Project: bml_realizer License: BSD Dependencies: bml_msgs bml_srvs bml_lib rosjava Used by: None All Packages

bml_realizer/src/edu/wpi/hri/bml/net/BMLPetriNet.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.net; import java.util.ArrayList; import java.util.Hashtable; import java.util.List; import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint; import edu.wpi.hri.bml.exec.Executor; import edu.wpi.hri.bml.exec.ListExecutor; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class BMLPetriNet { private final Logger logger; private final Hashtable<String, Place> places; private final Transition beginning; private final List<Transition> allTrans; private final Place blockStart; private final ThreadGroup threads; public BMLPetriNet(ListExecutor block, Logger sublog) { logger = sublog.sub(Colors.PETRI_NET, block.getID()); threads = new ThreadGroup("Petri:" + block.getID()); places = new Hashtable<String, Place>(); allTrans = new ArrayList<Transition>(); // create the bml block points to execute beginning = new Transition(threads, logger, block.getID() + "-begin"); addExecutor(block); beginning.mergeWith(places.get(block.getID() + ":" + SyncPoint.START) .getInput()); logger.debug(LoggerLevel.INIT, "Created petri net"); blockStart = places.get(block.getID() + ":" + SyncPoint.START); } public boolean addExecutor(Executor exec) { Transition prevTrans = new Transition(threads, logger, exec.getID() + "-start"); final Transition firstTrans = prevTrans; allTrans.add(prevTrans); if (places.containsKey(exec.getID() + ":" + SyncPoint.START)) return false; for (SyncPoint sp : SyncPoint.values()) { Place curr = new BehaviorPlace(threads, exec, sp, logger); curr.setInput(prevTrans); prevTrans.addOutput(curr); prevTrans = new Transition(threads, logger, exec.getID() + "-" + sp.next()); allTrans.add(prevTrans); curr.addOutput(prevTrans); prevTrans.addInput(curr); places.put(exec.getID() + ":" + sp, curr); } if (blockStart != null) { blockStart.addOutput(firstTrans); firstTrans.addInput(blockStart); } logger.debug(LoggerLevel.SCHEDULE, "Added " + exec.getID() + " to the net"); return true; } public boolean synchronize(String first, String second) { Place p1 = places.get(first); Place p2 = places.get(second); if (p1 == null || p2 == null) return false; return p1.getInput().mergeWith(p2.getInput()); } public boolean after(String first, String second) { Place p1 = places.get(first); Place p2 = places.get(second); if (p1 == null || p2 == null) return false; logger.debug(LoggerLevel.SCHEDULE, "Setting " + p2.getInput().getName() + " to be after " + p1.getName()); return p1.addOutput(p2.getInput()) && p2.getInput().addInput(p1); } public boolean before(String first, String second) { return after(second, first); } public boolean after(String first, String second, long delayms) { if (delayms < 0) return false; else if (delayms == 0) return after(first, second); Place p1 = places.get(first); Place p2 = places.get(second); if (p1 == null || p2 == null) return false; Place wait = new TimedPlace(threads, delayms, logger); Transition trans = new Transition(threads, logger, first + "-" + second + "-" + "wait"); allTrans.add(trans); wait.setInput(trans); trans.addOutput(wait); logger.debug(LoggerLevel.SCHEDULE, "Setting " + p2.getInput().getName() + " to be after " + p1.getName()); return p1.addOutput(wait.getInput()) && wait.addOutput(p2.getInput()) && wait.getInput().addInput(p1) && p2.getInput().addInput(wait); } public boolean before(String first, String second, long delay) { return after(second, first, delay); } public byte execute() { this.beginning.start(); byte success = 1; for (Place p : places.values()) if (p.finish() == 0) success = 0; for(Transition t : allTrans) t.end(); return success; } public boolean existsCycle() { List<PetriPart> beento = new ArrayList<PetriPart>(); return this.beginning.existsCycle(beento); } }

---

bml_realizer
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:12 2011