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/realizer/RealizerService.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.realizer; import java.util.ArrayList; import java.io.BufferedReader; import java.io.File; import java.io.InputStreamReader; import ros.ServiceServer.Callback; import ros.pkg.bml_msgs.msg.BehaviorResult; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.bml_srvs.srv.BMLRealization.Request; import ros.pkg.bml_srvs.srv.BMLRealization.Response; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.bml.behavior.BehaviorList; import edu.wpi.hri.bml.exec.SchedulerException; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.LoggerLevel; public class RealizerService implements Callback<Request, Response> { private final Logger logger; private final BMLComm comm; private final ControlComm control; private final XMLInterface xmlInterface; private final MasterSpinner spin; public RealizerService(Logger logger, BMLComm comm, ControlComm control, MasterSpinner spin) { String file = ""; try { Process p = Runtime.getRuntime().exec( "rospack find bml_realizer"); p.waitFor(); BufferedReader stdInput = new BufferedReader(new InputStreamReader( p.getInputStream())); String egFolder = stdInput.readLine(); file = egFolder + "/bml.xsd"; } catch (Exception e) { } this.xmlInterface = new XMLInterface(logger, new File(file)); this.logger = logger; this.comm = comm; this.control = control; this.spin = spin; this.logger.debug(LoggerLevel.INIT, "Created realizer service successfully."); } @Override public Response call(Request req) { Response res = new Response(); res.behaviors = new ArrayList<BehaviorResult>(); res.success.value = Flag.FAILURE; try { // the user may be debugging so print the entire bml request logger.info("Starting realization"); logger.debug(LoggerLevel.IO, "Received BML Request :\n" + req.bml); // create the list of behaviors in a program readable format logger.debug(LoggerLevel.BML_EXECUTION, "Parsing BML string ..."); BehaviorList behaviors = null; try { behaviors = BehaviorList.parseBML(this.logger, this.xmlInterface, req.bml); } catch (IllegalArgumentException e) { logger.warn("Invalid BML specified: " + e.getMessage()); logger.printThrowable(LoggerLevel.ALL, e); } // check that the behaviors were parsed properly if (behaviors == null) { res.success.value = Flag.INVALID; return res; } // then create the schedule based on the behaviors logger.debug(LoggerLevel.BML_EXECUTION, "Scheduling behaviors"); Schedule schedule = new Schedule(this.logger, behaviors, this.comm, this.control); try { schedule.schedule(); } catch (SchedulerException e) { logger.warn("Failed schedule: " + e.getMessage()); res.success.value = Flag.FAILURE; return res; } // then start a new thread for the spinning before starting // execution this.spin.startNewMaster(); synchronized (this) { // respond to the service with the correct answer from the // execution. res.success.value = schedule.execute(); res.behaviors = behaviors.getFinished(); logger.debug(LoggerLevel.BML_EXECUTION, "Execution returned " + res.success.value); } } catch (Exception e) { this.logger.printThrowable(LoggerLevel.BML_EXECUTION, e); res.success.value = Flag.FAILURE; } return res; } }

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