Mercurial > hg > Members > kono > jpf-core

annotate src/examples/RobotManager.java @ 0:61d41facf527

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
initial v8 import (history reset)
author Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
date Fri, 23 Jan 2015 10:14:01 -0800
parents
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
0
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
1 /*
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
2 * Copyright (C) 2014, United States Government, as represented by the
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
3 * Administrator of the National Aeronautics and Space Administration.
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
4 * All rights reserved.
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
5 *
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
6 * The Java Pathfinder core (jpf-core) platform is licensed under the
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
7 * Apache License, Version 2.0 (the "License"); you may not use this file except
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
8 * in compliance with the License. You may obtain a copy of the License at
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
9 *
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
10 * http://www.apache.org/licenses/LICENSE-2.0.
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
11 *
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
12 * Unless required by applicable law or agreed to in writing, software
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
13 * distributed under the License is distributed on an "AS IS" BASIS,
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
15 * See the License for the specific language governing permissions and
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
16 * limitations under the License.
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
17 */
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
18
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
19
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
20 import java.util.ArrayList;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
21 import java.util.HashMap;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
22 import java.util.List;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
23 import java.util.Random;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
24
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
25 /**
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
26 * a simplified version of the AWT RobotManager example
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
27 */
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
28 public class RobotManager {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
29
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
30 static class Robot {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
31 String id;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
32
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
33 Robot (String id){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
34 this.id = id;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
35 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
36
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
37 String getId(){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
38 return id;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
39 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
40
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
41 String processSequence(String sequence){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
42 System.out.printf("robot %s processing sequence: %s\n", id, sequence);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
43 return "Ok";
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
44 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
45 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
46
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
47 class StatusAcquisitionThread extends Thread {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
48 boolean done;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
49
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
50 public StatusAcquisitionThread () {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
51 setDaemon(true);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
52 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
53
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
54 @Override
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
55 public void run () {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
56 int n = robotList.size();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
57 Random random = new Random(0);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
58
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
59 while (!done) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
60 int idx = random.nextInt(n);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
61 Robot robot = robotList.get(idx);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
62 setRobotOnline(robot, !isRobotOnline(robot.id));
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
63
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
64 try {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
65 Thread.sleep(3000);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
66 } catch (InterruptedException ix) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
67 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
68 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
69 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
70
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
71 public void terminate () {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
72 done = true;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
73 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
74 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
75
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
76 List<Robot> robotList = new ArrayList<Robot>();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
77 HashMap<String,Robot> onlineRobots = new HashMap<String,Robot>();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
78 StatusAcquisitionThread acquisitionThread;
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
79
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
80 public RobotManager() {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
81 robotList.add( new Robot("RATS-1"));
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
82 robotList.add( new Robot("RATS-2"));
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
83 robotList.add( new Robot("RCAT-1"));
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
84 robotList.add( new Robot("POGO-1"));
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
85
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
86 for (Robot r : robotList) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
87 setRobotOnline(r, true);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
88 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
89 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
90
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
91 public void setRobotOnline (Robot robot, boolean isOnline) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
92 if (isOnline) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
93 onlineRobots.put(robot.getId(), robot);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
94 } else {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
95 onlineRobots.remove(robot.getId());
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
96 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
97 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
98
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
99 public boolean isRobotOnline (String robotName) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
100 return onlineRobots.containsKey(robotName);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
101 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
102
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
103 public Robot getOnlineRobot (String robotName) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
104 return onlineRobots.get(robotName);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
105 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
106
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
107 public String sendSequence(Robot robot, String sequence) {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
108 return robot.processSequence(sequence);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
109 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
110
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
111 void startStatusAcquisitionThread (){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
112 acquisitionThread = new StatusAcquisitionThread();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
113 acquisitionThread.start();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
114 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
115
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
116 void stopStatusAcquisitionThread(){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
117 acquisitionThread.terminate();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
118 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
119
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
120 void processInput (){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
121 String robotName = "POGO-1";
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
122 String sequence = "left; go";
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
123
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
124 if (isRobotOnline(robotName)){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
125 Robot robot = getOnlineRobot( robotName);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
126 String result = robot.processSequence(sequence);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
127 System.out.printf("sent sequence \"%s\" to robot %s => %s\n", sequence, robotName, result);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
128 } else {
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
129 System.out.print("robot not online: ");
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
130 System.out.println(robotName);
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
131 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
132 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
133
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
134 public static void main (String[] args){
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
135 RobotManager robotManager = new RobotManager();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
136 robotManager.startStatusAcquisitionThread();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
137 robotManager.processInput();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
138 //robotManager.stopStatusAcquisitionThread();
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
139 }
61d41facf527 initial v8 import (history reset)
Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
parents:
diff changeset
140 }