Package edu.tufts.hrilab.action.execution

Class GoalContext

java.lang.Object

edu.tufts.hrilab.action.execution.Context

edu.tufts.hrilab.action.execution.ArgumentBasedContext

edu.tufts.hrilab.action.execution.GoalContext

Direct Known Subclasses:

RecoveryGoalContext

public class GoalContext
extends ArgumentBasedContext

Field Summary

Fields

Modifier and Type	Field	Description
protected ExecutionType	executionType
protected Goal	goal
protected GoalRecovery	goalRecovery

Fields inherited from class edu.tufts.hrilab.action.execution.ArgumentBasedContext

arguments, variable

Fields inherited from class edu.tufts.hrilab.action.execution.Context

caller, childContexts, cmd, constraints, endTime, log, maxTime, startTime, stateMachine

Constructor Summary

Constructors

Constructor	Description
GoalContext(Context caller, StateMachine sm, Goal goal, ExecutionType executionType)
GoalContext(Context caller, StateMachine sm, Goal goal, ExecutionType executionType, GoalRecovery recovery)

Method Summary

Modifier and Type	Method	Description
GoalContext	copy(Context newParent)	Make a copy of this node in the execution tree for simulation purposes
Goal	getGoal()	Get this GoalContext's Goal.
Predicate	getSignatureInPredicateForm()	Create predicate from the context cmd and arguments: "cmd(arg0, arg1, ...)".
protected void	resetConcreteContext()	This resets fields specific to concrete sub-classes and should be overridden by inheriting classes if additional resetting needs to happen.
void	setStatus(ActionStatus eStatus, Justification justification)	Overriding setStatus to "catch" failures when a recovery operation should take place, instead of propagating failures up context tree.
protected void	setupArguments(List<? extends Object> inputArgs, List<? extends Object> returnArgs)
void	setupNextStep()	If Context can have next steps (i.e., children), implement this method to add the next child context that should be executed.
protected Justification	verifyEffects()	Verify that the effects (if any) of a context are valid.

Methods inherited from class edu.tufts.hrilab.action.execution.ArgumentBasedContext

addArgument, addArgument, bindPredicate, bindText, copyArguments, getArgument, getArguments, getArgumentSilent, getArgumentType, getArgumentValue, getEvaluatedArgument, getLocalArgument, hasArgumentInScope, hasLocalArgument, redistributeArguments, setArgument

Methods inherited from class edu.tufts.hrilab.action.execution.Context

acquireLocks, addEvent, addEvent, addEvent, causedFailure, copyInternal, createSimulatedEquivalent, doStep, getActor, getActualLogicalValue, getChildContexts, getCommand, getConstraints, getContextDescription, getContextDescription, getDuration, getElapsedTime, getEndTime, getEquivalentContext, getExecType, getId, getJustification, getLogicalValue, getMaxTime, getNearestTerminatedAncestor, getNextStep, getNextStepForType, getParentContext, getRootContext, getStartTime, getStateMachine, getStateUpdates, getStatus, hasNormCheckingAncestor, isAction, isApproved, isAsynchronous, isFailure, isSimulation, isSuccess, isTerminated, performAdditionalStatusUpdates, releaseLocks, resetContext, resetCoreContext, setChildContexts, setConstraints, setEndTime, setExecType, setLogicalValue, setStartTime, setStartTime, setStateMachine, setStatus, setTimeout, setupNextStep, startOverAllMonitor, toString, updatePerformanceModels, verifyReturnValue, waitForTermination, waitForTermination

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

goal

protected Goal goal

executionType

protected ExecutionType executionType

goalRecovery

protected GoalRecovery goalRecovery

Constructor Details

GoalContext

public GoalContext(Context caller,
 StateMachine sm,
 Goal goal,
 ExecutionType executionType,
 GoalRecovery recovery)

GoalContext

public GoalContext(Context caller,
 StateMachine sm,
 Goal goal,
 ExecutionType executionType)

Method Details

setupArguments

protected void setupArguments(List<? extends Object> inputArgs,
 List<? extends Object> returnArgs)

Specified by:

setupArguments in class ArgumentBasedContext

getGoal

public Goal getGoal()

Get this GoalContext's Goal.

Returns:

setupNextStep

public void setupNextStep()

Description copied from class: Context

If Context can have next steps (i.e., children), implement this method to add the next child context that should be executed.

Overrides:

setupNextStep in class Context

resetConcreteContext

protected void resetConcreteContext()

Description copied from class: Context

This resets fields specific to concrete sub-classes and should be overridden by inheriting classes if additional resetting needs to happen.

Overrides:

resetConcreteContext in class Context

verifyEffects

protected Justification verifyEffects()

Description copied from class: Context

Verify that the effects (if any) of a context are valid.

Overrides:

verifyEffects in class Context

Returns:

setStatus

public void setStatus(ActionStatus eStatus,
 Justification justification)

Overriding setStatus to "catch" failures when a recovery operation should take place, instead of propagating failures up context tree. TODO: This method is synchronized to handle canceling. Is there a better way to handle this?

Overrides:

setStatus in class Context

Parameters:

eStatus - the execution status of the currently running event

justification - the reason for the context's execution status

getSignatureInPredicateForm

public Predicate getSignatureInPredicateForm()

Description copied from class: ArgumentBasedContext

Create predicate from the context cmd and arguments: "cmd(arg0, arg1, ...)".

Overrides:

getSignatureInPredicateForm in class ArgumentBasedContext

Returns:

copy

public GoalContext copy(Context newParent)

Make a copy of this node in the execution tree for simulation purposes

Specified by:

copy in class Context

Parameters:

newParent - new parent context

Returns: