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/ConstraintBehavior.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.util.ArrayList; import java.util.List; import org.w3c.dom.Document; import org.w3c.dom.Element; import org.w3c.dom.NodeList; import edu.wpi.hri.bml.behavior.BehaviorEnums.BehaviorType; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.LoggerLevel; public class ConstraintBehavior extends Behavior { private static final String BEFORE_ELEMENT = "before"; private static final String SYNCHRONIZE_ELEMENT = "synchronize"; private static final String AFTER_ELEMENT = "after"; private static final String SYNC_ELEMENT = "sync"; private static final String REF_ATTR = "ref"; private final List<SyncBlock> before; private final List<SyncBlock> synchronize; private final List<SyncBlock> after; public ConstraintBehavior(Logger logger, Element elem) { super(logger, elem); // first pull out all of the before blocks this.before = new ArrayList<SyncBlock>(); NodeList list = elem.getElementsByTagName(BEFORE_ELEMENT); for (int c = 0; c < list.getLength(); c++) this.before.add(new SyncBlock((Element) list.item(c))); // then pull out all of the synchronized blocks this.synchronize = new ArrayList<SyncBlock>(); list = elem.getElementsByTagName(SYNCHRONIZE_ELEMENT); for (int c = 0; c < list.getLength(); c++) this.synchronize.add(new SyncBlock((Element) list.item(c))); // finally pull out all of the after blocks this.after = new ArrayList<SyncBlock>(); list = elem.getElementsByTagName(AFTER_ELEMENT); for (int c = 0; c < list.getLength(); c++) this.after.add(new SyncBlock((Element) list.item(c))); this.logger.debug(LoggerLevel.BEHAVIOR, "Created ..."); } public ConstraintBehavior(Logger logger, String id, boolean required) { super(logger, id, required); this.before = new ArrayList<SyncBlock>(); this.synchronize = new ArrayList<SyncBlock>(); this.after = new ArrayList<SyncBlock>(); this.logger.debug(LoggerLevel.BEHAVIOR, "Created ..."); } public List<SyncBlock> getBefore() { return before; } public List<SyncBlock> getSynchronize() { return synchronize; } public List<SyncBlock> getAfter() { return after; } public void addBefore(SyncBlock block) { this.before.add(block); } public void addSynchronized(SyncBlock block) { this.synchronize.add(block); } public void addAfter(SyncBlock block) { this.after.add(block); } @Override protected void appendAttributes(Document doc, Element elem) { // first add in all of the before blocks for (SyncBlock block : this.before) elem.appendChild(block.toBML(doc, BEFORE_ELEMENT)); // then add in all of the synchronized blocks for (SyncBlock block : this.synchronize) elem.appendChild(block.toBML(doc, SYNCHRONIZE_ELEMENT)); // last add in all of the after blocks for (SyncBlock block : this.after) elem.appendChild(block.toBML(doc, AFTER_ELEMENT)); } @Override protected String getElementName() { return BehaviorType.CONSTRAINT.elementName; } public static class SyncBlock { private final List<SyncRef> refs; private SyncRef startRef; public SyncBlock(Element elem) { // get out the starting reference point if (elem.hasAttribute(REF_ATTR)) this.startRef = new SyncRef(elem.getAttribute(REF_ATTR)); else this.startRef = null; // then each of the sub sync points. this.refs = new ArrayList<SyncRef>(); NodeList list = elem.getElementsByTagName(SYNC_ELEMENT); for (int c = 0; c < list.getLength(); c++) this.refs.add(new SyncRef(((Element) list.item(c)) .getAttribute(REF_ATTR))); } public SyncBlock(SyncRef startRef) { this.startRef = startRef; this.refs = new ArrayList<SyncRef>(); } public List<SyncRef> getRefs() { return refs; } public SyncRef getStartRef() { return startRef; } public void setStartRef(SyncRef startRef) { this.startRef = startRef; } public void addRef(SyncRef ref) { this.refs.add(ref); } public void removeRef(SyncRef ref) { this.refs.remove(ref); } public Element toBML(Document doc, String name) { // create the base element first Element block = doc.createElement(name); block.setAttribute(REF_ATTR, this.startRef.toString()); // then add in all of the sub elements for (SyncRef sr : this.refs) { Element elem = doc.createElement(SYNC_ELEMENT); elem.setAttribute(REF_ATTR, sr.toString()); block.appendChild(elem); } return block; } } }

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