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The Jadex BDI applications package contain several example applications, benchmarks and testcases using BDI agents.
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package jadex.bdi.examples.cleanerworld.cleaner;

import jadex.bdi.runtime.IBDIInternalAccess;
import jadex.bdi.runtime.IExpression;
import jadex.bdi.runtime.IGoal;
import jadex.bridge.ComponentTerminatedException;
import jadex.bridge.IComponentStep;
import jadex.bridge.IExternalAccess;
import jadex.bridge.IInternalAccess;
import jadex.bridge.service.types.cms.IComponentDescription;
import jadex.commons.future.Future;
import jadex.commons.future.IFuture;
import jadex.commons.gui.future.SwingDefaultResultListener;
import jadex.commons.transformation.annotations.Classname;
import jadex.extension.envsupport.environment.ISpaceObject;
import jadex.extension.envsupport.environment.space2d.Space2D;
import jadex.extension.envsupport.math.IVector2;

import java.awt.Color;
import java.awt.Graphics;
import java.awt.Point;
import java.awt.Rectangle;

import javax.swing.JPanel;

/**
 *  Panel for showing the cleaner world view.
 */
class CleanerPanel extends JPanel
{
	//-------- attributes --------
	
	/** The cleaner agent. */
	protected IExternalAccess	agent;
		
	/** The latest world view information. */
	protected DrawData	drawdata;
		
	/** Flag to indicate that the draw data is currently updated to avoid multiple updates in parallel. */
	protected boolean	updating;
		
	//-------- constructors --------

	/**
	 *  Create a cleaner panel.
	 */
	public CleanerPanel(IExternalAccess agent)
	{
		this.agent = agent;
	}
	
	//-------- JPanel methods --------

	/**
	 *  Paint the world view.
	 */
	protected void	paintComponent(Graphics g)
	{
		if(!updating)
		{
			updating	= true;
			try
			{
				IFuture	fut	= agent.scheduleStep(new IComponentStep()
				{
					@Classname("copy")
					public IFuture execute(IInternalAccess ia)
					{
						IBDIInternalAccess bia = (IBDIInternalAccess)ia;
						DrawData	drawdata	= new DrawData();
						drawdata.daytime = ((Boolean)bia.getBeliefbase().getBelief("daytime").getFact()).booleanValue();
						drawdata.visited_positions = (MapPoint[])bia.getBeliefbase().getBeliefSet("visited_positions").getFacts();
						drawdata.max_quantity = ((MapPoint)((IExpression)bia.getExpressionbase().getExpression("query_max_quantity")).execute()).getQuantity();
						drawdata.xcnt = ((Integer[])bia.getBeliefbase().getBeliefSet("raster").getFacts())[0].intValue();
						drawdata.ycnt = ((Integer[])bia.getBeliefbase().getBeliefSet("raster").getFacts())[1].intValue();
						drawdata.cleaners = (ISpaceObject[])bia.getBeliefbase().getBeliefSet("cleaners").getFacts();
						drawdata.chargingstations = (ISpaceObject[])bia.getBeliefbase().getBeliefSet("chargingstations").getFacts();
						drawdata.wastebins = (ISpaceObject[])bia.getBeliefbase().getBeliefSet("wastebins").getFacts();
						drawdata.wastes = (ISpaceObject[])bia.getBeliefbase().getBeliefSet("wastes").getFacts();
						drawdata.my_vision = ((Double)bia.getBeliefbase().getBelief("my_vision").getFact()).doubleValue();
						drawdata.my_chargestate = ((Double)bia.getBeliefbase().getBelief("my_chargestate").getFact()).doubleValue();
						drawdata.myself = (ISpaceObject)bia.getBeliefbase().getBelief("myself").getFact();
						drawdata.my_location = (IVector2)drawdata.myself.getProperty("position");
						drawdata.my_waste = drawdata.myself.getProperty("waste")!=null;
						IGoal[] goals = (IGoal[])bia.getGoalbase().getGoals("achievemoveto");
						drawdata.dests = new IVector2[goals.length];
						for(int i=0; i(drawdata);
					}
				});
				fut.addResultListener(new SwingDefaultResultListener()
				{
					public void customResultAvailable(DrawData result)
					{
						CleanerPanel.this.drawdata	= result;
						updating	= false;
					}
					public void customExceptionOccurred(Exception exception)
					{
//						exception.printStackTrace();
						updating	= false;	// Keep to true to disable any more updates
					}
				});
			}
			catch(ComponentTerminatedException e) 
			{
				// Keep updating to false to disable any more updates
			}
		}
			
		if(drawdata!=null)
		{
			// Paint background (dependent on daytime).
			Rectangle	bounds	= getBounds();
			g.setColor(drawdata.daytime ? Color.lightGray : Color.darkGray);
			g.fillRect(0, 0, bounds.width, bounds.height);

			// Paint map points
			double cellh = 1/(double)drawdata.ycnt;
			double cellw = 1/(double)drawdata.xcnt;
			for(int i=0; i0)
					h	= (int)(((double)drawdata.visited_positions[i].getQuantity())*cellh/drawdata.max_quantity*bounds.height);
				int y = (int)(p.y+cellh/2*bounds.height-h);
				g.setColor(new Color(54, 10, 114));
				//System.out.println("h: "+h);
				g.fillRect(p.x+(int)(cellw*0.3*bounds.width), y,
					Math.max(1, (int)(cellw/10*bounds.width)), h);
			}

			for(int i=0; i