Knowledge Science GroupDept of Computer ScienceUniveristy of Calgary
public class Controller extends Agent
Title: CASA Agent Infrastructure
Description:
Copyright: Copyright (c) 2007, Knowledge Science Group, University of Calgary. Permission to use, copy, modify, distribute and sell this software and its documentation for any purpose is hereby granted without fee, provided that the above copyright notice appear in all copies and that both that copyright notice and this permission notice appear in supporting documentation. The Knowledge Science Group makes no representations about the suitability of this software for any purpose. It is provided "as is" without express or implied warranty.
Company: Knowledge Science Group, University of Calgary
This class is anAgent that controls the behaviour of a robot
by communicating with an instance of the iRobotCreate class. It sends
request messages to control the robot's actions, query-if
messages to get information about the robot's state, and subscribe
messages to set up events to react to.TransientAgent.NewAgentLispCommandAbstractProcess.SubthreadThread.State, Thread.UncaughtExceptionHandler| Modifier and Type | Field and Description |
|---|---|
protected short |
defSpeed
The default speed of the robot when moving
|
protected boolean |
demoOn
a flag to indicate weather a demo is going on or not
|
(package private) boolean |
lightOn |
private TimeEvent |
overcurrentEvent |
(package private) URLDescriptor |
server
the server agent that this Controller will communicate with
|
agentConstructorComplete, propertiescacheKB, CDInvitedTo, CDinvitee, conversationData, defaultOntologyClassName, DEFER_ACTION, DROP_ACTION, kBase, ListOfArgs, ontologyEngineCreateMethod, ontologyEngineLoadMethod, policies, policiesAlwaysApply, policiesLastResort, primaryUI, proxy, UIs, usingProxyhuntForPort, initParams, ontology, ontologyShared, options, securityFilter, trace, TRACE_MONITOR, TRACE_OFF, TRACE_ON, TRACE_TO_FILE, TRACE_UNDEFINED, uniqueThreadName, waitingForAgentToStartMAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY| Constructor and Description |
|---|
Controller(ParamsMap params,
AgentUI ui) |
| Modifier and Type | Method and Description |
|---|---|
protected boolean |
demoOn()
Access to
demoOn flag |
protected void |
demoOnToggle()
Toggle the
demoOn flag |
URLDescriptor |
getServer() |
void |
initializeAfterRegistered(boolean registered)
Overrides
Agent.initializeAfterRegistered(boolean) start the robot moving
straight ahead at defSpeed mm/s. |
protected void |
onBumpsAndWheelDrops(int val) |
protected void |
onButtonPressed_advance()
React to the advance button by stopping the engines.
|
protected void |
onButtonPressed_play()
React to the play button by driving forward at
defSpeed. |
protected void |
onButtonPressed_playAndAdvance()
React to a press of both the andvace and play button by starting the "return to home"
demo if not already running a demo, or canceling the demo if there is already
a demo running.
|
protected void |
onOvercurrent(int val) |
destroyDataObject, finalize, getAgentOptions, getBooleanProperty, getCASAFilename, getCreateDate, getDataObject, getDataObjectInputStream, getDataObjectOutputStream, getDoubleProperty, getFloatProperty, getIntegerProperty, getLongProperty, getOptions, getStringProperty, hasProperty, isPersistent, main, makeDefaultGUI, makeDefaultInternalFrame, makeOptions, pendingFinishRun, putDataObject, putDataObject, readPersistent, ready, realizeAgentBehaviourFromOptions, removeProperty, setBooleanProperty, setDoubleProperty, setFloatProperty, setIntegerProperty, setLongProperty, setOptions, setPersistent, setStringProperty, updateOptions, writePersistentabclEval, abclEval, abclEval, accept_deleteCD, accept_exit, accept_forward_message, accept_LAC_closing, accept_new_MenuItem, accept_update, acceptDefault, addConversation, addJoinedCooperationDomain, addMembers, addSubscribeEvents, assembleDefault, assert_, assert_, authorizedByProxy, authorizeMessage, chooseSC, concludeDefault, consider_execute, consider_invite_to_cd, consider_new_MenuItem, consider_ping, consider_query_if, consider_query_ref, considerDefault, createCasaLispOperators, dispatchMsgHandlerMethod, doAddObserver, doAdvertise, doCDGetHistory_sync, doCDGetMembers, doCDPutData, doCDSubscribeMembership, doFindInstances_sync, doGetCooperationDomains, doGetOnology, doInviteToCD, doJoinCD, doPing_sync, doPing, doRegisterAgentInstance, doRegisterAgentInstance, doResolveURL, doSearchYP, doUnadvertise, doUnregisterAgentInstance, doUnregisterAgentType, doWithdrawCD, evaluateDefault, evesdrop, executeCommand, findFileResourcePath, findFileResourcePath, getAgentForThread, getAlwaysApplyPolicies, getBanner, getCachedKnowledgeBase, getChosenCommitment, getCommitmentProcessor, getConversation, getConversations, getConversationsReport, getDefaultBanner, getDefFileSystemLocations, getEventForThread, getField, getInstancesFound, getJoinedCooperationDomain, getJoinedCooperationDomains, getKnowledgeBase, getLACURL, getLastResortPolicies, getMembers, getMsgForThread, getObjectsForThread, getOntology, getOntologyEngine, getOntologyFileSuffix, getPolicies, getPrimaryUI, getProxy, getSCStore, getSerializedOntology, getStrategy, getStrategyGUI, getSubscribeEvents, getSubscribeEvents, getTermsFromContent, getUI, getUIForThread, getUIs, getUnfulfilledSocialCommitments, getUnfulfilledSocialCommitments, handleErrorReplies, handleEvent, handleLACClosing, hasActiveCommitments, hasConversation, hasStrategyGUI, initializePolicies, initializeThread, initJADE, initUI, isEventQueueReady, isRegistered, isRegisteredWithLAC, isStoppable, isTrusted, isTrusted, isUsingProxy, kb_get_value, makeDefaultInterface, makeDefaultTextInterface, monitorDefault, notifySendingMessage, optionsToString, parseJADENode, pendingFinishRun_unregisterAgentInstance, pendingFinishRun_withdrawFromAllCDs, perform_execute, perform_FIPAStyle, perform_get_name, perform_get_ontology, perform_invite_to_cd, perform_method_call, perform_query_if, perform_query_if, perform_query_ref, perform_query_ref, performDefault, processCommitment, processCommitments, processObserverNotification, putExtendedOntology, putPolicy, putPolicyAlwaysApply, putPolicyLastResort, putReplacementOntology, putUI, query_ref, query_toString, query, queryIf, queryRef_toIntegerList, queryRef_toString, queryRef_toStringList, queryRef_toTermList, queryRef, queryRef, queryRefAIDs, queryRefURLs, querywithFilter, recursiveParent, recursivePermutations, release_execute, release_FIPAStyle, release_get_agents_registered, release_get_agents_running, release_get_members, release_get_ontology, release_join_cd, release_ping, release_query_if, release_query_ref, release_resolve_url, release_unregister_agentType, release_unregister_instance, release_withdraw_cd, releaseDefault, removeConversation, removeCooperationDomains, removeJoinedCooperationDomain, removeSubscribeEvents, requestInstances, resolveConnectException, retrieveReturnedData, saveReturnedData, searchOntology, searchOntology1, setBanner, setCommitmentProcessor, setField, setInstancesFound, setOntology, shouldDoExecuteRequest, template_handleNewOntologyInfo, update, updateConversationProtocolType, verifyCD, verifyDefault, verifyMessageaddObserver, addObserver, addObserver, addObserver, addTraceTags, addTransformation, bump, clearAllTraceTags, closePort, compareTo, countObservers, defer, defer, deleteObserver, deleteObserver, deleteObservers, dequeueEvent, equals, eventBufferLoopBody, eventBufferLoopPeriodic, eventQueuePeek, existed, exit, finishRun, fixupMessage, getAgent, getAgentName, getEventQueue, getInitParams, getNewMessage, getNewMessage, getPort, getSocketServer, getTrace, getTraceTags, getTransformationFor, getUniqueRequestID, getURL, getUseAckProtocol, getUsePriority, hasChanged, hasOpenPort, in, initializeConstructor, initializeURL, isA, isA, isA, isA, isAAct, isAAct, isAgentThread, isAPerformative, isAPerformative, isExiting, isInitialized, isLoggingTag, isObserveMessages, isPaused, isThisMyAddress, isTracing, loadClass, makeSubthread, makeSubthread, makeTraceParam, notifyObservers, notifyObservers, notifyObserversWithNoArg, notifyObserversWithTop, out, println, println, println, println, println, queueEvent, queueEventIf, removeTraceTags, resetRuntimeOptionsFromCommandLine, resetSecurityPackage, resetTraceOptions, revTransform, revTransform, run, sendMessage, sendMessage, sendMessageAndWait, sendQueryAndWait, sendRequestAndWait, sendRequestAndWait, setAllTraceTags, setObserveMessages, setPause, setTraceTags, setTracing, setURL, setUseAckProtocol, setUsePriority, startSocketServer, startTraceMonitor, step, transform, transform, unhandledMessageactiveCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yieldgetClass, hashCode, notify, notifyAll, wait, wait, waitdoAdvertise, doCDGetHistory_sync, doCDGetMembers, doCDPutData, doFindInstances_sync, doGetCooperationDomains, doGetOnology, doInviteToCD, doJoinCD, doPing_sync, doPing, doRegisterAgentInstance, doRegisterAgentInstance, doSearchYP, doUnadvertise, doUnregisterAgentInstance, doUnregisterAgentType, doWithdrawCD, executeCommand, getInstancesFound, getJoinedCooperationDomains, getLACURL, getMembers, getOntology, getSerializedOntology, getStrategyGUI, hasStrategyGUI, isAAct, isInitialized, isRegistered, makeDefaultInterface, putExtendedOntology, putReplacementOntology, putUI, release_get_ontology, removeCooperationDomains, requestInstancesaddObserver, addObserver, closePort, deleteObserver, deleteObserver, exit, getAgentName, getName, getNewMessage, getPort, getStrategy, getTrace, getUniqueRequestID, getURL, getUseAckProtocol, hasOpenPort, isA, isAPerformative, isExiting, isLoggingTag, isStoppable, isTracing, println, println, println, sendMessage, setTracing, setUseAckProtocol, startTraceMonitoraddObserver, addObserver, countObservers, deleteObservers, hasChanged, notifyObservers, notifyObservers, notifyObserversWithNoArg, notifyObserversWithTopabclEval, abclEval, abclEval, addTransformation, bump, chooseSC, defer, dequeueEvent, dispatchMsgHandlerMethod, evesdrop, getKnowledgeBase, getName, getSCStore, getSubscribeEvents, getTransformationFor, getUniqueRequestID, getURL, getUseAckProtocol, isA, isA, isA, isA, isAPerformative, isAPerformative, isLoggingTag, notifyObservers, println, println, println, queueEvent, queueEventIf, revTransform, revTransform, sendMessage, transform, transformURLDescriptor server
protected boolean demoOn
protected short defSpeed
boolean lightOn
private TimeEvent overcurrentEvent
public Controller(ParamsMap params, AgentUI ui) throws Exception
params - The standard map of parameters to set up the robot. This is a simple map of (String) keys to values. The
key "CONTROLS" is required and must specify the URL of an iRobotCreate agent to control.ui - The UI the robot should use.Exception - If something goes wrong, such as we can't connect t the robot to control.public URLDescriptor getServer()
protected boolean demoOn()
demoOn flagprotected void demoOnToggle()
demoOn flagpublic void initializeAfterRegistered(boolean registered)
Agent.initializeAfterRegistered(boolean) start the robot moving
straight ahead at defSpeed mm/s. But first, it sets up the
following functions:
server to report on changes to
the BumpsAndWheelDrops sensor.
This conversation will:
server to report on changes to
the Overcurrents sensor.
This conversation will:
server to report on changes to
the Buttons sensor.
This conversation will react to the following button-press combinations:
onButtonPressed_play().
onButtonPressed_advance().
onButtonPressed_playAndAdvance().
RecurringTimeEvent to send server a request message
every 4 seconds to flash the green-yellow-orange-red in sequence on
its power light.initializeAfterRegistered in class Agentregistered - Will be set to true if the agent has sucessfully registered with
the LAC; false otherwiseTransientAgent.initializeAfterRegistered(boolean)protected void onBumpsAndWheelDrops(int val)
protected void onOvercurrent(int val)
protected void onButtonPressed_play()
defSpeed.protected void onButtonPressed_advance()
protected void onButtonPressed_playAndAdvance()