>xabsl The Extensible Agent Behavior Specification Language

XabslEngine Class Library Reference

xabsl::Engine Class Reference

#include <XabslEngine.h>

Inheritance diagram for xabsl::Engine:

[legend]Collaboration diagram for xabsl::Engine:

[legend]List of all members.

Detailed Description

Executes a behavior that was specified in the Xabsl language.

Author:

Martin Loetzsch

Max Risler

Matthias JŸngel

Definition at line 29 of file XabslEngine.h.


Public Member Functions
	Engine (ErrorHandler &e, unsigned(*pTimeFunction)())
	Constructor.
	~Engine ()
	Destructor.
void	execute ()
	Executes the engine for the selected agent starting from the root option.
void	createOptionGraph (InputSource &input)
	Reads the intermediate code from an input source and creates the option graph.
void	registerBasicBehavior (BasicBehavior &basicBehavior)
	Registers a basic behavior at the engine.
bool	setSelectedAgent (const char *name)
	Sets the selected Agent.
void	reset ()
	Resets all active options.
Debugging Interface
const NamedArray< Agent * > &	getAgents () const
	Returns the agents of the engine.
const NamedArray< Option * > &	getOptions () const
	Return the options of the engine.
const NamedArray< BasicBehavior * > &	getBasicBehaviors () const
	Returns the registered basic behaviors of the engine.
void	clearRootActions ()
	Clears the list of actions executed starting the option graph.
bool	addRootAction (const char *name, bool isOption=true)
	Adds a given option or basic behavior to the list of actions executed starting the option graph.
bool	setRootAction (const char *name, bool isOption=true)
	Executes the option graph starting from a given option or basic behavior.
void	setRootAction ()
	Sets the root option of the selected agent.
void	addRootAction (Behavior *behavior)
	Adds the specified option or basic behavior to the list of root actions.
bool	addRootActionDecimalOutputSymbol (const char *name, double value)
	Adds a decimal output symbol assignment to the list of root actions.
bool	addRootActionBooleanOutputSymbol (const char *name, bool value)
	Adds a boolean output symbol assignment to the list of root actions.
bool	addRootActionEnumeratedOutputSymbol (const char name, const char value)
	Adds an enumerated output symbol assignment to the list of root actions.
void	setRootAction (Behavior *behavior)
	Sets the root option to the specified option or basic behavior.
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 selected root actions.
const char *	getSelectedAgentName () const
	Returns the name of the selected agent.
void	prepareIncomingMessages ()
	Prepare for processing incoming team messages.
void	processIncomingMessage (const TeamMessage &message)
	Process an incoming team message from another agent.
void	generateOutgoingMessage (TeamMessage &message)
	Generate the outgoing team message to be sent to other agents.
void	setSynchronizationTicks (int ticks)
	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	setAgentPriority (int priority)
	Sets the priority value of the agent, used for solving conflicts in cooperative state assignment.
Private Member Functions
bool	checkForLoops (Option currentOption, ActionBehavior currentOptionTree[], int currentLength, int maxSize)
	A recursive function that is used to check for loops in the option graph.
void	addActions (ActionBehavior actionToAdd, 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.
int	countActions (Option *option)
	Rescursively count the number of actions referenced from an option.
Private Attributes
unsigned	timeOfExecutionStart
	The time of the start of the current engine execution.
NamedArray< Agent * >	agents
	The agents of the engine.
Agent *	selectedAgent
	The selected agent.
NamedArray< Option * >	options
	The options of the engine.
Array< Action * >	rootActions
	The actions for the execution of the start of the option graph.
NamedArray< BasicBehavior * >	basicBehaviors
	The registered basic behaviors of the engine.
ErrorHandler &	errorHandler
	Is invoked when there are problems during initialization.
bool	initialized
	If true, the engine was successfully initialized.
unsigned(*	pTimeFunction )()
	A pointer to a function that returns the system time in ms.
NamedArray< double >	internalDecimalSymbols
	Arrays containing internal symbol values.
NamedArray< bool >	internalBooleanSymbols
NamedArray< int >	internalEnumeratedSymbols
Array< CoopState * >	coopStates
	Array of states which are used for cooperating agents.
int	agentPriority
	Priority value of the agent, used for solving conflicts in cooperative state assignment.
int	synchronizationTicks
	Number of execution cycles that is required for synchonization with other agents, i.e time from sending a message until answer is received.

Constructor & Destructor Documentation

xabsl::Engine::Engine	(	ErrorHandler &	e,
		unsigned(*	pTimeFunction)()
	)

Constructor.

Parameters:

e	Is invoked when there are problems during initialization
pTimeFunction	a pointer to a function that returns the system time in ms.

Definition at line 16 of file XabslEngine.cpp.

xabsl::Engine::~Engine

(

)

Destructor.

Definition at line 25 of file XabslEngine.cpp.

References agents, xabsl::Array< Action * >::getSize(), xabsl::Array< NamedArrayElement< Agent * > * >::getSize(), xabsl::Array< NamedArrayElement< Option * > * >::getSize(), options, and rootActions.

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Member Function Documentation

void xabsl::Engine::execute

(

)

Executes the engine for the selected agent starting from the root option.

(Including the selected basic behavior)

Definition at line 39 of file XabslEngine.cpp.

References basicBehaviors, xabsl::ErrorHandler::error(), xabsl::Array< NamedArrayElement< BasicBehavior * > * >::getSize(), xabsl::Array< NamedArrayElement< Option * > * >::getSize(), xabsl::Array< Action * >::getSize(), initialized, options, pTimeFunction, xabsl::Symbols::resetOutputSymbols(), rootActions, and timeOfExecutionStart.

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void xabsl::Engine::createOptionGraph

(

InputSource &

input

)

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.

Definition at line 66 of file XabslEngine.cpp.

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void xabsl::Engine::registerBasicBehavior

(

BasicBehavior &

basicBehavior

)

Registers a basic behavior at the engine.

This must be done before the intermediate code is read.

Parameters:

basicBehavior

A reference to the basic behavior

Definition at line 340 of file XabslEngine.cpp.

References xabsl::NamedArray< BasicBehavior * >::append(), basicBehaviors, xabsl::ErrorHandler::error(), xabsl::NamedArray< BasicBehavior * >::exists(), xabsl::Array< NamedArrayElement< BasicBehavior * > * >::getSize(), xabsl::BasicBehavior::index, xabsl::ErrorHandler::message(), xabsl::NamedItem::n, xabsl::Behavior::parameters, xabsl::Parameters::registerEnumerations(), xabsl::BasicBehavior::registerParameters(), and XABSL_DEBUG_INIT.

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bool xabsl::Engine::setSelectedAgent

(

const char *

name

)

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.

Parameters:

name

The name of the agent

Returns:: if the requested agent exists

Definition at line 471 of file XabslEngine.cpp.

References agents, xabsl::NamedArray< Agent * >::exists(), selectedAgent, and setRootAction().

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void xabsl::Engine::reset

(

)

Resets all active options.

Next cycle will execute initial state of currently set root option.

Definition at line 489 of file XabslEngine.cpp.

References basicBehaviors, xabsl::ErrorHandler::errorsOccurred, xabsl::Array< NamedArrayElement< BasicBehavior * > * >::getSize(), xabsl::Array< NamedArrayElement< Option * > * >::getSize(), and options.

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bool xabsl::Engine::checkForLoops	(	Option *	currentOption,
		ActionBehavior *	currentOptionTree[],
		int	currentLength,
		int	maxSize
	)	`[private]`

A recursive function that is used to check for loops in the option graph.

Parameters:

currentOption	The option to be checked
currentOptionTree	An array of the currently traced option tree
currentLength	The length of the current option tree array
maxSize	maximum allowed size of the array

Returns:: If true, then a loop was detected.

Definition at line 228 of file XabslEngine.cpp.

References addActions(), xabsl::ErrorHandler::error(), xabsl::ActionBehavior::getBehavior(), xabsl::Array< NamedArrayElement< State * > * >::getSize(), xabsl::NamedItem::n, xabsl::ActionOption::option, and xabsl::Option::states.

Referenced by createOptionGraph().

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void xabsl::Engine::addActions	(	ActionBehavior *	actionToAdd,
		ActionBehavior *	currentOptionTree[],
		int &	currentLength,
		int	maxSize
	)	`[private]`

A recursive function that generates a list of actions referenced from a starting option This is used by checkForLoops.

Parameters:

actionToAdd	The option whose referenced actions are to be added to the current array
currentOptionTree	An array to which the referenced options are to be added
currentLength	The current length of the array. Actions will be appended at the end of the array. currentLength will increase accordingly.
maxSize	maximum allowed size of the array

Definition at line 292 of file XabslEngine.cpp.

References xabsl::ErrorHandler::error(), xabsl::Array< NamedArrayElement< State * > * >::getSize(), xabsl::NamedItem::n, xabsl::ActionOption::option, and xabsl::Option::states.

Referenced by checkForLoops().

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int xabsl::Engine::countActions ( Option * option ) [private]

Rescursively count the number of actions referenced from an option.

Parameters:

option

A pointer to the option for which the referenced options are counted.

Returns:: Number of actions

Definition at line 319 of file XabslEngine.cpp.

References xabsl::Array< NamedArrayElement< State * > * >::getSize(), xabsl::ActionOption::option, and xabsl::Option::states.

Referenced by createOptionGraph().

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const NamedArray<Agent*>& xabsl::Engine::getAgents ( ) const [inline]

Returns the agents of the engine.

Definition at line 152 of file XabslEngine.h.

References agents.

const NamedArray<Option*>& xabsl::Engine::getOptions ( ) const [inline]

Return the options of the engine.

Definition at line 155 of file XabslEngine.h.

References options.

const NamedArray<BasicBehavior*>& xabsl::Engine::getBasicBehaviors ( ) const [inline]

Returns the registered basic behaviors of the engine.

Definition at line 158 of file XabslEngine.h.

References basicBehaviors.

void xabsl::Engine::clearRootActions

(

)

Clears the list of actions executed starting the option graph.

Definition at line 357 of file XabslEngine.cpp.

References xabsl::Array< Action * >::clear(), xabsl::Array< Action * >::getSize(), and rootActions.

Referenced by setRootAction().

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bool xabsl::Engine::addRootAction	(	const char *	name,
		bool	isOption = true
	)

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.

Parameters:

name	The name of the option or basic behavior
isOption	True for an option, false for a basic behavior

Returns:: When false, the option is not known to the engine

Definition at line 365 of file XabslEngine.cpp.

References basicBehaviors, xabsl::NamedArray< BasicBehavior * >::exists(), xabsl::NamedArray< Option * >::exists(), and options.

Referenced by setRootAction().

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bool xabsl::Engine::setRootAction	(	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.

Parameters:

name	The name of the option or basic behavior
isOption	True for an option, false for a basic behavior

Returns:: When false, the option is not known to the engine

Definition at line 387 of file XabslEngine.cpp.

References addRootAction(), and clearRootActions().

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void xabsl::Engine::setRootAction

(

)

Sets the root option of the selected agent.

Definition at line 393 of file XabslEngine.cpp.

References xabsl::Agent::getRootOption(), and selectedAgent.

Referenced by createOptionGraph(), and setSelectedAgent().

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void xabsl::Engine::addRootAction

(

Behavior *

behavior

)

Adds the specified option or basic behavior to the list of root actions.

Definition at line 398 of file XabslEngine.cpp.

References xabsl::Array< Action * >::append(), rootActions, and timeOfExecutionStart.

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bool xabsl::Engine::addRootActionDecimalOutputSymbol	(	const char *	name,
		double	value
	)

Adds a decimal output symbol assignment to the list of root actions.

Definition at line 409 of file XabslEngine.cpp.

References xabsl::Array< Action * >::append(), xabsl::ActionDecimalOutputSymbol::decimalOutputSymbol, xabsl::ActionDecimalOutputSymbol::decimalOutputSymbolExpression, xabsl::NamedArray< DecimalOutputSymbol * >::exists(), rootActions, and timeOfExecutionStart.

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bool xabsl::Engine::addRootActionBooleanOutputSymbol	(	const char *	name,
		bool	value
	)

Adds a boolean output symbol assignment to the list of root actions.

Definition at line 420 of file XabslEngine.cpp.

References xabsl::Array< Action * >::append(), xabsl::ActionBooleanOutputSymbol::booleanOutputSymbol, xabsl::ActionBooleanOutputSymbol::booleanOutputSymbolExpression, xabsl::NamedArray< BooleanOutputSymbol * >::exists(), rootActions, and timeOfExecutionStart.

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bool xabsl::Engine::addRootActionEnumeratedOutputSymbol	(	const char *	name,
		const char *	value
	)

Adds an enumerated output symbol assignment to the list of root actions.

Definition at line 431 of file XabslEngine.cpp.

References xabsl::Array< Action * >::append(), xabsl::ActionEnumeratedOutputSymbol::enumeratedOutputSymbol, xabsl::ActionEnumeratedOutputSymbol::enumeratedOutputSymbolExpression, xabsl::NamedArray< EnumeratedOutputSymbol * >::exists(), rootActions, and timeOfExecutionStart.

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void xabsl::Engine::setRootAction

(

Behavior *

behavior

)

Sets the root option to the specified option or basic behavior.

Definition at line 403 of file XabslEngine.cpp.

References addRootAction(), and clearRootActions().

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const Action * xabsl::Engine::getRootAction

(

int

)

const

Returns the selected root actions.

Definition at line 443 of file XabslEngine.cpp.

References rootActions.

Action * xabsl::Engine::getRootAction

(

int

)

Returns the selected root actions.

Definition at line 448 of file XabslEngine.cpp.

References rootActions.

const Array< Action * > & xabsl::Engine::getRootActions

(

)

const

Returns the selected root actions.

Definition at line 453 of file XabslEngine.cpp.

References rootActions.

Array< Action * > & xabsl::Engine::getRootActions

(

)

Returns the selected root actions.

Definition at line 458 of file XabslEngine.cpp.

References rootActions.

const char * xabsl::Engine::getSelectedAgentName

(

)

const

Returns the name of the selected agent.

Definition at line 463 of file XabslEngine.cpp.

References xabsl::NamedItem::n, and selectedAgent.

void xabsl::Engine::prepareIncomingMessages

(

)

Prepare for processing incoming team messages.

This resets previously processed messages.

Definition at line 503 of file XabslEngine.cpp.

References coopStates, and xabsl::Array< CoopState * >::getSize().

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void xabsl::Engine::processIncomingMessage

(

const TeamMessage &

message

)

Process an incoming team message from another agent.

Definition at line 511 of file XabslEngine.cpp.

References xabsl::TeamMessage::agentPriority, coopStates, xabsl::TeamMessage::coopStatesEntering, xabsl::TeamMessage::coopStatesExecuted, xabsl::TeamMessage::coopStatesOptionExecuted, and xabsl::Array< int >::getSize().

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void xabsl::Engine::generateOutgoingMessage

(

TeamMessage &

message

)

Generate the outgoing team message to be sent to other agents.

Definition at line 528 of file XabslEngine.cpp.

References xabsl::TeamMessage::agentPriority, xabsl::Array< int >::append(), coopStates, xabsl::TeamMessage::coopStatesEntering, xabsl::TeamMessage::coopStatesExecuted, xabsl::TeamMessage::coopStatesOptionExecuted, xabsl::Array< CoopState * >::getSize(), options, and xabsl::TeamMessage::reset().

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void xabsl::Engine::setSynchronizationTicks ( int ticks ) [inline]

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.

Definition at line 238 of file XabslEngine.h.

void xabsl::Engine::setAgentPriority ( int priority ) [inline]

Sets the priority value of the agent, used for solving conflicts in cooperative state assignment.

Definition at line 241 of file XabslEngine.h.

Member Data Documentation

unsigned xabsl::Engine::timeOfExecutionStart [private]

The time of the start of the current engine execution.

Definition at line 82 of file XabslEngine.h.

Referenced by addRootAction(), addRootActionBooleanOutputSymbol(), addRootActionDecimalOutputSymbol(), addRootActionEnumeratedOutputSymbol(), createOptionGraph(), and execute().

NamedArray<Agent*> xabsl::Engine::agents [private]

The agents of the engine.

Definition at line 85 of file XabslEngine.h.

Referenced by createOptionGraph(), getAgents(), setSelectedAgent(), and ~Engine().

Agent* xabsl::Engine::selectedAgent [private]

The selected agent.

Definition at line 88 of file XabslEngine.h.

Referenced by createOptionGraph(), getSelectedAgentName(), setRootAction(), and setSelectedAgent().

NamedArray<Option*> xabsl::Engine::options [private]

The options of the engine.

Definition at line 91 of file XabslEngine.h.

Referenced by addRootAction(), createOptionGraph(), execute(), generateOutgoingMessage(), getOptions(), reset(), and ~Engine().

Array<Action*> xabsl::Engine::rootActions [private]

The actions for the execution of the start of the option graph.

Definition at line 94 of file XabslEngine.h.

Referenced by addRootAction(), addRootActionBooleanOutputSymbol(), addRootActionDecimalOutputSymbol(), addRootActionEnumeratedOutputSymbol(), clearRootActions(), execute(), getRootAction(), getRootActions(), and ~Engine().

NamedArray<BasicBehavior*> xabsl::Engine::basicBehaviors [private]

The registered basic behaviors of the engine.

Definition at line 97 of file XabslEngine.h.

Referenced by addRootAction(), createOptionGraph(), execute(), getBasicBehaviors(), registerBasicBehavior(), and reset().

ErrorHandler& xabsl::Engine::errorHandler [private]

Is invoked when there are problems during initialization.

Reimplemented from xabsl::Symbols.

Definition at line 100 of file XabslEngine.h.

bool xabsl::Engine::initialized [private]

If true, the engine was successfully initialized.

Definition at line 128 of file XabslEngine.h.

Referenced by createOptionGraph(), and execute().

unsigned(* xabsl::Engine::pTimeFunction)() [private]

A pointer to a function that returns the system time in ms.

Referenced by createOptionGraph(), and execute().

NamedArray<double> xabsl::Engine::internalDecimalSymbols [private]

Arrays containing internal symbol values.

Definition at line 134 of file XabslEngine.h.

Referenced by createOptionGraph().

NamedArray<bool> xabsl::Engine::internalBooleanSymbols [private]

Definition at line 135 of file XabslEngine.h.

Referenced by createOptionGraph().

NamedArray<int> xabsl::Engine::internalEnumeratedSymbols [private]

Definition at line 136 of file XabslEngine.h.

Referenced by createOptionGraph().

Array<CoopState*> xabsl::Engine::coopStates [private]

Array of states which are used for cooperating agents.

Definition at line 139 of file XabslEngine.h.

Referenced by createOptionGraph(), generateOutgoingMessage(), prepareIncomingMessages(), and processIncomingMessage().

int xabsl::Engine::agentPriority [private]

Priority value of the agent, used for solving conflicts in cooperative state assignment.

Definition at line 142 of file XabslEngine.h.

int xabsl::Engine::synchronizationTicks [private]

Number of execution cycles that is required for synchonization with other agents, i.e time from sending a message until answer is received.

Definition at line 145 of file XabslEngine.h.

The documentation for this class was generated from the following files:

Up | Main Page | Generated at Wed Aug 19 17:32:30 2009.

XabslEngine Class Library Reference

xabsl::Engine Class Reference

Detailed Description

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation