java.lang.String objectID) This method allows to obtain a vector of locations of the corners of the area bounding the object.
static LocalSpatialDB	getLSRInstance(java.lang.String transportName) Retrieve an instance of LocalSpatialDB.
Location3D	getObjectLocation(java.lang.String objectID) This method allows to obtain location of a known spatial object.
java.util.Set	getObjectOntologicalTypes(java.lang.String objectID) This method allows to obtain location of a known spatial object.
Orientation3D	getObjectOrientation(java.lang.String objectID) This method allows to obtain orientation of a known spatial object.
Block3D	getOccupiedSpace(java.lang.String objectID) This method allows to obtain aproximation of the occupied space of a known spatial object.
protected MethodCallResultMsg	getResult(MethodCallRequestMsg msgOut) Wrap the MethodCallRequestMsg into a TransportMessage message and send it to the global SpatialDB.
SpatialObject	getSpatialObject(java.lang.String objectID) This method allows to obtain spatial object.
protected void	handleMsgContent(Msg aMsg)
void	registerSpatialObject(java.lang.String objectID, java.util.Set objectOntologyType, Location3D objectLocation, Orientation3D objectOrientation, Block3D objectOccupedSpace) This method allows to add information about a new spatial object.
void	registerSpatialObject(java.lang.String objectID, java.util.Set objectOntologyType, Orientation3D objectOrientation, java.util.Vector<Location3D> boundingPoints) This method allows to add information about a new spatial object.
void	setAlternativeName(java.lang.String objectID, java.lang.String objectAlternativeName) This method set the alternative name of the spatial object.
void	updateSpatialObject(java.lang.String objectID, Location3D objectLocation, Orientation3D objectOrientation, Block3D objectOccupedSpace) This method allows to modify information about a known spatial object.
void	updateSpatialObject(java.lang.String objectID, Orientation3D objectOrientation, java.util.Vector<Location3D> boundingPoints) This method allows to modify information about a known spatial object.
protected MethodCallResultMsg	waitForReply(java.lang.String operationID, java.lang.String operationName) This method is called immediately after a Directory operation is requested and a message containing the MethodCallRequestMsg is sent to the DM.

Methods inherited from class kaos.spatial.SpatialDB

getInstance, initVars

Methods inherited from class kaos.core.util.MethodCallRequestHandler

bindToTransport, handleObjContent, initialize, receiveMessage

Methods inherited from class java.lang.Object

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

Method Detail

getLSRInstance

public static LocalSpatialDB getLSRInstance(java.lang.String transportName)
                                     throws java.lang.Exception

Retrieve an instance of LocalSpatialDB.

Returns:

a singleton, LocalSpatialDB.

Throws:

java.lang.Exception

getAllSpatialObjects

public java.util.Vector<SpatialObject> getAllSpatialObjects()

Description copied from interface: SpatialDatabase

This method allows to obtain a vector of all registered spatial object.

Specified by:

getAllSpatialObjects in interface SpatialDatabase

Overrides:

getAllSpatialObjects in class SpatialDB

Returns:

Vector - spatial oject with the given id

getSpatialObject

public SpatialObject getSpatialObject(java.lang.String objectID)
                               throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to obtain spatial object.

Specified by:

getSpatialObject in interface SpatialDatabase

Overrides:

getSpatialObject in class SpatialDB

Parameters:

objectID - - id of the object

Returns:

SpatialObject - spatial oject with the given id

Throws:

NotRegisteredException - when the object is not registered in the spatial database

getObjectOntologicalTypes

public java.util.Set getObjectOntologicalTypes(java.lang.String objectID)
                                        throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to obtain location of a known spatial object.

Specified by:

getObjectOntologicalTypes in interface SpatialDatabase

Overrides:

getObjectOntologicalTypes in class SpatialDB

Parameters:

objectID - - id of the object

Returns:

Set - set of strings reprsenting URI in the OWL ontology file to the definition of the object class

Throws:

NotRegisteredException - when the object is not registered in the spatial database

getObjectLocation

public Location3D getObjectLocation(java.lang.String objectID)
                             throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to obtain location of a known spatial object.

Specified by:

getObjectLocation in interface SpatialDatabase

Overrides:

getObjectLocation in class SpatialDB

Parameters:

objectID - - id of the object return @see Location3D - object containg location coordinates as xyz

Throws:

NotRegisteredException - when the object is not registered in the spatial database

getObjectOrientation

public Orientation3D getObjectOrientation(java.lang.String objectID)
                                   throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to obtain orientation of a known spatial object.

Specified by:

getObjectOrientation in interface SpatialDatabase

Overrides:

getObjectOrientation in class SpatialDB

Parameters:

objectID - - id of the object return @see Orientation3D - object containg orientation as xyz radiuses

Throws:

NotRegisteredException - when the object is not registered in the spatial database

getOccupiedSpace

public Block3D getOccupiedSpace(java.lang.String objectID)
                         throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to obtain aproximation of the occupied space of a known spatial object.

Specified by:

getOccupiedSpace in interface SpatialDatabase

Overrides:

getOccupiedSpace in class SpatialDB

Parameters:

objectID - - id of the object return @see Block3D - object containg inforationas about an occupied space as a 3d block

Throws:

NotRegisteredException - when the object is not registered in the spatial database

getBoundingPoints

public java.util.Vector<Location3D> getBoundingPoints(java.lang.String objectID)
                                               throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to obtain a vector of locations of the corners of the area bounding the object.

Specified by:

getBoundingPoints in interface SpatialDatabase

Overrides:

getBoundingPoints in class SpatialDB

Parameters:

objectID - - id of the object return @see Block3D - object containg inforationas about an occupied space as a 3d block

Throws:

NotRegisteredException - when the object is not registered in the spatial database

findUsingAlternativeName

public java.util.Vector findUsingAlternativeName(java.lang.String objectAlternativeName)
                                          throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method finds the spatial objects with the given alternative name

Specified by:

findUsingAlternativeName in interface SpatialDatabase

Overrides:

findUsingAlternativeName in class SpatialDB

Parameters:

objectAlternativeName - - the alternative name of the object return Vector - id of the found object

Throws:

NotRegisteredException - when the object is not registered in the spatial database

getAlternativeNames

public java.util.Vector getAlternativeNames(java.lang.String objectID)
                                     throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method get the alternative names of the spatial object.

Specified by:

getAlternativeNames in interface SpatialDatabase

Overrides:

getAlternativeNames in class SpatialDB

Parameters:

objectID - - id of the updated object return Vector - the alternative names of the object

Throws:

NotRegisteredException - when the object is not registered in the spatial database

registerSpatialObject

public void registerSpatialObject(java.lang.String objectID,
                                  java.util.Set objectOntologyType,
                                  Location3D objectLocation,
                                  Orientation3D objectOrientation,
                                  Block3D objectOccupedSpace)
                           throws AlreadyRegisteredException

Description copied from interface: SpatialDatabase

This method allows to add information about a new spatial object. The description about the object contains information about its: ontological type (e.g. Robot, Craft, Area. etc.), location as 3 coordinates (xyz), orientation as 3 radiuses (from xyz axis) and the minimal space block occupied by the object

Specified by:

registerSpatialObject in interface SpatialDatabase

Overrides:

registerSpatialObject in class SpatialDB

Parameters:

objectID - - id of the registered object

objectLocation - - initial location of the object represnted as @see Location3D

objectOrientation - - initial orientation of the object represnted as @see Orientation3D

objectOccupedSpace - - initial space occupied by the object represnted as @see Block3D

Throws:

AlreadyRegisteredException - when the object is already registered in the spatial database

registerSpatialObject

public void registerSpatialObject(java.lang.String objectID,
                                  java.util.Set objectOntologyType,
                                  Orientation3D objectOrientation,
                                  java.util.Vector<Location3D> boundingPoints)
                           throws AlreadyRegisteredException

Description copied from interface: SpatialDatabase

This method allows to add information about a new spatial object. The description about the object contains information about its: ontological type (e.g. Robot, Craft, Area. etc.), location as 3 coordinates (xyz), orientation as 3 radiuses (from xyz axis) and the minimal space block occupied by the object

Specified by:

registerSpatialObject in interface SpatialDatabase

Overrides:

registerSpatialObject in class SpatialDB

Parameters:

objectID - - id of the registered object

objectOntologyType - - set of string representing URI in the OWL ontology file to the definition of the object class

objectOrientation - - initial orientation of the object represnted as @see Orientation3D

boundingPoints - - vector with locations of the corners of the area bounding the object

Throws:

AlreadyRegisteredException - when the object is already registered in the spatial database

deregisterSpatialObject

public void deregisterSpatialObject(java.lang.String objectID)
                             throws NotRegisteredException

Description copied from interface: SpatialDatabase

Deregister object identified by the given objectID and its spatial properties in the SpatialReasoner.

Specified by:

deregisterSpatialObject in interface SpatialDatabase

Overrides:

deregisterSpatialObject in class SpatialDB

Parameters:

objectID - String uniquely identifying registering object in the SpatialReasoner.

Throws:

NotRegisteredException - if the registering object has not been registered in the SpatialReasoner.

updateSpatialObject

public void updateSpatialObject(java.lang.String objectID,
                                Location3D objectLocation,
                                Orientation3D objectOrientation,
                                Block3D objectOccupedSpace)
                         throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to modify information about a known spatial object. The value null of a particular parameter is interpreted as information that the corresponding spatial property of the object has not changed.

Specified by:

updateSpatialObject in interface SpatialDatabase

Overrides:

updateSpatialObject in class SpatialDB

Parameters:

objectID - - id of the updated object

objectLocation - - new location of the object represnted as @see Location3D

objectOrientation - - new orientation of the object represnted as @see Orientation3D

objectOccupedSpace - - new space occupied by the object represnted as @see Block3D

Throws:

NotRegisteredException - when the object is not registered in the spatial database

updateSpatialObject

public void updateSpatialObject(java.lang.String objectID,
                                Orientation3D objectOrientation,
                                java.util.Vector<Location3D> boundingPoints)
                         throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method allows to modify information about a known spatial object. The value null of a particular parameter is interpreted as information that the corresponding spatial property of the object has not changed.

Specified by:

updateSpatialObject in interface SpatialDatabase

Overrides:

updateSpatialObject in class SpatialDB

Parameters:

objectID - - id of the updated object

objectOrientation - - new orientation of the object represnted as @see Orientation3D

boundingPoints - - vector with locations of the corners of the area bounding the object

Throws:

NotRegisteredException - when the object is not registered in the spatial database

setAlternativeName

public void setAlternativeName(java.lang.String objectID,
                               java.lang.String objectAlternativeName)
                        throws NotRegisteredException

Description copied from interface: SpatialDatabase

This method set the alternative name of the spatial object.

Specified by:

setAlternativeName in interface SpatialDatabase

Overrides:

setAlternativeName in class SpatialDB

Parameters:

objectID - - id of the updated object

objectAlternativeName - - the alternative name of the object

Throws:

NotRegisteredException - when the object is not registered in the spatial database

handleMsgContent

protected void handleMsgContent(Msg aMsg)

Overrides:

handleMsgContent in class MethodCallRequestHandler

callDS

protected java.lang.Object callDS(MethodCallRequestMsg request)
                           throws NotRegisteredException

Throws:

NotRegisteredException

getResult

protected MethodCallResultMsg getResult(MethodCallRequestMsg msgOut)
                                 throws ServiceFailure

Wrap the MethodCallRequestMsg into a TransportMessage message and send it to the global SpatialDB. Create an OperationWaiter object and store it in the _waiters hashtable. This object is associated with the current MethodCallRequestMsg and it will store the MethodCallResultsMsg, when the result arrives. After sending the TransportMessage, wait for the result.

Throws:

ServiceFailure

waitForReply

protected MethodCallResultMsg waitForReply(java.lang.String operationID,
                                           java.lang.String operationName)
                                    throws ServiceFailure

This method is called immediately after a Directory operation is requested and a message containing the MethodCallRequestMsg is sent to the DM. If the result comes back even before this method is invoked (like in CORBA sometimes), then retrieve the result from the corrensponding OperationWaiter object and return the result. If this method is invoked before the result comes back, block the current Thread and wait for the result. Waiting is accomplished using the OperationWaiter object, which is associated with this request and invoking the wait() method on it. After the result is received and this waiting Thread is unblocked (in doNotify() method of the OperationWaiter), the result is returned to the agent.

Throws:

ServiceFailure