| 1 | package dk.deepthought.sidious.planner; |
| 2 | |
| 3 | import java.util.Collection; |
| 4 | import java.util.HashMap; |
| 5 | |
| 6 | import org.apache.commons.logging.Log; |
| 7 | import org.apache.commons.logging.LogFactory; |
| 8 | |
| 9 | import dk.deepthought.sidious.goalhandler.Goal; |
| 10 | import dk.deepthought.sidious.planner.graph.Graph; |
| 11 | import dk.deepthought.sidious.services.ServiceEngine; |
| 12 | import dk.deepthought.sidious.supportsystem.Adjustable; |
| 13 | import dk.deepthought.sidious.supportsystem.Repository; |
| 14 | import dk.deepthought.sidious.supportsystem.State; |
| 15 | import dk.deepthought.sidious.supportsystem.SuperLinkID; |
| 16 | import dk.deepthought.sidious.util.SidiousQueue; |
| 17 | |
| 18 | /** |
| 19 | * This class constitutes a Blackboard for the planner. Works as a liaison class |
| 20 | * between the <code>{@link GraphFactory}</code> and |
| 21 | * <code>{@link Pathfinder}</code>. |
| 22 | * <p> |
| 23 | * This class holds three <code>SidiousQueue</code> queues for calculating a |
| 24 | * plan: |
| 25 | * <ol> |
| 26 | * <li> extracting state and generating the graph |
| 27 | * <li> for processing the pathfinding |
| 28 | * <li> for plan generation |
| 29 | * </ol> |
| 30 | * |
| 31 | * @author Deepthought |
| 32 | * |
| 33 | */ |
| 34 | public final class PlannerEngine implements Planner { |
| 35 | |
| 36 | // XXX se på strategy pattern for at vælge kvilken pathfinder algoritme der |
| 37 | // skal bruges. |
| 38 | // Måske mest anvendeligt i spil! |
| 39 | |
| 40 | /** |
| 41 | * Logger for this class. |
| 42 | */ |
| 43 | private static final Log logger = LogFactory.getLog(PlannerEngine.class); |
| 44 | |
| 45 | /** |
| 46 | * Mapping between id and pathfinder |
| 47 | */ |
| 48 | private final HashMap<SuperLinkID, Pathfinder> idToPathfinder = new HashMap<SuperLinkID, Pathfinder>(); |
| 49 | |
| 50 | /** |
| 51 | * private singleton instance. |
| 52 | */ |
| 53 | private static final Planner INSTANCE = new PlannerEngine(); |
| 54 | |
| 55 | /** |
| 56 | * Queue to facilitate generation of the graph. |
| 57 | */ |
| 58 | private SidiousQueue<Goal> graphFactoryQueue = new SidiousQueue<Goal>( |
| 59 | "graphFactoryQueue") { |
| 60 | |
| 61 | protected void process(Goal item) { |
| 62 | State start = ServiceEngine.getCurrentState(); |
| 63 | pathfinderQueue.enqueue(GraphFactory.makeGraph(item.getOrigin(), |
| 64 | start, item.getGoalState())); |
| 65 | } |
| 66 | }; |
| 67 | |
| 68 | /** |
| 69 | * Queue to facilitate the path finding. |
| 70 | */ |
| 71 | private SidiousQueue<Graph> pathfinderQueue = new SidiousQueue<Graph>( |
| 72 | "pathfinderQueue") { |
| 73 | |
| 74 | @Override |
| 75 | protected void process(Graph item) { |
| 76 | Pathfinder p = new AStarAlgorithm(); |
| 77 | idToPathfinder.put(item.getId(), p); |
| 78 | item.getGoalVertex().getState(); |
| 79 | p.search(item); |
| 80 | planGeneratorQueue.enqueue(item); |
| 81 | } |
| 82 | }; |
| 83 | |
| 84 | /** |
| 85 | * Queue to handle the generation of a plan from a searched graph. |
| 86 | */ |
| 87 | private SidiousQueue<Graph> planGeneratorQueue = new SidiousQueue<Graph>( |
| 88 | "planGeneratorQueue") { |
| 89 | |
| 90 | @Override |
| 91 | protected void process(Graph item) { |
| 92 | Plan plan = PlanGenerator.generatePlan(item); |
| 93 | deliverPlan(plan); |
| 94 | } |
| 95 | }; |
| 96 | |
| 97 | /** |
| 98 | * Private constructor, to facilitate singleton. |
| 99 | */ |
| 100 | private PlannerEngine() { |
| 101 | } |
| 102 | |
| 103 | /** |
| 104 | * Delivers the finished plan to the blackboard. |
| 105 | * |
| 106 | * @param plan |
| 107 | * the finished plan |
| 108 | */ |
| 109 | private void deliverPlan(Plan plan) { |
| 110 | Repository.getBlackboard().deliverResult(plan); |
| 111 | } |
| 112 | |
| 113 | /** |
| 114 | * Returns the adjustables of the specified requester. |
| 115 | * |
| 116 | * @param requester |
| 117 | * the requester |
| 118 | * @return the adjustables of the requester |
| 119 | */ |
| 120 | public static Collection<Adjustable> getAdjustables(SuperLinkID requester) { |
| 121 | return Repository.getBlackboard().getRequester(requester) |
| 122 | .getAdjustables(); |
| 123 | } |
| 124 | |
| 125 | /* |
| 126 | * (non-Javadoc) |
| 127 | * |
| 128 | * @see dk.deepthought.sidious.planner.Planner#stop(dk.deepthought.sidious.supportsystem.SuperLinkID) |
| 129 | */ |
| 130 | public void stop(SuperLinkID id) { |
| 131 | if (logger.isDebugEnabled()) { |
| 132 | logger.debug("stop(SuperLinkID id=" + id |
| 133 | + ") - attempting to stop planning"); |
| 134 | } |
| 135 | if (idToPathfinder.containsKey(id)) { |
| 136 | Pathfinder pathfinder = idToPathfinder.get(id); |
| 137 | pathfinder.cancel(); |
| 138 | idToPathfinder.remove(id); |
| 139 | } |
| 140 | if (logger.isDebugEnabled()) { |
| 141 | logger.debug("stop(SuperLinkID id=" + id + ") - stopped planning"); |
| 142 | } |
| 143 | } |
| 144 | |
| 145 | /* |
| 146 | * (non-Javadoc) |
| 147 | * |
| 148 | * @see dk.deepthought.sidious.planner.Planner#requestPlan(dk.deepthought.sidious.goalhandler.Goal) |
| 149 | */ |
| 150 | public void requestPlan(Goal goal) { |
| 151 | if (goal == null) { |
| 152 | throw new IllegalArgumentException("null not valid goal"); |
| 153 | } |
| 154 | graphFactoryQueue.enqueue(goal); |
| 155 | } |
| 156 | |
| 157 | /** |
| 158 | * Returns the singleton instance. |
| 159 | * |
| 160 | * @return the singleton instance |
| 161 | */ |
| 162 | public static Planner getInstance() { |
| 163 | return INSTANCE; |
| 164 | } |
| 165 | |
| 166 | } |