bml_realizer: bml_realizer/src/edu/wpi/hri/bml/exec/Executor.java Source File

00001 /*
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00007  *  Redistribution and use in source and binary forms, with or without
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00013  *   * Redistributions in binary form must reproduce the above
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 package edu.wpi.hri.bml.exec;
00035 
00036 import org.w3c.dom.Document;
00037 import org.w3c.dom.Element;
00038 
00039 import ros.pkg.bml_msgs.msg.Flag;
00040 import edu.wpi.hri.bml.behavior.Behavior;
00041 import edu.wpi.hri.bml.behavior.SyncRef;
00042 import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint;
00043 import edu.wpi.hri.bml.realizer.BMLComm;
00044 import edu.wpi.hri.log.Logger;
00045 import edu.wpi.hri.log.Logger.Colors;
00046 import edu.wpi.hri.log.Logger.LoggerLevel;
00047 
00054 public abstract class Executor {
00055 
00056         private SyncPoint currentPoint;
00057         private Behavior behav;
00058         protected final Logger logger;
00059         private final BMLComm comm;
00060         private byte result;
00061         private final boolean publish;
00062 
00075         protected Executor(Logger logger, BMLComm comm, Behavior behav,
00076                         boolean publish) {
00077                 this(logger, comm, behav.getID(), publish);
00078                 this.behav = behav;
00079         }
00080 
00093         protected Executor(Logger logger, BMLComm comm, String id, boolean publish) {
00094                 this.publish = publish;
00095                 this.comm = comm;
00096                 this.behav = new Behavior(logger, id, false) {
00097 
00098                         @Override
00099                         protected String getElementName() {
00100                                 return "";
00101                         }
00102 
00103                         @Override
00104                         protected void appendAttributes(Document doc, Element elem) {
00105                         }
00106                 };
00107                 this.logger = logger.sub(Colors.EXECUTOR, id);
00108                 this.currentPoint = SyncPoint.START;
00109                 this.result = Flag.INVALID;
00110 
00111                 this.logger.debug(LoggerLevel.BEHAVIOR, "created ...");
00112         }
00113 
00117         public SyncPoint getPoint() {
00118                 if (this.currentPoint == null)
00119                         return SyncPoint.END;
00120                 else
00121                         return this.currentPoint.previous();
00122         }
00123 
00127         public String getID() {
00128                 return this.behav.getID();
00129         }
00130 
00134         public byte getResult() {
00135                 return this.result;
00136         }
00137 
00138         public byte doSyncPoint(SyncPoint point) {
00139                 // if we have already done this
00140                 if ((this.currentPoint == null) || (this.currentPoint.isAfter(point)))
00141                         return Flag.FAILURE;
00142                 // then call the do method
00143                 result = this.doPoint(this.currentPoint);
00144 
00145                 if (publish)
00146                         comm
00147                                         .publishPerformance(new SyncRef(this.behav, point, 0.0),
00148                                                         result);
00149                 if (result == Flag.SUCCESS) {
00150                         currentPoint = currentPoint.next();
00151                         // then fire off the listeners to execute at the same time
00152                         this.logger.debug(LoggerLevel.BML_EXECUTION,
00153                                         "Successfully Completed " + point);
00154                 } else {
00155                         this.logger.warn("Failed at " + point);
00156                 }
00157 
00158                 return result;
00159         }
00160 
00164         protected abstract byte doPoint(SyncPoint point);
00165 }