>xabsl	The Extensible Agent Behavior Specification Language
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XabslEngine Class Library Reference
XabslEngine.h Go to the documentation of this file. /** * @file XabslEngine.h * * Declaration class Engine * * @author <a href="http://www.martin-loetzsch.de">Martin Loetzsch</a> * @author <a href="http://www.sim.informatik.tu-darmstadt.de/pers/card/risler.html">Max Risler</a> * @author <a href="http://www.informatik.hu-berlin.de/~juengel">Matthias JŸngel</a> */ #ifndef __XabslEngine_h_ #define __XabslEngine_h_ #include "XabslAgent.h" #include "XabslOption.h" #include "XabslCoopState.h" #include "XabslTeamMessage.h" namespace xabsl { /** * Executes a behavior that was specified in the Xabsl language. * * @author <a href="http://www.martin-loetzsch.de">Martin Loetzsch</a> * @author <a href="http://www.sim.informatik.tu-darmstadt.de/pers/card/risler.html">Max Risler</a> * @author <a href="http://www.informatik.hu-berlin.de/~juengel">Matthias JŸngel</a> */ class Engine : public Symbols { public: /** * Constructor * @param e Is invoked when there are problems during initialization * @param pTimeFunction a pointer to a function that returns the system time in ms. */ Engine(ErrorHandler& e, unsigned (*pTimeFunction)()); /** Destructor */ ~Engine(); /** * Executes the engine for the selected agent starting from the root option. * (Including the selected basic behavior) */ void execute(); /** * Reads the intermediate code from an input source and creates the option graph. * Note that the basic behaviors and symbols have to be registered before that function is * called. */ void createOptionGraph(InputSource& input); /** * Registers a basic behavior at the engine. * This must be done before the intermediate code is read. * @param basicBehavior A reference to the basic behavior */ void registerBasicBehavior(BasicBehavior& basicBehavior); /** * Sets the selected Agent. * If the last selected agent was different from the new one, * the root option is changed depending on the new agent. * @param name The name of the agent * @return if the requested agent exists */ bool setSelectedAgent(const char* name); /** * Resets all active options. * Next cycle will execute initial state of currently set root option. */ void reset(); private: /** * The time of the start of the current engine execution */ unsigned timeOfExecutionStart; /** The agents of the engine */ NamedArray<Agent*> agents; /** The selected agent */ Agent* selectedAgent; /** The options of the engine */ NamedArray<Option*> options; /** The actions for the execution of the start of the option graph */ Array<Action*> rootActions; /** The registered basic behaviors of the engine */ NamedArray<BasicBehavior*> basicBehaviors; /** Is invoked when there are problems during initialization */ ErrorHandler& errorHandler; /** * A recursive function that is used to check for loops in the option graph. * @param currentOption The option to be checked * @param currentOptionTree An array of the currently traced option tree * @param currentLength The length of the current option tree array * @param maxSize maximum allowed size of the array * @return If true, then a loop was detected. */ bool checkForLoops(Option* currentOption, ActionBehavior* currentOptionTree[], int currentLength, int maxSize); /** A recursive function that generates a list of actions referenced from a starting option * This is used by checkForLoops. * @param actionToAdd The option whose referenced actions are to be added to the current array * @param currentOptionTree An array to which the referenced options are to be added * @param currentLength The current length of the array. Actions will be appended at the end of the array. currentLength will increase accordingly. * @param maxSize maximum allowed size of the array */ void addActions(ActionBehavior* actionToAdd, ActionBehavior* currentOptionTree[], int& currentLength, int maxSize); /** * Rescursively count the number of actions referenced from an option * @param option A pointer to the option for which the referenced options are counted. * @return Number of actions */ int countActions(Option* option); /** If true, the engine was successfully initialized */ bool initialized; /** A pointer to a function that returns the system time in ms. */ unsigned (*pTimeFunction)(); /** Arrays containing internal symbol values */ NamedArray<double> internalDecimalSymbols; NamedArray<bool> internalBooleanSymbols; NamedArray<int> internalEnumeratedSymbols; /** Array of states which are used for cooperating agents */ Array<CoopState*> coopStates; /** Priority value of the agent, used for solving conflicts in cooperative state assignment */ int agentPriority; /** Number of execution cycles that is required for synchonization with other agents, i.e time from sending a message until answer is received */ int synchronizationTicks; public: //!@name Debugging Interface //!@{ /** Returns the agents of the engine */ const NamedArray<Agent*>& getAgents() const {return agents;} /** Return the options of the engine */ const NamedArray<Option*>& getOptions() const {return options;} /** Returns the registered basic behaviors of the engine */ const NamedArray<BasicBehavior*>& getBasicBehaviors() const {return basicBehaviors;} /** * Clears the list of actions executed starting the option graph. */ void clearRootActions(); /** * Adds a given option or basic behavior to the list of actions executed starting the option graph. * Can be called to test a single option or basic behavior. * @param name The name of the option or basic behavior * @param isOption True for an option, false for a basic behavior * @return When false, the option is not known to the engine */ bool addRootAction(const char* name, bool isOption = true); /** * Executes the option graph starting from a given option or basic behavior. * Can be called to test a single option or basic behavior. * @param name The name of the option or basic behavior * @param isOption True for an option, false for a basic behavior * @return When false, the option is not known to the engine */ bool setRootAction(const char* name, bool isOption = true); /** * Sets the root option of the selected agent */ void setRootAction(); /** * Adds the specified option or basic behavior to the list of root actions. */ void addRootAction(Behavior* behavior); /** * Adds a decimal output symbol assignment to the list of root actions. */ bool addRootActionDecimalOutputSymbol(const char* name, double value); /** * Adds a boolean output symbol assignment to the list of root actions. */ bool addRootActionBooleanOutputSymbol(const char* name, bool value); /** * Adds an enumerated output symbol assignment to the list of root actions. */ bool addRootActionEnumeratedOutputSymbol(const char* name, const char* value); /** * Sets the root option to the specified option or basic behavior */ void setRootAction(Behavior* behavior); /** Returns the selected root actions */ const Action* getRootAction(int i) const; /** Returns the selected root actions */ Action* getRootAction(int i); /** Returns the selected root actions */ const Array<Action*>& getRootActions() const; /** Returns the selected root actions */ Array<Action*>& getRootActions(); /** Returns the name of the selected agent */ const char* getSelectedAgentName() const; /** Prepare for processing incoming team messages. This resets previously processed messages. */ void prepareIncomingMessages(); /** Process an incoming team message from another agent */ void processIncomingMessage(const TeamMessage& message); /** Generate the outgoing team message to be sent to other agents */ void generateOutgoingMessage(TeamMessage& message); /** Set the number of execution cycles that is required for synchonization with other agents, i.e time from sending a message until answer is received */ void setSynchronizationTicks(int ticks) {synchronizationTicks = ticks;} /** Sets the priority value of the agent, used for solving conflicts in cooperative state assignment */ void setAgentPriority(int priority) {agentPriority = priority;} //!@} }; } // namespace #endif // __XabslEngine_h_ Up | Main Page | Generated at Wed Aug 19 17:32:29 2009.
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