X-Git-Url: http://plrg.eecs.uci.edu/git/?p=jpf-core.git;a=blobdiff_plain;f=src%2Fexamples%2FRobotManager.java;fp=src%2Fexamples%2FRobotManager.java;h=2bf025b2a4013eab1becaaa31d4f9601608c6150;hp=0000000000000000000000000000000000000000;hb=a9bc9081ebda74eb6ee5451d2b719405db3a955c;hpb=eb7cfaa7d9ce99087e9678a61f6840d3cd48f2b2

diff --git a/src/examples/RobotManager.java b/src/examples/RobotManager.java
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+/*
+ * Copyright (C) 2014, United States Government, as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All rights reserved.
+ *
+ * The Java Pathfinder core (jpf-core) platform is licensed under the
+ * Apache License, Version 2.0 (the "License"); you may not use this file except
+ * in compliance with the License. You may obtain a copy of the License at
+ * 
+ *        http://www.apache.org/licenses/LICENSE-2.0. 
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and 
+ * limitations under the License.
+ */
+
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Random;
+
+/**
+ * a simplified version of the AWT RobotManager example
+ */
+public class RobotManager {
+
+  static class Robot {
+    String id;
+    
+    Robot (String id){
+      this.id = id;
+    }
+    
+    String getId(){
+      return id;
+    }
+    
+    String processSequence(String sequence){
+      System.out.printf("robot %s processing sequence: %s\n", id, sequence);
+      return "Ok";
+    }
+  }
+  
+  class StatusAcquisitionThread extends Thread {
+    boolean done;
+
+    public StatusAcquisitionThread () {
+      setDaemon(true);
+    }
+
+    @Override
+	public void run () {
+      int n = robotList.size();
+      Random random = new Random(0);
+
+      while (!done) {
+        int idx = random.nextInt(n);
+        Robot robot = robotList.get(idx);
+        setRobotOnline(robot, !isRobotOnline(robot.id));
+
+        try {
+          Thread.sleep(3000);
+        } catch (InterruptedException ix) {
+        }
+      }
+    }
+
+    public void terminate () {
+      done = true;
+    }
+  }
+  
+  List<Robot> robotList = new ArrayList<Robot>();
+  HashMap<String,Robot> onlineRobots = new HashMap<String,Robot>();
+  StatusAcquisitionThread acquisitionThread;
+
+  public RobotManager() {
+    robotList.add( new Robot("RATS-1"));
+    robotList.add( new Robot("RATS-2"));    
+    robotList.add( new Robot("RCAT-1"));
+    robotList.add( new Robot("POGO-1"));
+    
+    for (Robot r : robotList) {
+      setRobotOnline(r, true);
+    }
+  }
+  
+  public void setRobotOnline (Robot robot, boolean isOnline) {
+    if (isOnline) {
+      onlineRobots.put(robot.getId(), robot);
+    } else {
+      onlineRobots.remove(robot.getId());
+    }
+  }
+  
+  public boolean isRobotOnline (String robotName) {
+    return onlineRobots.containsKey(robotName);
+  }
+  
+  public Robot getOnlineRobot (String robotName) {
+    return onlineRobots.get(robotName);
+  }
+  
+  public String sendSequence(Robot robot, String sequence) {    
+    return robot.processSequence(sequence); 
+  }
+  
+  void startStatusAcquisitionThread (){
+    acquisitionThread = new StatusAcquisitionThread();
+    acquisitionThread.start();
+  }
+  
+  void stopStatusAcquisitionThread(){
+    acquisitionThread.terminate();
+  }
+  
+  void processInput (){
+    String robotName = "POGO-1";
+    String sequence = "left; go";
+    
+    if (isRobotOnline(robotName)){
+      Robot robot = getOnlineRobot( robotName);
+      String result = robot.processSequence(sequence);
+      System.out.printf("sent sequence \"%s\" to robot %s => %s\n", sequence, robotName, result);
+    } else {
+      System.out.print("robot not online: ");
+      System.out.println(robotName);
+    }
+  }
+  
+  public static void main (String[] args){
+    RobotManager robotManager = new RobotManager();
+    robotManager.startStatusAcquisitionThread();
+    robotManager.processInput();
+    //robotManager.stopStatusAcquisitionThread();
+  }
+}