public override double execute(double dt)
{
// StreamWriter file = MascaretApplication.Instance.logfile; file.Flush();
// file.WriteLine("StateMachine"); file.Flush();
if (first)
{
// TODO: Attention a gerer plus tard : possibilite de fixe l'etat en cours a l'initialisation de l'instance
// Recherche de l'etat Initial
List <PseudoState> ps = getStateMachine().ConnectionPoint;
StateMachine machine = getStateMachine();
List <Region> res = machine.Region;
bool foundInitialState = false;
// file.WriteLine("Pseudo state : " + ps.Count); file.Flush();
foreach (PseudoState pseudo in ps)
{
if (pseudo.kind == PseudoStateKind.INITIAL)
{
Dictionary <string, ValueSpecification> p = new Dictionary <string, ValueSpecification>();
List <Transition> trans = pseudo.Outgoing;
foreach (Transition transition in trans)
{
//if (_currentState) _currentState->desactivate();
activateState(transition.Target, p);
}
//file.WriteLine("Found Initial"); file.Flush();
foundInitialState = true;
break;
}
}
if (!foundInitialState)
{
toStop = true;
}
//toStop = foundInitialState ? false : true;
first = false;
}
else
{
while (eventQueue.Count != 0)
{
Vertex currentState = this.currentState;
if (currentState == null)//|| (currentState.Noninterpt && currentState.running))
{
break;
}
// if (this.Host.name == "tiroirProduits")
// file.WriteLine(" ---> " + this.Host.name + " stateMachine Behavior " + this.Specification.getFullName()+ " in " + currentState.getFullName()); file.Flush();
Trigger trigger = eventQueue[0];
eventQueue.RemoveAt(0);
List <Transition> trans = currentState.Outgoing;
MascaretApplication.Instance.VRComponentFactory.Log(" Trigger : " + trigger.name);
// file.WriteLine("Nb Trans : " + trans.Count); file.Flush();
for (int iT = 0; iT < trans.Count; iT++)
{
List <Trigger> transTriggers = trans[iT].Trigger;
// file.WriteLine("Nb Triger : " + transTriggers.Count); file.Flush();
for (int i = 0; i < transTriggers.Count; i++)
{
Trigger transTrigger = transTriggers[i];
// if (this.Host.name == "tiroirProduits")
// file.WriteLine(" ---> " + this.Host.name + " " + transTrigger.getFullName()); file.Flush();
if (transTrigger.equals(trigger))
{
Dictionary <string, ValueSpecification> param = new Dictionary <string, ValueSpecification>();
//OclParser::Context context;
MascaretApplication.Instance.VRComponentFactory.Log(" Trigger OK");
MascaretEvent evt = trigger.MEvent;
if (evt != null && evt.Type == "SignalEvent")
{
SignalEvent sevt = (SignalEvent)evt;
InstanceSpecification signal = sevt.Signal;
if (signal != null)
{
/* // Gestion des parametres
* map<string, shared_ptr<Slot> > props = signal->getSlots();
* map<string, shared_ptr<Slot> >::iterator it;
* for (it = props.begin(); it != props.end(); it++)
* {
* vector<AnyValue> values;
* values.push_back((AnyValue)it->second->getValue()->getStringFromValue());
* context[it->first] = CollectionAnyValue(values);
* param[it->first] = it->second->getValue();
* cerr << it->first << " == " << it->second->getValue()->getStringFromValue() << endl;
* }
*/
}
}
//context["self"]=getHost();
if (trans[iT].Guard == null) //|| trans[iT]->getGuard()->eval(context))
{
if (currentState != null)
{
if (be != null)
{
be.stop();
BehaviorScheduler.Instance.deleteExecutionBehavior(be);
be = null;
}
currentState.desactivate();
}
Action effect = trans[iT].Effect;
if (effect != null)
{
MascaretApplication.Instance.VRComponentFactory.Log("Has effect");
BehaviorScheduler.Instance.executeBehavior(effect, this.Host, param, false);
}
MascaretApplication.Instance.VRComponentFactory.Log("Activate new state : " + trans[iT].Target.name);
activateState(trans[iT].Target, param);
}
}
}
}
}
// if(eventQueue.Count == 0)
// pause();
//toStop = true;
}
return(0.01);
//if (toStop) return 0;
//else return 0.001;
}
public override void manageRequest(HttpRequest req)
{
string id = "";
if (req.parameters.ContainsKey("agent"))
{
id = req.parameters["agent"];
}
Environment env = MascaretApplication.Instance.getEnvironment();
InstanceSpecification entity = null;
if (env.InstanceSpecifications.ContainsKey(id))
{
entity = env.InstanceSpecifications[id];
}
VirtualHuman human = null;
if (entity != null)
{
human = (VirtualHuman)(entity);
}
if (human != null)
{
env = human.KnowledgeBase.Environment;
}
id = req.parameters["alias"];
if (!env.InstanceSpecifications.ContainsKey(id))
{
req.response.write("<html>");
req.response.write("<body>");
req.response.write("Can't find entity: " + id);
req.response.write("</body>");
req.response.write("</html>");
return;
}
entity = env.InstanceSpecifications[id];
req.response.write("<html>");
req.response.write("<body>");
req.response.write("<META HTTP-EQUIV=\"Refresh\" CONTENT=\"30\">");
req.response.write("<META HTTP-EQUIV=\"Content-Type\" content=\"text/html; charset=UTF-8\">");
req.response.write("<link href=\"doxygen.css\" rel=\"stylesheet\" type=\"text/css\">");
req.response.write("<link href=\"tabs.css\" rel=\"stylesheet\" type=\"text/css\">");
req.response.write("<H2>Description</H2>");
req.response.write("<ul>");
req.response.write("<li>");
req.response.write(entity.name);
req.response.write("</li>");
req.response.write("<li>");
req.response.write(entity.getFullName());
req.response.write("</li>");
req.response.write("<li>");
req.response.write(entity.Description);
req.response.write("</li>");
req.response.write("<li>");
req.response.write(" <a href=\"Class?alias=");
req.response.write(entity.Classifier.name);
req.response.write("\" target = \"Body\">");
req.response.write("</a>");
req.response.write("</li>");
req.response.write("</ul>");
//req.response.flushBuffer();
Vector3 position = new Vector3(0, 0, 0);
Vector3 orientation = new Vector3(0, 0, 0);
Entity entity2 = (Entity)(entity);
if (entity2 != null)
{
//position = entity2.getLocalPosition();
//orientation = entity2.getLocalOrientation();
req.response.write("<HR>");
req.response.write("<H2>Geometrie</H2>");
req.response.write("<FORM METHOD=GET action=\"changeGeometry\">");
req.response.write("<input type=\"hidden\" name=\"alias\" value=\"");
req.response.write(id);
req.response.write("\" />");
req.response.write("<TABLE BORDER=1>");
req.response.write("<TR>");
req.response.write("<TD>Position locale</TD>");
req.response.write("<TD>");
req.response.write("" + position.x);
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write("" + position.y);
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write("" + position.z);
req.response.write("</TD>");
req.response.write("</TR>");
req.response.write("<TR>");
req.response.write("<TD>Orientation locale</TD>");
req.response.write("<TD>");
req.response.write("" + orientation.x);
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write("" + orientation.y);
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write("" + orientation.z);
req.response.write("</TD>");
req.response.write("</TR>");
req.response.write("</TABLE>");
req.response.write("<INPUT TYPE=\"submit\" VALUE=\"Modifier\">");
req.response.write("</FORM>");
//req.response.flushBuffer();
}
req.response.write("<HR>");
req.response.write("<H2>Attributs</H2>");
req.response.write("<FORM METHOD=GET action=\"changeAttributes\">");
req.response.write("<input type=\"hidden\" name=\"alias\" value=\"");
req.response.write(id);
req.response.write("\" />");
req.response.write("<ul>");
Dictionary <string, Slot> attributes = entity.Slots;
foreach (KeyValuePair <string, Slot> attr in attributes)
{
req.response.write("<li>");
req.response.write(attr.Key);
req.response.write(" = ");
//string value = it->second->getValue().getStringFromValue();
string value = "";
foreach (KeyValuePair <string, ValueSpecification> val in attr.Value.Values)
{
value += "'" + val.Value.getStringFromValue() + "' ";
}
req.response.write(value);
req.response.write("</li>");
}
req.response.write("</ul>");
req.response.write("<INPUT TYPE=\"submit\" VALUE=\"Modifier\">");
req.response.write("</FORM>");
//req.response.flushBuffer();
req.response.write("<HR>");
req.response.write("<H2>Operations</H2>");
req.response.write("<ul>");
Class classifier = entity.Classifier;
Dictionary <string, Operation> operations = classifier.Operations;
foreach (KeyValuePair <string, Operation> operation in operations)
{
req.response.write("<li>");
req.response.write(" <a href=\"Operation?alias=");
req.response.write(entity.name);
req.response.write("&oper=");
req.response.write(operation.Key);
req.response.write("\" target = \"Body\">");
req.response.write(operation.Key);
req.response.write("</a>");
req.response.write("</li>");
}
req.response.write("</ul>");
//req.response.flushBuffer();
req.response.write("<HR>");
req.response.write("<H2>Signaux</H2>");
req.response.write("<ul>");
Dictionary <string, Behavior> behaviors = classifier.OwnedBehavior;
foreach (KeyValuePair <string, Behavior> behavior in behaviors)
{
StateMachine stateMachine = (StateMachine)(behavior.Value);
Region region = stateMachine.Region[0];
if (region != null)
{
List <Transition> transitions = region.Transitions;
for (int iTrans = 0; iTrans < transitions.Count; iTrans++)
{
List <Trigger> triggers = transitions[iTrans].Trigger;
for (int iTrig = 0; iTrig < triggers.Count; iTrig++)
{
MascaretEvent evt = triggers[iTrig].MEvent;
if (evt != null)
{
if (evt.Type == "SignalEvent")
{
SignalEvent signalEvent = (SignalEvent)(evt);
req.response.write("<li>");
req.response.write(" <a href=\"Signal?alias=");
req.response.write(entity.name);
req.response.write("&signal=");
req.response.write(((SignalEvent)(evt)).SignalClass.name);
req.response.write("\" target = \"Body\">");
req.response.write(((SignalEvent)(evt)).SignalClass.name);
req.response.write("</a>");
req.response.write("</li>");
}
}
}
}
}
}
req.response.write("</ul>");
//req.response.flushBuffer();
req.response.write("<HR>");
req.response.write("<H2>Machines d'états</H2>");
req.response.write("<ul>");
List <StateMachineBehaviorExecution> stmbes = entity.SmBehaviorExecutions;
for (int i = 0; i < stmbes.Count; i++)
{
Vertex state = stmbes[i].CurrentState;
string name = stmbes[i].getStateMachine().name;
string state_name = "";
if (state == null)
{
state_name = "inconnu";
}
else
{
state_name = state.name;
}
string tmp = "<li>" + name + " - État actif: " + state_name + "</li>";
req.response.write(tmp);
}
req.response.write("</ul>");
req.response.write("<HR>");
req.response.write("<a href=\"CenterView?alias=" + entity.name + "\">Centrer la vue sur cette entité</a><br/>");
req.response.write("<a href=\"SetRed?alias=" + entity.name + "\">Mettre en rouge</a>");
req.response.write("</body>");
req.response.write("</html>");
//req.response.flushBuffer();
}
public override void manageRequest(HttpRequest req)
{
string id = req.parameters["alias"];
Environment env = MascaretApplication.Instance.getEnvironment();
if (!env.InstanceSpecifications.ContainsKey(id))
{
req.response.write("<html>");
req.response.write("<body>");
req.response.write("Can't find entity: " + id);
req.response.write("</body>");
req.response.write("</html>");
return;
}
InstanceSpecification entity = env.InstanceSpecifications[id];
VirtualHuman human = null;
try
{
human = (VirtualHuman)(entity);
}
catch (InvalidCastException e)
{
req.response.write("<html>");
req.response.write("<body>");
req.response.write("Entity: " + id + " is not an agent");
req.response.write("</body>");
req.response.write("</html>");
return;
}
req.response.write("<html>");
req.response.write("<body>");
req.response.write("<META HTTP-EQUIV=\"Refresh\" CONTENT=\"30\">");
req.response.write("<META HTTP-EQUIV=\"Content-Type\" content=\"text/html; charset=UTF-8\">");
req.response.write("<link href=\"doxygen.css\" rel=\"stylesheet\" type=\"text/css\">");
req.response.write("<link href=\"tabs.css\" rel=\"stylesheet\" type=\"text/css\">");
req.response.write("<H2>Description</H2>");
req.response.write("<ul>");
req.response.write("<li>");
req.response.write(human.name);
req.response.write("</li>");
req.response.write("<li>");
req.response.write(human.getFullName());
req.response.write("</li>");
req.response.write("<li>");
req.response.write(human.Description);
req.response.write("</li>");
req.response.write("<li>");
req.response.write(" <a href=\"Class?alias=");
req.response.write(human.Classifier.name);
req.response.write("\" target = \"Body\">");
req.response.write("</a>");
req.response.write("</li>");
req.response.write("</ul>");
string setControlled = req.parameters["setControlled"];
if (setControlled == "true")
{
human.ControlledByHuman = true;
}
else if (setControlled == "false")
{
human.ControlledByHuman = false;
}
req.response.write("<HR>");
req.response.write("<H2>Toggle controlled by human</H2>");
req.response.write("<FORM METHOD=POST action=\"Agent?alias=" + id + "\">");
req.response.write("<input type=\"hidden\" name=\"alias\" value=\"" + id + "\" />");
if (human.ControlledByHuman)
{
req.response.write("<font color=\"darkred\">This agent is currently controlled. (will not follow procedure automatically)</font><br />");
req.response.write("<input type=\"hidden\" name=\"setControlled\" value=\"false\" />");
req.response.write("<input type=\"submit\" name=\"control\" value=\"Release control of this agent\" />");
}
else
{
req.response.write("<font color=\"darkgreen\">This agent is currently automatic. (will automatically follow procedures)</font><br />");
req.response.write("<input type=\"hidden\" name=\"setControlled\" value=\"true\" />");
req.response.write("<input type=\"submit\" name=\"control\" value=\"Take control of this agent\" />");
}
req.response.write("</FORM>");
req.response.write("<HR>");
req.response.write("<H2>Knowledge base</H2>");
KnowledgeBase kb = human.KnowledgeBase;
if (kb != null)
{
req.response.write(" <a href=\"KnowledgeBase?alias=");
req.response.write(human.name);
req.response.write("\" target = \"_blank\">");
req.response.write(kb.name);
req.response.write("</a>");
}
req.response.write("<HR>");
req.response.write("<H2>Parler</H2>");
req.response.write("<FORM METHOD=GET action=\"speak\">");
req.response.write("<input type=\"hidden\" name=\"alias\" value=\"");
req.response.write(id);
req.response.write("\" />");
req.response.write("Texte : \t <INPUT name=\"text\">");
req.response.write("<INPUT TYPE=\"submit\" VALUE=\"Dire\">");
req.response.write("</FORM>");
req.response.write("<HR>");
req.response.write("<H2>Attributs</H2>");
req.response.write("<FORM METHOD=GET action=\"changeAttributes\">");
req.response.write("<input type=\"hidden\" name=\"alias\" value=\"");
req.response.write(id);
req.response.write("\" />");
req.response.write("<ul>");
Dictionary <string, Slot> attributes = human.Slots;
foreach (KeyValuePair <string, Slot> attr in attributes)
{
req.response.write("<li>");
req.response.write(attr.Key);
req.response.write(" = ");
//string value = it->second->getValue().getStringFromValue();
string value = "";
foreach (KeyValuePair <string, ValueSpecification> val in attr.Value.Values)
{
value += "'" + val.Value.getStringFromValue() + "' ";
}
req.response.write(value);
req.response.write("</li>");
}
req.response.write("</ul>");
req.response.write("<INPUT TYPE=\"submit\" VALUE=\"Modifier\">");
req.response.write("</FORM>");
//req.response.flushBuffer();
req.response.write("<HR>");
req.response.write("<H2>Operations</H2>");
req.response.write("<ul>");
Class classifier = human.Classifier;
Dictionary <string, Operation> operations = classifier.Operations;
foreach (KeyValuePair <string, Operation> operation in operations)
{
req.response.write("<li>");
req.response.write(" <a href=\"Operation?alias=");
req.response.write(human.name);
req.response.write("&oper=");
req.response.write(operation.Key);
req.response.write("\" target = \"Body\">");
req.response.write(operation.Key);
req.response.write("</a>");
req.response.write("</li>");
}
req.response.write("</ul>");
//req.response.flushBuffer();
req.response.write("<HR>");
req.response.write("<H2>Signaux</H2>");
req.response.write("<ul>");
Dictionary <string, Behavior> behaviors = classifier.OwnedBehavior;
foreach (KeyValuePair <string, Behavior> behavior in behaviors)
{
StateMachine stateMachine = (StateMachine)(behavior.Value);
Region region = stateMachine.Region[0];
if (region != null)
{
List <Transition> transitions = region.Transitions;
for (int iTrans = 0; iTrans < transitions.Count; iTrans++)
{
List <Trigger> triggers = transitions[iTrans].Trigger;
for (int iTrig = 0; iTrig < triggers.Count; iTrig++)
{
MascaretEvent evt = triggers[iTrig].MEvent;
if (evt != null)
{
if (evt.Type == "SignalEvent")
{
SignalEvent signalEvent = (SignalEvent)(evt);
req.response.write("<li>");
req.response.write(" <a href=\"Signal?alias=");
req.response.write(human.name);
req.response.write("&signal=");
req.response.write(((SignalEvent)(evt)).SignalClass.name);
req.response.write("\" target = \"Body\">");
req.response.write(((SignalEvent)(evt)).SignalClass.name);
req.response.write("</a>");
req.response.write("</li>");
}
}
}
}
}
}
req.response.write("</ul>");
req.response.write("</ul>");
req.response.write("<HR>");
req.response.write("<H2>Messages</H2>");
req.response.write(" AID : ");
req.response.write(human.Aid.toString());
req.response.write("<H3>");
req.response.write(" <a href=\"createMessage?alias=");
req.response.write(human.name);
req.response.write("\" target = \"Body\">");
req.response.write("Envoyer un message");
req.response.write("</a>");
req.response.write("</H3>");
req.response.write("<H3>Non lus</H3>");
List <ACLMessage> nl = human.Mailbox.MessagesQueue;
req.response.write("<TABLE BORDER=1>");
req.response.write("<TR>");
req.response.write("<TD>De </TD>");
req.response.write("<TD>Performative </TD>");
req.response.write("<TD>Contenu </TD>");
req.response.write("</TR>");
for (int inl = 0; inl < nl.Count; inl++)
{
ACLMessage msg = nl[inl];
//nl.erase(nl.begin());
req.response.write("<TR>");
req.response.write("<TD>");
req.response.write(msg.Sender.toString());
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write(msg.getPerformativeText());
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write(msg.Content);
req.response.write("</TD>");
req.response.write("</TR>");
}
req.response.write("</TABLE>");
req.response.write("<H3>Lus</H3>");
List <ACLMessage> l = human.Mailbox.MessagesChecked;
req.response.write("<TABLE BORDER=1>");
req.response.write("<TR>");
req.response.write("<TD>De </TD>");
req.response.write("<TD>Performative </TD>");
req.response.write("<TD>Contenu </TD>");
req.response.write("</TR>");
for (int il = 0; il < l.Count; il++)
{
ACLMessage msg = l[il];
req.response.write("<TR>");
req.response.write("<TD>");
req.response.write(msg.Sender.toString());
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write(msg.getPerformativeText());
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write(msg.Content);
req.response.write("</TD>");
req.response.write("</TR>");
}
req.response.write("</TABLE>");
req.response.write("<H3>Envoyes</H3>");
List <ACLMessage> me = human.Mailbox.MessagesSent;
req.response.write("<TABLE BORDER=1>");
req.response.write("<TR>");
req.response.write("<TD>A </TD>");
req.response.write("<TD>Performative </TD>");
req.response.write("<TD>Contenu </TD>");
req.response.write("</TR>");
for (int ie = 0; ie < me.Count; ie++)
{
ACLMessage msg = me[ie];
req.response.write("<TR>");
req.response.write("<TD>");
List <AID> receivers = msg.Receivers;
for (int ir = 0; ir < receivers.Count; ir++)
{
req.response.write(receivers[ir].toString());
}
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write(msg.getPerformativeText());
req.response.write("</TD>");
req.response.write("<TD>");
req.response.write(msg.Content);
req.response.write("</TD>");
req.response.write("</TR>");
}
}