Project: bml_lib License: BSD Dependencies: bml_msgs bml_srvs rosjava Used by: bml_realizer All Packages

bml_lib/src/edu/wpi/hri/bml/behavior/BehaviorList.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.bml.behavior; import java.io.StringReader; import java.util.ArrayList; import java.util.HashMap; import java.util.Iterator; import java.util.List; import java.util.Map; import org.w3c.dom.Document; import org.w3c.dom.Element; import org.w3c.dom.NodeList; import ros.pkg.bml_msgs.msg.BehaviorResult; import ros.pkg.bml_msgs.msg.Flag; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.bml.behavior.BehaviorEnums.BehaviorType; import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class BehaviorList implements Iterable<Behavior> { private static final String ID_ATTR = "id"; protected final XMLInterface xml; protected final Logger listLogger; private final ConstraintBehavior requiredCons; private final ConstraintBehavior optionalCons; private final List<EmitBehavior> emits; private final List<FaceBehavior> faces; private final List<GazeBehavior> gazes; private final List<GestureBehavior> gestures; private final List<HeadBehavior> heads; private final List<LipsBehavior> lips; private final List<LocomotionBehavior> locomotions; private final List<SpeechBehavior> speeches; protected final Map<String, Behavior> map; private final ArrayList<BehaviorResult> results; private final String id; public BehaviorList(Logger logger, XMLInterface xml, Element root) { this(logger, xml, root.getAttribute(ID_ATTR)); // copy paste is my friend here, for type safety these have to be done // separately and then stored // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading constraints"); NodeList list = root .getElementsByTagName(BehaviorType.CONSTRAINT.elementName); for (int c = 0; c < list.getLength(); c++) { // each constraint must be merged into the good constraint ConstraintBehavior cb = new ConstraintBehavior(logger, (Element) list.item(c)); if (cb.isRequired()) { this.requiredCons.getBefore().addAll(cb.getBefore()); this.requiredCons.getSynchronize().addAll(cb.getSynchronize()); this.requiredCons.getAfter().addAll(cb.getAfter()); } else { this.optionalCons.getBefore().addAll(cb.getBefore()); this.optionalCons.getSynchronize().addAll(cb.getSynchronize()); this.optionalCons.getAfter().addAll(cb.getAfter()); } } this.listLogger.debug(LoggerLevel.BEHAVIOR, "Found " + this.optionalCons.getBefore().size() + " before, " + this.optionalCons.getSynchronize().size() + " synchronized, " + this.optionalCons.getAfter().size() + " after in optional cons"); this.listLogger.debug(LoggerLevel.BEHAVIOR, "Found " + this.requiredCons.getBefore().size() + " before, " + this.requiredCons.getSynchronize().size() + " synchronized, " + this.requiredCons.getAfter().size() + " after in required cons"); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading emits"); list = root.getElementsByTagName(BehaviorType.EMIT.elementName); for (int c = 0; c < list.getLength(); c++) this.emits.add(new EmitBehavior(logger, (Element) list.item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading faces"); list = root.getElementsByTagName(BehaviorType.FACE.elementName); for (int c = 0; c < list.getLength(); c++) this.faces.add(new FaceBehavior(logger, (Element) list.item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading gazes"); list = root.getElementsByTagName(BehaviorType.GAZE.elementName); for (int c = 0; c < list.getLength(); c++) this.gazes.add(new GazeBehavior(logger, (Element) list.item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading gestures"); list = root.getElementsByTagName(BehaviorType.GESTURE.elementName); for (int c = 0; c < list.getLength(); c++) this.gestures.add(new GestureBehavior(logger, (Element) list .item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading heads"); list = root.getElementsByTagName(BehaviorType.HEAD.elementName); for (int c = 0; c < list.getLength(); c++) this.heads.add(new HeadBehavior(logger, (Element) list.item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading lips"); list = root.getElementsByTagName(BehaviorType.LIPS.elementName); for (int c = 0; c < list.getLength(); c++) this.lips.add(new LipsBehavior(logger, (Element) list.item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading locomotion"); list = root.getElementsByTagName(BehaviorType.LOCOMOTION.elementName); for (int c = 0; c < list.getLength(); c++) this.locomotions.add(new LocomotionBehavior(logger, (Element) list .item(c))); // then for each sub element in the root that is good, parse it this.listLogger.debug(LoggerLevel.BEHAVIOR, "Loading speeches"); list = root.getElementsByTagName(BehaviorType.SPEECH.elementName); for (int c = 0; c < list.getLength(); c++) this.speeches .add(new SpeechBehavior(logger, (Element) list.item(c))); // store the behaviors by id to retrieve them easily. for (Behavior b : this.emits) map.put(b.getID(), b); for (Behavior b : this.faces) map.put(b.getID(), b); for (Behavior b : this.gazes) map.put(b.getID(), b); for (Behavior b : this.gestures) map.put(b.getID(), b); for (Behavior b : this.heads) map.put(b.getID(), b); for (Behavior b : this.lips) map.put(b.getID(), b); for (Behavior b : this.locomotions) map.put(b.getID(), b); for (Behavior b : this.speeches) map.put(b.getID(), b); this.listLogger.debug(LoggerLevel.BEHAVIOR, "BML loaded"); } public BehaviorList(Logger logger, XMLInterface xml, String id) { this.xml = xml; this.id = id; this.listLogger = logger.sub(Colors.BEHAV_LIST, "LIST"); this.requiredCons = new ConstraintBehavior(logger, id + "-req-cons", true); this.optionalCons = new ConstraintBehavior(logger, id + "-opt-cons", false); this.emits = new ArrayList<EmitBehavior>(); this.faces = new ArrayList<FaceBehavior>(); this.gazes = new ArrayList<GazeBehavior>(); this.gestures = new ArrayList<GestureBehavior>(); this.heads = new ArrayList<HeadBehavior>(); this.lips = new ArrayList<LipsBehavior>(); this.locomotions = new ArrayList<LocomotionBehavior>(); this.speeches = new ArrayList<SpeechBehavior>(); this.map = new HashMap<String, Behavior>(); map.put(requiredCons.getID(), requiredCons); map.put(optionalCons.getID(), optionalCons); this.results = new ArrayList<BehaviorResult>(); } public ConstraintBehavior getOptionalConstraints() { return optionalCons; } public ConstraintBehavior getRequiredConstraints() { return requiredCons; } public List<EmitBehavior> getEmits() { return emits; } public List<FaceBehavior> getFaces() { return faces; } public List<GazeBehavior> getGazes() { return gazes; } public List<GestureBehavior> getGestures() { return gestures; } public List<HeadBehavior> getHeads() { return heads; } public List<LipsBehavior> getLips() { return lips; } public List<LocomotionBehavior> getLocomotions() { return locomotions; } public List<SpeechBehavior> getSpeeches() { return speeches; } public List<Behavior> getAllBehaviors() { ArrayList<Behavior> all = new ArrayList<Behavior>(); all.add(this.requiredCons); all.add(this.optionalCons); all.addAll(this.emits); all.addAll(this.faces); all.addAll(this.gazes); all.addAll(this.gestures); all.addAll(this.heads); all.addAll(this.lips); all.addAll(this.locomotions); all.addAll(this.speeches); return all; } @Override public Iterator<Behavior> iterator() { return this.getAllBehaviors().iterator(); } public String getID() { return this.id; } public Behavior find(String id) { return map.get(id); } public void addFinished(String id, SyncPoint point, byte result) { BehaviorResult finished = new BehaviorResult(); finished.behavior = new ros.pkg.bml_msgs.msg.Behavior(); finished.behavior.id = id; finished.behavior.synchPoint = (point == null) ? SyncPoint.END.rosValue : point.rosValue; finished.result = new Flag(); finished.result.value = result; this.results.add(finished); } public ArrayList<BehaviorResult> getFinished() { return this.results; } public int size() { // the 2 is for the constraint behaviors return 2 + this.emits.size() + this.faces.size() + this.gazes.size() + this.gestures.size() + this.heads.size() + this.lips.size() + this.locomotions.size() + this.speeches.size(); } public String toBML() { Document doc = this.xml.createDocument(); Element root = doc.createElement("bml"); root.setAttribute("id", this.id); doc.appendChild(root); // then for each behavior which is not a reference, convert it to BML. for (Behavior behav : this.getAllBehaviors()) root.appendChild(behav.toBML(doc)); return this.xml.convertDocumentToString(doc); } public static BehaviorList parseBML(Logger logger, XMLInterface xml, String bml) { Document doc = xml.loadDocument(new StringReader(bml)); return new BehaviorList(logger, xml, doc.getDocumentElement()); } }

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bml_lib
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:05 2011