StackBlockPlan.java

package jadex.examples.blocksworld;

import jadex.runtime.*;

/**
* Stack a block on top of another.
*/
public class StackBlocksPlan extends Plan
{
//-------- constants --------

/** The normal execution mode. */
public static final String MODE_NORMAL = "Normal";

/** The slow execution mode. */
public static final String MODE_SLOW = "Slow";

/** The step execution mode. */
public static final String MODE_STEP = "Step";

//-------- attributes --------

/** The block to be moved. */
protected Block block;

/** The block on to which to put the other block. */
protected Block target;

/** The execution mode. */
protected String mode;

/** The quiet flag (do not printout messages). */
protected boolean quiet;

//-------- constructors --------

/**
* Create a new plan.
*/
public StackBlocksPlan(String mode)
{
this(mode, false);
}

/**
* Create a new plan.
*/
public StackBlocksPlan(String mode, boolean quiet)
{
this.block = (Block)getParameter("block").getValue();
this.target = (Block)getParameter("target").getValue();
this.mode = mode;
this.quiet = quiet;
}

//-------- methods --------

/**
* The plan body.
*/
public void body()
{
// Clear blocks.
IGoal clear = createGoal("clear");
clear.getParameter("block").setValue(block);
dispatchSubgoalAndWait(clear);

clear = createGoal("clear");
clear.getParameter("block").setValue(target);
dispatchSubgoalAndWait(clear);

// Maybe wait before moving block.
if(mode.equals(MODE_SLOW))
{
waitFor(1000);
}
else if(mode.equals(MODE_STEP))
{
waitFor(new InternalEventFilter("step"));
}

// Now move block.
if(!quiet)
System.out.println("Moving '"+block+"' to '"+target+"'");

// This operation has to be performed atomic,
// because it fires bean changes on several affected blocks.
startAtomic();
block.stackOn(target);
endAtomic();
}
}