private void rateSStateChanged(
javax.swing.event.ChangeEvent evt) { // GEN-FIRST:event_rateSStateChanged
if (Engine.getInstance().getProxyServer() instanceof CrwProxyServer) {
CrwProxyServer server = (CrwProxyServer) Engine.getInstance().getProxyServer();
if (!rateS.getModel().getValueIsAdjusting()) {
server.setCameraRates((double) rateS.getValue());
}
}
} // GEN-LAST:event_rateSStateChanged
@Override
public void invoke(final OutputEvent oe, ArrayList<Token> tokens) {
LOGGER.log(Level.FINE, "CoreEventHandler invoked with " + oe);
if (oe instanceof AbortMission) {
for (Token token : tokens) {
if (token.getProxy() != null) {
token.getProxy().abortMission(oe.getMissionId());
}
}
} else if (oe instanceof CompleteMission) {
for (Token token : tokens) {
if (token.getProxy() != null) {
token.getProxy().completeMission(oe.getMissionId());
}
}
} else if (oe instanceof SendProxyAbortAllMissions) {
for (Token token : tokens) {
if (token.getProxy() != null) {
// Add proxy that will be aborting the missions
ArrayList<ProxyInt> relevantProxies = new ArrayList<ProxyInt>();
relevantProxies.add(token.getProxy());
// Get list of all mission ids proxy is involved in
ArrayList<UUID> missionIds = new ArrayList<UUID>();
ArrayList<OutputEvent> outputEvents = token.getProxy().getEvents();
for (OutputEvent proxyOe : outputEvents) {
if (!missionIds.contains(proxyOe.getMissionId())) {
missionIds.add(proxyOe.getMissionId());
}
}
// Send proxy abort mission for each mission
for (UUID missionId : missionIds) {
ProxyAbortMissionReceived pamr =
new ProxyAbortMissionReceived(missionId, relevantProxies);
ArrayList<GeneratedEventListenerInt> listenersCopy =
(ArrayList<GeneratedEventListenerInt>) listeners.clone();
for (GeneratedEventListenerInt listener : listenersCopy) {
listener.eventGenerated(pamr);
}
}
}
}
} else if (oe instanceof SendProxyAbortFutureMissions) {
for (Token token : tokens) {
if (token.getProxy() != null) {
// Add proxy that will be aborting the missions
ArrayList<ProxyInt> relevantProxies = new ArrayList<ProxyInt>();
relevantProxies.add(token.getProxy());
// Get list of all mission ids proxy is involved in
ArrayList<UUID> missionIds = new ArrayList<UUID>();
ArrayList<OutputEvent> outputEvents = token.getProxy().getEvents();
for (OutputEvent proxyOe : outputEvents) {
if (!missionIds.contains(proxyOe.getMissionId())) {
missionIds.add(proxyOe.getMissionId());
}
}
// Remove current mission from list of missions to be aborted by proxy
OutputEvent curOe = token.getProxy().getCurrentEvent();
if (curOe != null) {
missionIds.remove(curOe);
}
// Send proxy abort mission for each mission
for (UUID missionId : missionIds) {
ProxyAbortMissionReceived pamr =
new ProxyAbortMissionReceived(missionId, relevantProxies);
ArrayList<GeneratedEventListenerInt> listenersCopy =
(ArrayList<GeneratedEventListenerInt>) listeners.clone();
for (GeneratedEventListenerInt listener : listenersCopy) {
listener.eventGenerated(pamr);
}
}
}
}
} else if (oe instanceof SendAbortMission) {
// We will move all tokens out of all places in the plan and be in an end Recovery place
// Do nothing (abort mission is handled by PlanManager)
AbortMissionReceived amr = new AbortMissionReceived(oe.getMissionId());
ArrayList<GeneratedEventListenerInt> listenersCopy =
(ArrayList<GeneratedEventListenerInt>) listeners.clone();
for (GeneratedEventListenerInt listener : listenersCopy) {
listener.eventGenerated(amr);
}
} else if (oe instanceof StartTimer) {
Timer timer =
new Timer(
((StartTimer) oe).timerDuration * 1000,
new ActionListener() {
@Override
public void actionPerformed(ActionEvent ae) {
TimerExpired te = new TimerExpired(oe.getId(), oe.getMissionId());
ArrayList<GeneratedEventListenerInt> listenersCopy =
(ArrayList<GeneratedEventListenerInt>) listeners.clone();
for (GeneratedEventListenerInt listener : listenersCopy) {
listener.eventGenerated(te);
}
}
});
timer.setRepeats(false);
timer.start();
} else if (oe instanceof ReturnValue) {
ReturnValue returnValue = (ReturnValue) oe;
PlanManager pm = Engine.getInstance().getPlanManager(returnValue.getMissionId());
String returnVariableName = pm.getPlanName() + MissionPlanSpecification.RETURN_SUFFIX;
// Set local scope
Engine.getInstance().setVariableValue(returnVariableName, returnValue.getReturnValue(), pm);
// Set in parent's scope
PlanManager parentPm = Engine.getInstance().getParentPm(pm);
if (parentPm != null) {
Engine.getInstance()
.setVariableValue(returnVariableName, returnValue.getReturnValue(), parentPm);
} else {
LOGGER.warning("ReturnValue on event in mission with no parent mission.");
}
} else if (oe instanceof RefreshTasks) {
for (Token token : tokens) {
if (token.getType() == Token.TokenType.Task) {
if (token.getTask() != null && token.getProxy() != null) {
if (token.getProxy().getCurrentTask() == token.getTask()) {
// Generate task started for every proxy
ArrayList<ProxyInt> proxyList =
Engine.getInstance().getProxyServer().getProxyListClone();
for (ProxyInt proxy : proxyList) {
Task currentTask = proxy.getCurrentTask();
if (currentTask != null) {
PlanManager pm = Engine.getInstance().getPlanManager(currentTask);
if (pm != null) {
pm.eventGenerated(new TaskStarted(pm.missionId, currentTask));
} else {
LOGGER.severe("No mapping from task to plan manager: " + currentTask);
}
}
}
}
} else if (token.getTask() == null) {
LOGGER.warning("RefreshTasks activated with task token with a null task: " + token);
} else {
LOGGER.warning("RefreshTasks activated with task token with a null proxy: " + token);
}
}
}
} else if (oe instanceof TaskComplete) {
for (Token token : tokens) {
if (token.getType() == Token.TokenType.Task) {
if (token.getTask() != null && token.getProxy() != null) {
// Update proxy's task list
token.getProxy().taskCompleted(token.getTask());
token.setProxy(null);
Engine.getInstance().unlinkTask(token.getTask());
} else if (token.getTask() == null) {
LOGGER.warning("TaskComplete activated with task token with a null task: " + token);
} else {
LOGGER.warning("TaskComplete activated with task token with a null proxy: " + token);
}
}
}
} else if (oe instanceof GetAllProxyTokens) {
TokensReturned tr =
new TokensReturned(oe.getId(), oe.getMissionId(), Engine.getInstance().getAllProxies());
ArrayList<GeneratedEventListenerInt> listenersCopy =
(ArrayList<GeneratedEventListenerInt>) listeners.clone();
for (GeneratedEventListenerInt listener : listenersCopy) {
listener.eventGenerated(tr);
}
}
}
