Updated and made compatible with the newest CST and WS3D Software

CST-Group · May 9, 2017 · 818ec67 · 818ec67
1 parent 90b1a2f
commit 818ec67
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Showing 17 changed files with 68 additions and 56 deletions.
diff --git a/lib/WS3DProxy.jar b/lib/WS3DProxy.jar
diff --git a/lib/cst.jar b/lib/cst.jar
diff --git a/nbproject/build-impl.xml b/nbproject/build-impl.xml
@@ -827,7 +827,7 @@ is divided into following sections:
                     </chainedmapper>
                 </pathconvert>
                 <taskdef classname="org.netbeans.modules.java.j2seproject.copylibstask.CopyLibs" classpath="${libs.CopyLibs.classpath}" name="copylibs"/>
-                <copylibs compress="${jar.compress}" index="${jar.index}" indexMetaInf="${jar.index.metainf}" jarfile="${dist.jar}" manifest="@{manifest}" rebase="${copylibs.rebase}" runtimeclasspath="${run.classpath.without.build.classes.dir}">
+                <copylibs compress="${jar.compress}" excludeFromCopy="${copylibs.excludes}" index="${jar.index}" indexMetaInf="${jar.index.metainf}" jarfile="${dist.jar}" manifest="@{manifest}" rebase="${copylibs.rebase}" runtimeclasspath="${run.classpath.without.build.classes.dir}">
                     <fileset dir="${build.classes.dir}" excludes="${dist.archive.excludes}"/>
                     <manifest>
                         <attribute name="Class-Path" value="${jar.classpath}"/>

diff --git a/nbproject/build-impl.xml~ b/nbproject/build-impl.xml~
@@ -189,7 +189,12 @@ is divided into following sections:
                 </not>
             </and>
         </condition>
-        <property name="javac.fork" value="${jdkBug6558476}"/>
+        <condition else="false" property="javac.fork">
+            <or>
+                <istrue value="${jdkBug6558476}"/>
+                <istrue value="${javac.external.vm}"/>
+            </or>
+        </condition>
         <property name="jar.index" value="false"/>
         <property name="jar.index.metainf" value="${jar.index}"/>
         <property name="copylibs.rebase" value="true"/>
@@ -215,6 +220,7 @@ is divided into following sections:
         <condition else="" property="testng.debug.mode" value="-mixed">
             <istrue value="${junit+testng.available}"/>
         </condition>
+        <property name="java.failonerror" value="true"/>
     </target>
     <target name="-post-init">
         <!-- Empty placeholder for easier customization. -->
@@ -680,7 +686,7 @@ is divided into following sections:
             <sequential>
                 <property environment="env"/>
                 <resolve name="profiler.current.path" value="${profiler.info.pathvar}"/>
-                <java classname="@{classname}" dir="${profiler.info.dir}" fork="true" jvm="${profiler.info.jvm}">
+                <java classname="@{classname}" dir="${profiler.info.dir}" failonerror="${java.failonerror}" fork="true" jvm="${profiler.info.jvm}">
                     <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
                     <jvmarg value="${profiler.info.jvmargs.agent}"/>
                     <jvmarg line="${profiler.info.jvmargs}"/>
@@ -755,7 +761,7 @@ is divided into following sections:
             <attribute default="${debug.classpath}" name="classpath"/>
             <element name="customize" optional="true"/>
             <sequential>
-                <java classname="@{classname}" dir="${work.dir}" fork="true">
+                <java classname="@{classname}" dir="${work.dir}" failonerror="${java.failonerror}" fork="true">
                     <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
                     <jvmarg line="${debug-args-line}"/>
                     <jvmarg value="-Xrunjdwp:transport=${debug-transport},address=${jpda.address}"/>
@@ -782,7 +788,7 @@ is divided into following sections:
             <attribute default="jvm" name="jvm"/>
             <element name="customize" optional="true"/>
             <sequential>
-                <java classname="@{classname}" dir="${work.dir}" fork="true">
+                <java classname="@{classname}" dir="${work.dir}" failonerror="${java.failonerror}" fork="true">
                     <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
                     <jvmarg value="-Dfile.encoding=${runtime.encoding}"/>
                     <redirector errorencoding="${runtime.encoding}" inputencoding="${runtime.encoding}" outputencoding="${runtime.encoding}"/>
@@ -883,14 +889,6 @@ is divided into following sections:
         <propertyfile file="${built-jar.properties}">
             <entry key="${basedir}" value=""/>
         </propertyfile>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-jar.properties}"/>
-            <param location="${project.cst}" name="call.subproject"/>
-            <param location="${project.cst}/build.xml" name="call.script"/>
-            <param name="call.target" value="jar"/>
-            <param name="transfer.built-jar.properties" value="${built-jar.properties}"/>
-            <param name="transfer.not.archive.disabled" value="true"/>
-        </antcall>
     </target>
     <target depends="init,-check-automatic-build,-clean-after-automatic-build" name="-verify-automatic-build"/>
     <target depends="init" name="-check-automatic-build">
@@ -1372,14 +1370,6 @@ is divided into following sections:
         <propertyfile file="${built-clean.properties}">
             <entry key="${basedir}" value=""/>
         </propertyfile>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-clean.properties}"/>
-            <param location="${project.cst}" name="call.subproject"/>
-            <param location="${project.cst}/build.xml" name="call.script"/>
-            <param name="call.target" value="clean"/>
-            <param name="transfer.built-clean.properties" value="${built-clean.properties}"/>
-            <param name="transfer.not.archive.disabled" value="true"/>
-        </antcall>
     </target>
     <target depends="init" name="-do-clean">
         <delete dir="${build.dir}"/>

diff --git a/src/AgentMind.java b/src/AgentMind.java
@@ -47,10 +47,6 @@ public class AgentMind extends Mind {
 
     public AgentMind(Environment env) {
                 super();
-                // Create RawMemory and Coderack
-                //Mind m = new Mind();
-                //RawMemory rawMemory=RawMemory.getInstance();
-	        //CodeRack codeRack=CodeRack.getInstance();
 
                 // Declare Memory Objects
 	        MemoryObject legsMO;
@@ -131,6 +127,10 @@ public AgentMind(Environment env) {
 		forage.addInput(knownApplesMO);
                 forage.addOutput(legsMO);
                 insertCodelet(forage);
+
+                // sets a time step for running the codelets to avoid heating too much your machine
+                for (Codelet c : this.getCodeRack().getAllCodelets())
+                    c.setTimeStep(200);
 
 		// Start Cognitive Cycle
 		start(); 

diff --git a/src/codelets/behaviors/EatClosestApple.java b/src/codelets/behaviors/EatClosestApple.java
@@ -44,15 +44,16 @@ public class EatClosestApple extends Codelet {
         List<Thing> known;
 
 	public EatClosestApple(int reachDistance) {
+                setTimeStep(50);
 		this.reachDistance=reachDistance;
 	}
 
 	@Override
 	public void accessMemoryObjects() {
-		closestAppleMO=this.getInput("CLOSEST_APPLE");
-		innerSenseMO=this.getInput("INNER");
-		handsMO=this.getOutput("HANDS");
-                knownMO = this.getOutput("KNOWN_APPLES");
+		closestAppleMO=(MemoryObject)this.getInput("CLOSEST_APPLE");
+		innerSenseMO=(MemoryObject)this.getInput("INNER");
+		handsMO=(MemoryObject)this.getOutput("HANDS");
+                knownMO = (MemoryObject)this.getOutput("KNOWN_APPLES");
 	}
 
 	@Override

diff --git a/src/codelets/behaviors/Forage.java b/src/codelets/behaviors/Forage.java
@@ -43,8 +43,7 @@ public class Forage extends Codelet {
 	/**
 	 * Default constructor
 	 */
-	public Forage(){
-
+	public Forage(){       
 	}
 
 	@Override
@@ -66,8 +65,8 @@ public void proc() {
 
 	@Override
 	public void accessMemoryObjects() {
-            knownMO = this.getInput("KNOWN_APPLES");
-            legsMO=this.getOutput("LEGS");
+            knownMO = (MemoryObject)this.getInput("KNOWN_APPLES");
+            legsMO=(MemoryObject)this.getOutput("LEGS");
 
 		// TODO Auto-generated method stub
 

diff --git a/src/codelets/behaviors/GoToClosestApple.java b/src/codelets/behaviors/GoToClosestApple.java
@@ -44,9 +44,9 @@ public GoToClosestApple(int creatureBasicSpeed, int reachDistance) {
 
 	@Override
 	public void accessMemoryObjects() {
-		closestAppleMO=this.getInput("CLOSEST_APPLE");
-		selfInfoMO=this.getInput("INNER");
-		legsMO=this.getOutput("LEGS");
+		closestAppleMO=(MemoryObject)this.getInput("CLOSEST_APPLE");
+		selfInfoMO=(MemoryObject)this.getInput("INNER");
+		legsMO=(MemoryObject)this.getOutput("LEGS");
 	}
 
 	@Override

diff --git a/src/codelets/motor/HandsActionCodelet.java b/src/codelets/motor/HandsActionCodelet.java
@@ -51,7 +51,7 @@ public HandsActionCodelet(Creature nc) {
 
         @Override
 	public void accessMemoryObjects() {
-		handsMO=this.getInput("HANDS");
+		handsMO=(MemoryObject)this.getInput("HANDS");
 	}
 	public void proc() {
 

diff --git a/src/codelets/motor/LegsActionCodelet.java b/src/codelets/motor/LegsActionCodelet.java
@@ -53,7 +53,7 @@ public LegsActionCodelet(Creature nc) {
 
 	@Override
 	public void accessMemoryObjects() {
-		legsActionMO=this.getInput("LEGS");
+		legsActionMO=(MemoryObject)this.getInput("LEGS");
 	}
 
 	@Override
@@ -75,7 +75,7 @@ public void proc() {
                                                if (!comm.equals(previousLegsAction)) 
                                                     log.info("Sending Forage command to agent");
                                                 try {  
-                                                      c.rotate(0.01);     
+                                                      c.rotate(2);     
                                                 } catch (Exception e) {
                                                     e.printStackTrace();
                                                 }

diff --git a/src/codelets/perception/AppleDetector.java b/src/codelets/perception/AppleDetector.java
@@ -46,9 +46,9 @@ public AppleDetector(){
 	@Override
 	public void accessMemoryObjects() {
                 synchronized(this) {
-		    this.visionMO=this.getInput("VISION");
+		    this.visionMO=(MemoryObject)this.getInput("VISION");
                 }
-		this.knownApplesMO=this.getOutput("KNOWN_APPLES");
+		this.knownApplesMO=(MemoryObject)this.getOutput("KNOWN_APPLES");
 	}
 
 	@Override

diff --git a/src/codelets/perception/ClosestAppleDetector.java b/src/codelets/perception/ClosestAppleDetector.java
@@ -47,9 +47,9 @@ public ClosestAppleDetector() {
 
 	@Override
 	public void accessMemoryObjects() {
-		this.knownMO=this.getInput("KNOWN_APPLES");
-		this.innerSenseMO=this.getInput("INNER");
-		this.closestAppleMO=this.getOutput("CLOSEST_APPLE");	
+		this.knownMO=(MemoryObject)this.getInput("KNOWN_APPLES");
+		this.innerSenseMO=(MemoryObject)this.getInput("INNER");
+		this.closestAppleMO=(MemoryObject)this.getOutput("CLOSEST_APPLE");	
 	}
 	@Override
 	public void proc() {

diff --git a/src/codelets/sensors/InnerSense.java b/src/codelets/sensors/InnerSense.java
@@ -42,7 +42,7 @@ public InnerSense(Creature nc) {
 	}
 	@Override
 	public void accessMemoryObjects() {
-		innerSenseMO=this.getOutput("INNER");
+		innerSenseMO=(MemoryObject)this.getOutput("INNER");
                 cis = (CreatureInnerSense) innerSenseMO.getI();
 	}
 

diff --git a/src/codelets/sensors/Vision.java b/src/codelets/sensors/Vision.java
@@ -46,7 +46,7 @@ public Vision(Creature nc) {
 
 	@Override
 	public void accessMemoryObjects() {
-		visionMO=this.getOutput("VISION");
+		visionMO=(MemoryObject)this.getOutput("VISION");
 	}
 
 	@Override

diff --git a/src/memory/CreatureInnerSense.java b/src/memory/CreatureInnerSense.java
@@ -34,7 +34,7 @@ public class CreatureInnerSense {
 
     public String toString() {
         if (position != null)
-            return("Position: "+(int)position.getX()+","+(int)position.getY()+" Pitch: "+pitch+" Fuel: "+fuel);
+            return("Position: ("+(int)position.getX()+","+(int)position.getY()+") Pitch: "+(int)pitch+" Fuel: "+fuel);
         else 
             return("Position: null,null"+" Pitch: "+pitch+" Fuel: "+fuel);
     }

diff --git a/src/support/MindView.form b/src/support/MindView.form
@@ -23,12 +23,12 @@
   <Layout>
     <DimensionLayout dim="0">
       <Group type="103" groupAlignment="0" attributes="0">
-          <Component id="jScrollPane1" alignment="0" pref="400" max="32767" attributes="0"/>
+          <Component id="jScrollPane1" alignment="0" pref="568" max="32767" attributes="0"/>
       </Group>
     </DimensionLayout>
     <DimensionLayout dim="1">
       <Group type="103" groupAlignment="0" attributes="0">
-          <Component id="jScrollPane1" alignment="0" pref="300" max="32767" attributes="0"/>
+          <Component id="jScrollPane1" min="-2" pref="116" max="-2" attributes="0"/>
       </Group>
     </DimensionLayout>
   </Layout>

diff --git a/src/support/MindView.java b/src/support/MindView.java
@@ -25,7 +25,10 @@
 import java.util.Random;
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.CopyOnWriteArrayList;
+import ws3dproxy.model.Thing;
 import ws3dproxy.model.World;
+import ws3dproxy.util.Constants;
 
 class MVTimerTask extends TimerTask {
     MindView mv;
@@ -68,7 +71,7 @@ public void addMO(MemoryObject moi) {
     public void StartTimer() {
         t = new Timer();
         MVTimerTask tt = new MVTimerTask(this);
-        t.scheduleAtFixedRate(tt,0,250);
+        t.scheduleAtFixedRate(tt,0,500);
     }
 
     public void tick() {
@@ -79,15 +82,34 @@ public void tick() {
                     //Class cl = mo.getT();
                     //Object k = cl.cast(mo.getI());
                     Object k = mo.getI();
-                    alltext += mo.name+": "+k+"\n";
+                    String moName = mo.getName();
+                    if (moName.equals("KNOWN_APPLES") || moName.equals("VISION")) {
+                        //alltext += mo.getName()+": "+k+"<-> ";
+                        alltext += mo.getName()+": [ ";
+                        CopyOnWriteArrayList<Thing> l = new CopyOnWriteArrayList<>((List<Thing>)k);
+                        for (Thing t : l) {
+                            String kindofthing = "t";
+                            if (t.getCategory() == Constants.categoryPFOOD) kindofthing = "a";
+                            alltext += kindofthing+"("+(int)(t.getX1()+t.getX2())/2+","+(int)(t.getY1()+t.getY2())/2+") ";
+                        }    
+                        alltext += "]\n";
+                    }
+                    else if (moName.equals("CLOSEST_APPLE")) {
+                        Thing t = (Thing)k;
+                        String kindofthing = "t";
+                        if (t.getCategory() == 21) kindofthing = "a";
+                        alltext += moName+": "+kindofthing+"("+(int)(t.getX1()+t.getX2())/2+","+(int)(t.getY1()+t.getY2())/2+")\n";
+                    }
+                    else     
+                    alltext += mo.getName()+": "+k+"\n";
                 }
                 else
-                    alltext += mo.name+": "+mo.getI()+"\n";
-
+                    //alltext += mo.getName()+": "+mo.getI()+"\n";
+                    alltext += mo.getName()+":\n";
             }   
         text.setText(alltext);
         j++;
-        if (j == 40) {
+        if (j == 7) {
             try {
               World.createFood(0,r.nextInt(800) , r.nextInt(600));
             } catch (Exception e) {
@@ -120,11 +142,11 @@ private void initComponents() {
         getContentPane().setLayout(layout);
         layout.setHorizontalGroup(
             layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-            .addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 400, Short.MAX_VALUE)
+            .addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 568, Short.MAX_VALUE)
         );
         layout.setVerticalGroup(
             layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-            .addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 300, Short.MAX_VALUE)
+            .addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 116, javax.swing.GroupLayout.PREFERRED_SIZE)
         );
 
         pack();