protected void resetChildren() {
Collection c = getChildren();
if (c != null) {
Iterator it = c.iterator();
while (it.hasNext()) {
Behaviour b = (Behaviour) it.next();
b.reset();
}
}
}
/**
* Associates this behaviour with the agent it belongs to. Overrides the method in the base class
* to propagate the setting to all children.
*
* @param a The agent this behaviour belongs to.
* @see Behaviour#setAgent(Agent a)
*/
public void setAgent(Agent a) {
Collection c = getChildren();
if (c != null) {
Iterator it = c.iterator();
while (it.hasNext()) {
Behaviour b = (Behaviour) it.next();
b.setAgent(a);
}
}
super.setAgent(a);
}
/**
* Puts a <code>CompositeBehaviour</code> back in initial state. The internal state is cleaned up
* and <code>reset()</code> is recursively called for each child behaviour.
*/
public void reset() {
resetChildren();
starting = true;
finished = false;
super.reset();
}
/** This method is used internally by the framework. Developer should not call or redefine it. */
public void handleRestartEvent() {
// Notify downwards
myEvent.init(true, NOTIFY_DOWN);
handle(myEvent);
// Then notify upwards
super.handleRestartEvent();
}
/** This method is used internally by the framework. Developer should not call or redefine it. */
protected void handleBlockEvent() {
// Notify upwards
super.handleBlockEvent();
// Then notify downwards
myEvent.init(false, NOTIFY_DOWN);
handle(myEvent);
}
/** Remove a sub behaviour from this <code>SequentialBehaviour</code> */
public void removeSubBehaviour(Behaviour b) {
boolean rc = subBehaviours.remove(b);
if (rc) {
b.setParent(null);
} else {
// The specified behaviour was not found. Do nothing
}
}
/**
* Executes this <code>CompositeBehaviour</code>. This method executes children according to the
* scheduling policy defined by concrete subclasses that implements the <code>scheduleFirst()
* </code> and <code>scheduleNext()</code> methods.
*/
public final void run() {
if (starting) {
scheduleFirst();
starting = false;
} else {
if (currentExecuted) {
scheduleNext(currentDone, currentResult);
}
}
// Get the current child
Behaviour current = getCurrent();
currentExecuted = false;
currentDone = false;
currentResult = 0;
if (current != null) {
if (current.isRunnable()) {
// Execute the current child
current.actionWrapper();
currentExecuted = true;
// If it is done --> call its onEnd() method
if (current.done()) {
currentDone = true;
currentResult = current.onEnd();
}
// Check if this CompositeBehaviour is finished
finished = checkTermination(currentDone, currentResult);
} else {
// The currently scheduled child is not runnable --> This
// Composite behaviour must block too and notify upwards
myEvent.init(false, NOTIFY_UP);
super.handle(myEvent);
}
} else {
// There are no children to execute
finished = true;
}
}
// #APIDOC_EXCLUDE_BEGIN
protected void registerAsChild(Behaviour b) {
b.setParent(this);
}
/** Add a sub behaviour to this <code>SequentialBehaviour</code> */
public void addSubBehaviour(Behaviour b) {
subBehaviours.add(b);
b.setParent(this);
b.setAgent(myAgent);
}