hmi.elckerlyc.interrupt
Class InterruptPlanner

java.lang.Object
  hmi.elckerlyc.AbstractPlanner
      hmi.elckerlyc.interrupt.InterruptPlanner

All Implemented Interfaces:

Planner

public class InterruptPlanner
extends AbstractPlanner

Field Summary

private InterruptPlayer	player
private BMLScheduler	scheduler

Constructor Summary

InterruptPlanner(InterruptPlayer p)
Should call setScheduler before actual use

InterruptPlanner(InterruptPlayer p, BMLScheduler s)

Method Summary

List<SyncAndTimePeg>	addBehaviour(BMLBlockPeg bbPeg, Behaviour b, List<TimePegAndConstraint> sac, PlanUnit planElement) Adds a behavior to the plan.
void	addExceptionListener(BMLExceptionListener war)
void	clearAll(double time) Removes all behaviors from the plan
InterruptPlayer	getInterruptPlayer()
Set<String>	getInvalidBehaviours() Checks if the behavior plan is still consistent (e.g. after modifying the timing of some TimePegs).
Player	getPlayer() Returns the Player for this planner. useful for, e.g., resetting the player of any planner (see BMLRealizer.reset).
List<Class<? extends Behaviour>>	getSupportedBehaviours()
List<Class<? extends Behaviour>>	getSupportedDescriptionExtensions()
void	interruptBehaviour(String behaviourId, String bmlId, double globalTime) Interrupts the behavior, sending the appropiate feedback callbacks if the behavior was running, just removes it otherwise.
void	removeAllExceptionListeners()
void	removeBehaviour(String behaviourId, String bmlId) Removes behavior with behaviourId and bmlId from the plan Callback behavior is unspecified
void	reset() Resets the player, that is: stops running behavior and returns the player to its startup state (default pose etc) This does not clear any behaviours from the plans.
InterruptUnit	resolveSynchs(BMLBlockPeg bbPeg, Behaviour b, List<TimePegAndConstraint> sac) Resolves TimePegs for behavior b, given some known time pegs and constraints
void	setParameterValue(String behId, String bmlId, String paramId, float value)
void	setParameterValue(String behId, String bmlId, String paramId, String value)
void	setScheduler(BMLScheduler s)
private void	validateSacs(Behaviour b, List<TimePegAndConstraint> sac)

Methods inherited from class hmi.elckerlyc.AbstractPlanner

addFeedbackListener, getBehaviours, getEndTime, getFeedbackListeners, interruptBehaviourBlock, removeAllFeedbackListeners, removeFeedbackListener, setBMLBlockState, shutdown

Methods inherited from class java.lang.Object

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

Field Detail

scheduler

private BMLScheduler scheduler

player

private final InterruptPlayer player

Constructor Detail

InterruptPlanner

public InterruptPlanner(InterruptPlayer p,
                        BMLScheduler s)

InterruptPlanner

public InterruptPlanner(InterruptPlayer p)

Should call setScheduler before actual use

Method Detail

setScheduler

public void setScheduler(BMLScheduler s)

getInterruptPlayer

public InterruptPlayer getInterruptPlayer()

addBehaviour

public List<SyncAndTimePeg> addBehaviour(BMLBlockPeg bbPeg,
                                         Behaviour b,
                                         List<TimePegAndConstraint> sac,
                                         PlanUnit planElement)
                                  throws BehaviourPlanningException

Description copied from interface: Planner

Adds a behavior to the plan. All timepegs in sac must be resolved.

planElement - planElement obtained from resolveSynchs, null to create a new planElement

Returns:

a list of all syncs of the behavior and their linked TimePegs

Throws:

BehaviourPlanningException - if no behavior satisfying sac can be constructed

validateSacs

private void validateSacs(Behaviour b,
                          List<TimePegAndConstraint> sac)
                   throws BehaviourPlanningException

Throws:

BehaviourPlanningException

resolveSynchs

public InterruptUnit resolveSynchs(BMLBlockPeg bbPeg,
                                   Behaviour b,
                                   List<TimePegAndConstraint> sac)
                            throws BehaviourPlanningException

Description copied from interface: Planner

Resolves TimePegs for behavior b, given some known time pegs and constraints

b - the behavior

sac - the provided time pegs and constraints, missing constraints are filled out by this method

Returns:

the object to be placed in the plan (a TimedMotionUnit, SpeechUnit, ...)

Throws:

BehaviourPlanningException - if no behavior satisfying sac can be constructed

addExceptionListener

public void addExceptionListener(BMLExceptionListener war)

clearAll

public void clearAll(double time)

Description copied from interface: Planner

Removes all behaviors from the plan

getInvalidBehaviours

public Set<String> getInvalidBehaviours()

Description copied from interface: Planner

Checks if the behavior plan is still consistent (e.g. after modifying the timing of some TimePegs). Returns id's of behaviors with invalid timing

getPlayer

public Player getPlayer()

Description copied from interface: Planner

Returns the Player for this planner. useful for, e.g., resetting the player of any planner (see BMLRealizer.reset).

getSupportedBehaviours

public List<Class<? extends Behaviour>> getSupportedBehaviours()

getSupportedDescriptionExtensions

public List<Class<? extends Behaviour>> getSupportedDescriptionExtensions()

removeAllExceptionListeners

public void removeAllExceptionListeners()

removeBehaviour

public void removeBehaviour(String behaviourId,
                            String bmlId)

Description copied from interface: Planner

Removes behavior with behaviourId and bmlId from the plan Callback behavior is unspecified

interruptBehaviour

public void interruptBehaviour(String behaviourId,
                               String bmlId,
                               double globalTime)

Description copied from interface: Planner

Interrupts the behavior, sending the appropiate feedback callbacks if the behavior was running, just removes it otherwise.

reset

public void reset()

Description copied from interface: Planner

Resets the player, that is: stops running behavior and returns the player to its startup state (default pose etc) This does not clear any behaviours from the plans.

setParameterValue

public void setParameterValue(String behId,
                              String bmlId,
                              String paramId,
                              float value)

setParameterValue

public void setParameterValue(String behId,
                              String bmlId,
                              String paramId,
                              String value)