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/Schedule.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.util.Hashtable; import java.util.List; import edu.wpi.hri.bml.behavior.Behavior; import edu.wpi.hri.bml.behavior.BehaviorList; import edu.wpi.hri.bml.behavior.ConstraintBehavior; import edu.wpi.hri.bml.behavior.EmitBehavior; import edu.wpi.hri.bml.behavior.FaceBehavior; import edu.wpi.hri.bml.behavior.GazeBehavior; import edu.wpi.hri.bml.behavior.GestureBehavior; import edu.wpi.hri.bml.behavior.HeadBehavior; import edu.wpi.hri.bml.behavior.LipsBehavior; import edu.wpi.hri.bml.behavior.LocomotionBehavior; import edu.wpi.hri.bml.behavior.SpeechBehavior; import edu.wpi.hri.bml.behavior.SyncRef; import edu.wpi.hri.bml.behavior.ConstraintBehavior.SyncBlock; import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint; import edu.wpi.hri.bml.exec.EmitExecutor; import edu.wpi.hri.bml.exec.Executor; import edu.wpi.hri.bml.exec.FaceExecutor; import edu.wpi.hri.bml.exec.GazeExecutor; import edu.wpi.hri.bml.exec.GestureExecutor; import edu.wpi.hri.bml.exec.HeadExecutor; import edu.wpi.hri.bml.exec.LipsExecutor; import edu.wpi.hri.bml.exec.ListExecutor; import edu.wpi.hri.bml.exec.LocomotionExecutor; import edu.wpi.hri.bml.exec.SchedulerException; import edu.wpi.hri.bml.exec.SpeechExecutor; import edu.wpi.hri.bml.net.BMLPetriNet; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class Schedule { private final List<Executor> toStart; private final BehaviorList behaviors; private final Hashtable<String, Executor> execs; private final ListExecutor fullExecutor; private final Logger logger; private final BMLComm comm; private final BMLPetriNet petrinet; public Schedule(Logger logger, BehaviorList list, BMLComm comm, ControlComm control) { this.toStart = new ArrayList<Executor>(); this.behaviors = list; this.execs = new Hashtable<String, Executor>(list.size() * 2); this.logger = logger.sub(Colors.SCHEDULE, "SCHED"); this.comm = comm; // first we need to add in all of the behaviors by the executor this.logger.debug(LoggerLevel.SCHEDULE, "Generating executors from behaviors"); this.fullExecutor = new ListExecutor(logger, comm, list); this.petrinet = new BMLPetriNet(fullExecutor, logger); this.createExecutors(logger, control); this.toStart.addAll(execs.values()); this.execs.put(this.fullExecutor.getID(), this.fullExecutor); this.logger.debug(LoggerLevel.ALWAYS, "Created scheduler ..."); } private void createExecutors(Logger base, ControlComm control) { for (EmitBehavior emit : behaviors.getEmits()) this.execs.put(emit.getID(), new EmitExecutor(base, comm, emit)); for (FaceBehavior face : behaviors.getFaces()) this.execs.put(face.getID(), new FaceExecutor(base, comm, control, face)); for (GazeBehavior gaze : behaviors.getGazes()) this.execs.put(gaze.getID(), new GazeExecutor(base, comm, control, gaze)); for (GestureBehavior gesture : behaviors.getGestures()) this.execs.put(gesture.getID(), new GestureExecutor(base, comm, control, gesture)); for (HeadBehavior head : behaviors.getHeads()) this.execs.put(head.getID(), new HeadExecutor(base, comm, control, head)); for (LipsBehavior lips : behaviors.getLips()) this.execs.put(lips.getID(), new LipsExecutor(base, comm, control, lips)); for (LocomotionBehavior locomotion : behaviors.getLocomotions()) this.execs.put(locomotion.getID(), new LocomotionExecutor(base, comm, control, locomotion)); for (SpeechBehavior speech : behaviors.getSpeeches()) this.execs.put(speech.getID(), new SpeechExecutor(base, comm, control, speech)); for (String id : execs.keySet()) petrinet.addExecutor(execs.get(id)); } private void concatBehaviors(List<Behavior> behavs) throws SchedulerException { if (behavs.size() > 0) { for (int index = 1; index < behavs.size(); index++) { Behavior curr = behavs.get(index); Executor exec = this.execs.get(curr.getID()); if (toStart.contains(exec)) { Behavior prev = behavs.get(index - 1); petrinet.before(prev.getID() + SyncPoint.END, curr.getID() + SyncPoint.START); } } } } private void genExcept(String reason, SyncRef base, SyncRef listening, boolean required) throws SchedulerException { SchedulerException e = new SchedulerException(reason, base, listening, !required); if (e.warning) this.comm.publishException(e); else throw e; } private void addConstraints(ConstraintBehavior constraint) throws SchedulerException { this.logger.debug(LoggerLevel.SCHEDULE, "Executing Constraints for " + constraint.getID()); // for each standard constraint (at the same time): for (SyncBlock block : constraint.getSynchronize()) { boolean isStarted = false; // set the block refs to listen for the original start ref for (SyncRef sync : block.getRefs()) { logger.debug(LoggerLevel.SCHEDULE, "Synchronizing " + block.getStartRef() + " to " + sync); double offset = block.getStartRef().getOffset() - sync.getOffset(); if (offset != 0) { genExcept("Can not apply offset to synchronize, use after", block.getStartRef(), sync, constraint.isRequired()); if (!petrinet.after(sync.getID() + ":" + sync.getPoint(), block.getStartRef().getID() + ":" + block.getStartRef().getPoint(), (long) (offset * 1000))) { genExcept("Could not add after instead of synchronize", block.getStartRef(), sync, constraint .isRequired()); } } else if (!petrinet.synchronize( block.getStartRef().toString(), sync.toString())) { genExcept("Could not synchronize ", block.getStartRef(), sync, constraint.isRequired()); } if (sync.getPoint() == SyncPoint.START) this.toStart.remove(execs.get(sync.getID())); else isStarted = true; } if ((block.getStartRef().getPoint() == SyncPoint.START) && isStarted) this.toStart.remove(execs.get(block.getStartRef().getID())); } // then for each before block for (SyncBlock block : constraint.getBefore()) { // set the base to occur after the sync points in the block for (SyncRef sync : block.getRefs()) { logger.debug(LoggerLevel.SCHEDULE, "Before " + block.getStartRef() + " comes " + sync); double offset = block.getStartRef().getOffset() - sync.getOffset(); if (!petrinet.before(block.getStartRef().getID() + ":" + block.getStartRef().getPoint(), sync.getID() + ":" + sync.getPoint(), (long) (offset * 1000))) { genExcept("Could not add after constraint", block .getStartRef(), sync, constraint.isRequired()); } } if (block.getStartRef().getPoint() == SyncPoint.START) this.toStart.remove(execs.get(block.getStartRef().getID())); } // and finally for each after block for (SyncBlock block : constraint.getAfter()) { // set the block sync points to occur after the base point for (SyncRef sync : block.getRefs()) { logger.debug(LoggerLevel.SCHEDULE, "After " + block.getStartRef() + " comes " + sync); double offset = block.getStartRef().getOffset() - sync.getOffset(); if (!petrinet.after(block.getStartRef().getID() + ":" + block.getStartRef().getPoint(), sync.getID() + ":" + sync.getPoint(), (long) (offset * 1000))) { genExcept("Could not add after constraint", block .getStartRef(), sync, constraint.isRequired()); } if (sync.getPoint() == SyncPoint.START) this.toStart.remove(execs.get(sync.getID())); } } } public void schedule() throws SchedulerException { this.logger.debug(LoggerLevel.ALWAYS, "Calculating schedule"); // start with the constraints this.addConstraints(behaviors.getRequiredConstraints()); this.addConstraints(behaviors.getOptionalConstraints()); this.logger.debug(LoggerLevel.ALWAYS, "Constraints satisfied, scheduling all other sync points"); // have all of the emit behaviors fire off of something else. for (EmitBehavior emit : behaviors.getEmits()) { if (!petrinet.synchronize(emit.getSource().getID() + ":" + emit.getSource().getPoint(), emit.getID() + ":" + SyncPoint.START)) { genExcept("Could not start emit behavior", emit.getSource(), new SyncRef(emit, SyncPoint.START, 0), emit .isRequired()); } } // then find the start and end points of each behavior to sync to for (Behavior behav : behaviors) { if (behav.getStart() != null) { SyncRef start = behav.getStart(); if (!petrinet.synchronize(start.getID() + ":" + start.getPoint(), behav.getID() + ":" + SyncPoint.START)) { genExcept("Could not start behavior", start, new SyncRef( behav, SyncPoint.START, 0), behav.isRequired()); } } if (behav.getEnd() != null) { SyncRef end = behav.getEnd(); if (!petrinet.synchronize(end.getID() + ":" + end.getPoint(), behav.getID() + ":" + SyncPoint.END)) { genExcept("Could not end behavior", end, new SyncRef(behav, SyncPoint.END, 0), behav.isRequired()); } } } // append behaviors to previous of same type, if not scheduled, in order // to ensure that each behavior is indeed started this.concatBehaviors(new ArrayList<Behavior>(behaviors.getFaces())); this.concatBehaviors(new ArrayList<Behavior>(behaviors.getGazes())); this.concatBehaviors(new ArrayList<Behavior>(behaviors.getGestures())); this.concatBehaviors(new ArrayList<Behavior>(behaviors.getHeads())); this.concatBehaviors(new ArrayList<Behavior>(behaviors.getLips())); this .concatBehaviors(new ArrayList<Behavior>(behaviors .getLocomotions())); this.concatBehaviors(new ArrayList<Behavior>(behaviors.getSpeeches())); if (petrinet.existsCycle()) throw new SchedulerException("Schedule created a cycle", null, null, false); } public byte execute() { this.logger.debug(LoggerLevel.ALWAYS, "Executing schedule"); byte success = petrinet.execute(); for (Executor executor : this.execs.values()) { this.logger.debug(LoggerLevel.BML_EXECUTION, "finishing " + executor.getID()); this.behaviors.addFinished(executor.getID(), executor.getPoint(), executor.getResult()); } this.logger.debug(LoggerLevel.ALWAYS, "BML execution completed [" + success + "]"); return success; } }

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