/** The body method. */
public void body() {
// Make sure other plan is executed first.
waitFor(10);
// Set result of listener.
SyncResultListener listener =
(SyncResultListener) getBeliefbase().getBelief("listener").getFact();
listener.resultAvailable(this, "success");
}
/** The plan body. */
public void body() {
Grid2D env = (Grid2D) getBeliefbase().getBelief("env").getFact();
ISpaceObject myself = (ISpaceObject) getBeliefbase().getBelief("myself").getFact();
ISpaceObject[] hunters =
(ISpaceObject[]) getBeliefbase().getBeliefSet("seen_hunters").getFacts();
String move =
MoveAction.getAvoidanceDirection(
env, (IVector2) myself.getProperty(Space2D.PROPERTY_POSITION), hunters);
SyncResultListener srl = new SyncResultListener();
Map params = new HashMap();
params.put(ISpaceAction.ACTOR_ID, getComponentIdentifier());
params.put(MoveAction.PARAMETER_DIRECTION, move);
env.performSpaceAction("move", params, srl);
try {
srl.waitForResult();
} catch (RuntimeException e) {
// When move fails ignore exception.
fail();
}
}
/** The plan body. */
public void body() {
ISpaceObject waste = (ISpaceObject) getParameter("waste").getValue();
// Move to the waste position when necessary
// getLogger().info("Moving to waste!");
IGoal moveto = createGoal("achievemoveto");
IVector2 location = (IVector2) waste.getProperty(Space2D.PROPERTY_POSITION);
moveto.getParameter("location").setValue(location);
dispatchSubgoalAndWait(moveto);
IEnvironmentSpace env = (IEnvironmentSpace) getBeliefbase().getBelief("environment").getFact();
Map params = new HashMap();
params.put(ISpaceAction.ACTOR_ID, getComponentIdentifier());
params.put(ISpaceAction.OBJECT_ID, getParameter("waste").getValue());
SyncResultListener srl = new SyncResultListener();
env.performSpaceAction("pickup_waste", params, srl);
try {
srl.waitForResult();
} catch (RuntimeException e) {
fail();
}
}
