// update the input-link appropriately
@Override
public synchronized void updateInputLink(Identifier parentIdentifier) {
if (poseID == null) {
// Create the pose on the input link
poseID = parentIdentifier.CreateIdWME("pose");
wmes = new FloatElement[6];
for (int i = 0; i < 6; i++) {
wmes[i] = poseID.CreateFloatWME(poseStrings[i], pose[i]);
}
} else {
// Update the pose on the input link
for (int i = 0; i < 6; i++) {
if (wmes[i].GetValue() != pose[i]) {
wmes[i].Update(pose[i]);
}
}
}
}
// remove the object from the input-link
@Override
public synchronized void destroy() {
if (wmes != null) {
for (int i = 0; i < 6; i++) {
wmes[i].DestroyWME();
}
wmes = null;
poseID.DestroyWME();
poseID = null;
}
}
public CommandInfo nextCommand() {
// if there was no command issued, that is kind of strange
if (agent.GetNumberCommands() == 0) {
if (logger.isDebugEnabled()) {
logger.debug(player.getName() + " issued no command.");
}
return new CommandInfo();
}
// go through the commands
// see move info for details
CommandInfo move = new CommandInfo();
boolean moveWait = false;
if (agent.GetNumberCommands() > 1) {
logger.debug(
player.getName()
+ ": "
+ agent.GetNumberCommands()
+ " commands detected, all but the first will be ignored");
}
for (int i = 0; i < agent.GetNumberCommands(); ++i) {
Identifier commandId = agent.GetCommand(i);
String commandName = commandId.GetAttribute();
if (commandName.equalsIgnoreCase(Names.kMoveID)) {
if (move.move || moveWait) {
logger.debug(player.getName() + ": multiple move commands detected");
commandId.AddStatusError();
continue;
}
move.move = true;
String direction = commandId.GetParameterValue(Names.kDirectionID);
if (direction != null) {
if (direction.equals(Names.kNone)) {
// legal wait
move.move = false;
moveWait = true;
commandId.AddStatusComplete();
continue;
} else {
move.moveDirection = Direction.parse(direction);
commandId.AddStatusComplete();
continue;
}
}
} else if (commandName.equalsIgnoreCase(Names.kStopSimID)) {
if (move.stopSim) {
logger.debug(player.getName() + ": multiple stop commands detected, ignoring");
commandId.AddStatusError();
continue;
}
move.stopSim = true;
commandId.AddStatusComplete();
continue;
} else if (commandName.equalsIgnoreCase(Names.kPickUpID)) {
if (move.pickup) {
logger.debug(
player.getName() + ": multiple " + Names.kPickUpID + " commands detected, ignoring");
commandId.AddStatusError();
continue;
}
move.pickup = true;
commandId.AddStatusComplete();
continue;
} else if (commandName.equalsIgnoreCase(Names.kPutDownID)) {
if (move.putdown) {
logger.debug(
player.getName() + ": multiple " + Names.kPutDownID + " commands detected, ignoring");
commandId.AddStatusError();
continue;
}
move.putdown = true;
commandId.AddStatusComplete();
continue;
} else if (commandName.equalsIgnoreCase(Names.kFillUpID)) {
if (move.fillup) {
logger.debug(
player.getName() + ": multiple " + Names.kFillUpID + " commands detected, ignoring");
commandId.AddStatusError();
continue;
}
move.fillup = true;
commandId.AddStatusComplete();
continue;
} else {
logger.warn("Unknown command: " + commandName);
commandId.AddStatusError();
continue;
}
logger.warn("Improperly formatted command: " + commandName);
commandId.AddStatusError();
}
agent.ClearOutputLinkChanges();
if (!agent.Commit()) {
Gridmap2D.control.errorPopUp(Names.Errors.commitFail + player.getName());
Gridmap2D.control.stopSimulation();
}
return move;
}