Package edu.tufts.hrilab.action.recovery

Class GoalRecovery

java.lang.Object

edu.tufts.hrilab.action.recovery.GoalRecovery

Direct Known Subclasses:

ConstraintRelaxationRecovery, DefaultGoalRecovery, ExplorationGoalRecovery, NormPlanningGoalRecovery

public abstract class GoalRecovery
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
protected org.slf4j.Logger	log
protected RecoveryStatus	recoveryStatus

Constructor Summary

Constructors

Constructor	Description
GoalRecovery()

Method Summary

Modifier and Type	Method	Description
final RecoveryStatus	getStatus()	Get current recovery status/mode.
abstract ParameterizedAction	selectNextAction(Goal goal, ActionConstraints constraints, StateMachine stateMachine)	Select the next action to be executed.
abstract ParameterizedAction	selectRecoveryPolicy(GoalContext goalContext)	Select a recovery policy from the Database of policies.
abstract boolean	shouldAttemptRecovery(ActionStatus actionStatus, Justification justification, GoalContext goalContext)	Determines if a recovery attempt should be made, and locally sets the recovery mode (e.g., PLAN, RECOVER).
void	updateRecoveryStatus(GoalContext goalContext)	Update recovery status based on what has happened since the last goalRecovery check-in.

Methods inherited from class java.lang.Object

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

Field Details

log

protected org.slf4j.Logger log

recoveryStatus

protected RecoveryStatus recoveryStatus

Constructor Details

GoalRecovery

public GoalRecovery()

Method Details

getStatus

public final RecoveryStatus getStatus()

Get current recovery status/mode.

Returns:

updateRecoveryStatus

public void updateRecoveryStatus(GoalContext goalContext)

Update recovery status based on what has happened since the last goalRecovery check-in. For example, if in recovery mode, and a recovery policy has been executed, GoalRecovery needs to be updated with the results of that recovery policy. This method provides the mechanism for that update. While it's unlikely this method needs to be overridden, it can be in order to handle corner cases.

Parameters:

goalContext -

selectNextAction

public abstract ParameterizedAction selectNextAction(Goal goal,
 ActionConstraints constraints,
 StateMachine stateMachine)

Select the next action to be executed. This is only called in PLAN mode, not for RECOVER mode.

Parameters:

goal -

constraints -

stateMachine -

Returns:

shouldAttemptRecovery

public abstract boolean shouldAttemptRecovery(ActionStatus actionStatus,
 Justification justification,
 GoalContext goalContext)

Determines if a recovery attempt should be made, and locally sets the recovery mode (e.g., PLAN, RECOVER).

Parameters:

actionStatus -

justification -

goalContext -

Returns:

selectRecoveryPolicy

public abstract ParameterizedAction selectRecoveryPolicy(GoalContext goalContext)

Select a recovery policy from the Database of policies. Can return null if there are no valid policies available. Only called when in RECOVER mode.

Returns: