raar.external
Class RAExternalAgent

java.lang.Object
  vectorimage.VectorObject
      raar.world.RAWorldObject
          raar.world.RAWorldObjectMovable
              raar.agent.RAAgent
                  raar.external.RAExternalAgent

All Implemented Interfaces:

java.io.Serializable, RAExternalAgentProtocol

public class RAExternalAgent
extends RAAgent
implements RAExternalAgentProtocol

This class models all external agent designs. Adds to the normal RAAgent some capacities with which external agents can be controlled. An external agent is an agent that can also be run outside of SB-MASE, for example physical robots or links to other programs. What basically happens is that SB-MASE reads the sensor values indicated by the external sensors, executes the processes o.t. agent normally, then reads and transfers the actor values back to the extern agent. Communication is modelled with a socket, so that agents can be con- trolled both locally and on a remote system. The communication language used is described in the class RAExternalAgentProtocol.
On the server side of the socket the SBMServer accepts the messages sent by the external agent (as long as there is a server running, obviously). This server has been started with a specific robot model (specified by the ExternalAgentInterface) and just reads sensor values from and writes actor values to this model. In the model, all sensors have a unique id, so that we know which sensor in SB-MASE is which sensor here. Read more on writing your robot models elsewhere - it is quite simple.
When writing your own external agent, all you need to adapt here's the sensor configuration. The external agent therefore must be constructed with sensor config specified in an RAExternalSensor array. This sensor config can not be changed afterwards. Make sure that the sensor id's of the RAExternalSensors match those of the robot model you are using on the server, otherwise the communication between the two parts will screw up.

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from interface raar.external.RAExternalAgentProtocol

RAExternalAgentProtocol.ERROR, RAExternalAgentProtocol.PANIC

Field Summary

Fields inherited from class raar.agent.RAAgent

AGENT_CLASS_NAME, SIZE

Fields inherited from class raar.world.RAWorldObject

SOBJ_AGENT, SOBJ_TRACE

Fields inherited from class vectorimage.VectorObject

OBJ_ELLIPSE, OBJ_LINE, OBJ_RECTANGLE

Fields inherited from interface raar.external.RAExternalAgentProtocol

AGENT_GO, CONNECT_AGENT, DISCONNECT_AGENT, GET_SENSORS, OK, SHUTDOWN_SERVER

Constructor Summary

RAExternalAgent(RAExternalSensor[] sensorConfig)
Construct an agent with the sensors specified.

RAExternalAgent(RAExternalSensor[] sensorConfig, boolean createActors)
Construct an agent with the sensors specified.

Method Summary

void	addProcess(RAProcess p) OVERRIDDEN METHOD, SO THAT SENSOR SETUP IS FIXED
boolean	canBeExternal() Return whether SB-MASE can use this agent as an external one.
boolean	canBeSimulated() Return whether SB-MASE can simulate this agent.
void	cancelConnect() Cancel connect operation (has no timeout!)
void	connect(java.lang.String hostH, int portP) Connect the agent to a server at host and port given.
void	disconnect() Disconnect.
java.lang.String	getHost() Return host we're connected to.
int	getPort() Return port we're connected to.
RADataType	getSensorValue(RAExternalSensor sensor) RUNTIME EXTRA STUFF
boolean	isConnected() Return whether this agent is externally connected.
void	messageReceived(java.lang.Object msg) Receive a message.
void	pauseAgent() Pause agent.
void	removeProcess(RAProcess p) OVERRIDDEN METHOD, SO THAT SENSOR SETUP IS FIXED
void	replaceProcess(RAProcess p, RAProcess newP) OVERRIDDEN METHOD, SO THAT SENSOR SETUP IS FIXED
void	runAgent() RUNNING THE AGENT IS SLIGHTLY DIFFERENT
void	runAgent(boolean simulated) RUNNING THE AGENT IS SLIGHTLY DIFFERENT
void	sendMessage(java.lang.String message) Send a message to the robotserver.
void	sendObject(java.lang.Object object) Send an object to the robotserver.
void	shutdownSuccessful() Indicate that shutdown worked.
void	waitForReply() Wait for reply.

Methods inherited from class raar.agent.RAAgent

canBeEdited, connect, createGVectorObject, disconnect, dump, getActor, getActorNames, getColor, getConnections, getName, getNormalProcesses, getOtherProcesses, getProcess, getProcesses, getWorld, isEditable, notifyAddedToWorld, notifyAddedToWorld, reset, setName, toString

Methods inherited from class raar.world.RAWorldObjectMovable

resetPR, setPR

Methods inherited from class raar.world.RAWorldObject

emitsLight, getClassName, isFixed, isLight, isMassive, isMovable, isStatic, moveBy

Methods inherited from class vectorimage.VectorObject

contains, getBounds, getPosition, getRotation, getType, isFilled, setBounds, setPosition, setRotation

Methods inherited from class java.lang.Object

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

Constructor Detail

RAExternalAgent

public RAExternalAgent(RAExternalSensor[] sensorConfig)
                throws RAException

Construct an agent with the sensors specified. Automatically create actors too.

Throws:

RAException

RAExternalAgent

public RAExternalAgent(RAExternalSensor[] sensorConfig,
                       boolean createActors)
                throws RAException

Construct an agent with the sensors specified. Specify whether to create actors.

Throws:

RAException

Method Detail

addProcess

public void addProcess(RAProcess p)
                throws RAException

OVERRIDDEN METHOD, SO THAT SENSOR SETUP IS FIXED

Overrides:

addProcess in class RAAgent

Throws:

RAException

removeProcess

public void removeProcess(RAProcess p)
                   throws RAException

OVERRIDDEN METHOD, SO THAT SENSOR SETUP IS FIXED

Overrides:

removeProcess in class RAAgent

Throws:

RAException

replaceProcess

public void replaceProcess(RAProcess p,
                           RAProcess newP)
                    throws RAException

OVERRIDDEN METHOD, SO THAT SENSOR SETUP IS FIXED

Overrides:

replaceProcess in class RAAgent

Throws:

RAException

runAgent

public void runAgent()
              throws RAException

RUNNING THE AGENT IS SLIGHTLY DIFFERENT

Overrides:

runAgent in class RAAgent

Throws:

RAException

runAgent

public void runAgent(boolean simulated)
              throws RAException

RUNNING THE AGENT IS SLIGHTLY DIFFERENT

Throws:

RAException

pauseAgent

public void pauseAgent()
                throws RAException

Pause agent.

Throws:

RAException

connect

public void connect(java.lang.String hostH,
                    int portP)
             throws RAException

Connect the agent to a server at host and port given.

Throws:

RAException

cancelConnect

public void cancelConnect()

Cancel connect operation (has no timeout!)

disconnect

public void disconnect()
                throws RAException

Disconnect.

Throws:

RAException

sendMessage

public void sendMessage(java.lang.String message)
                 throws java.io.IOException

Send a message to the robotserver.

Throws:

java.io.IOException

sendObject

public void sendObject(java.lang.Object object)
                throws java.io.IOException

Send an object to the robotserver.

Throws:

java.io.IOException

waitForReply

public void waitForReply()
                  throws java.io.IOException

Wait for reply.

Throws:

java.io.IOException

messageReceived

public void messageReceived(java.lang.Object msg)

Receive a message.

shutdownSuccessful

public void shutdownSuccessful()

Indicate that shutdown worked.

canBeSimulated

public boolean canBeSimulated()

Return whether SB-MASE can simulate this agent.

Overrides:

canBeSimulated in class RAAgent

canBeExternal

public boolean canBeExternal()

Return whether SB-MASE can use this agent as an external one.

Overrides:

canBeExternal in class RAAgent

isConnected

public boolean isConnected()

Return whether this agent is externally connected.

Overrides:

isConnected in class RAAgent

getHost

public java.lang.String getHost()

Return host we're connected to.

getPort

public int getPort()

Return port we're connected to.

getSensorValue

public RADataType getSensorValue(RAExternalSensor sensor)
                          throws RAException

RUNTIME EXTRA STUFF

Throws:

RAException