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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_classic.environment;

import jadex.bdi.examples.cleanerworld_classic.Chargingstation;
import jadex.bdi.examples.cleanerworld_classic.Cleaner;
import jadex.bdi.examples.cleanerworld_classic.Environment;
import jadex.bdi.examples.cleanerworld_classic.Location;
import jadex.bdi.examples.cleanerworld_classic.Waste;
import jadex.bdi.examples.cleanerworld_classic.Wastebin;
import jadex.bdi.runtime.IBDIExternalAccess;
import jadex.bdi.runtime.IBDIInternalAccess;
import jadex.bridge.IComponentStep;
import jadex.bridge.IInternalAccess;
import jadex.bridge.service.types.monitoring.IMonitoringEvent;
import jadex.bridge.service.types.monitoring.IMonitoringService.PublishEventLevel;
import jadex.commons.beans.PropertyChangeEvent;
import jadex.commons.beans.PropertyChangeListener;
import jadex.commons.future.IFuture;
import jadex.commons.future.IResultListener;
import jadex.commons.future.IntermediateDefaultResultListener;
import jadex.commons.gui.SGUI;
import jadex.commons.gui.future.SwingIntermediateResultListener;
import jadex.commons.transformation.annotations.Classname;

import java.awt.BorderLayout;
import java.awt.Color;
import java.awt.Component;
import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.Image;
import java.awt.Insets;
import java.awt.Point;
import java.awt.Rectangle;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.ComponentAdapter;
import java.awt.event.ComponentEvent;
import java.awt.event.MouseAdapter;
import java.awt.event.MouseEvent;
import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;

import javax.swing.DefaultComboBoxModel;
import javax.swing.ImageIcon;
import javax.swing.JButton;
import javax.swing.JCheckBox;
import javax.swing.JComboBox;
import javax.swing.JFrame;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.SwingConstants;
import javax.swing.SwingUtilities;
import javax.swing.Timer;
import javax.swing.UIDefaults;
import javax.swing.border.EtchedBorder;
import javax.swing.border.TitledBorder;
import javax.swing.event.ChangeEvent;
import javax.swing.event.ChangeListener;


/**
 *  The gui for the cleaner world example.
 *  Shows the world from the viewpoint of the environment agent.
 */
public class EnvironmentGui	extends JFrame
{
	//-------- constants --------

	/** The image icons. */
	private static UIDefaults	icons	= new UIDefaults(new Object[]
	{
		"waste",	SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/waste.png"),
		"wastebin",	SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/wastebin.png"),
		"wastebin_full", SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/wastebin_full.png"),
		"chargingstation", SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/chargingstation.png"),
		"cleaner", SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/cleaner.png"),
		"background", SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/background.png"),
		"background_night", SGUI.makeIcon(EnvironmentGui.class, "/jadex/bdi/examples/cleanerworld_classic/images/background_night.png")
	});
	
	//-------- attributes --------
	
	/** The repaint timer. */
	protected Timer	timer;

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

	/**
	 *  Create a new gui plan.
	 */
	public EnvironmentGui(final IBDIExternalAccess agent)
	{
		super(agent.getComponentIdentifier().getLocalName());

		agent.scheduleStep(new IComponentStep()
		{
			@Classname("disp")
			public IFuture execute(IInternalAccess ia)
			{
				IBDIInternalAccess bia = (IBDIInternalAccess)ia;
				
//				bia.addComponentListener(new TerminationAdapter()
//				{
//					public void componentTerminated()
//					{
//						SwingUtilities.invokeLater(new Runnable()
//						{
//							public void run()
//							{
//								if(timer!=null)
//									timer.stop();
//								EnvironmentGui.this.dispose();
//							}
//						});
//					}
//				});
				
				bia.subscribeToEvents(IMonitoringEvent.TERMINATION_FILTER, false, PublishEventLevel.COARSE)
					.addResultListener(new SwingIntermediateResultListener(new IntermediateDefaultResultListener()
				{
					public void intermediateResultAvailable(IMonitoringEvent result)
					{
						if(timer!=null)
							timer.stop();
						EnvironmentGui.this.dispose();
					}
				}));
				
				final Environment env = (Environment)bia.getBeliefbase().getBelief("environment").getFact();
				SwingUtilities.invokeLater(new Runnable()
				{
					public void run()
					{
						//System.out.println("Now accessing env, GUIPlan: "+env.hashCode());

						// Option panel.
						JPanel	options	= new JPanel(new GridBagLayout());
						options.setBorder(new TitledBorder(new EtchedBorder(EtchedBorder.LOWERED), "Environment Control"));
						final JCheckBox	daytime	= new JCheckBox("", env.getDaytime());
						daytime.setHorizontalTextPosition(SwingConstants.LEFT);
						final JLabel	wastecnt	= new JLabel("0");

						final JComboBox wastebinchoice = new JComboBox();
						Wastebin[] wastebins = env.getWastebins();
						for(int i=0; i0 && h>0)
								{
									for(int y=0; y"
										+ cleaners[i].getName()+"
"
										+ "battery: " + (int)(cleaners[i].getChargestate()*100.0) + "%
"
										+ "waste: " + (cleaners[i].getCarriedWaste()!=null ? "yes" : "no")+"");
									cleaner.setForeground(daytime ? new Color(age*2,age*2,age*2)
										: new Color(255-age*2,255-age*2,255-age*2));
									render(g, cleaner, new Point(p.x+45, p.y));	// Hack!!!
								}
							}
						};

						// Set sizes.
						wastebinchoice.setPreferredSize(new Dimension((int)wastebinchoice.getPreferredSize().getWidth()+10,
							(int)wastebinchoice.getPreferredSize().getHeight()));
						fillstate.setPreferredSize(new Dimension((int)fillstate.getPreferredSize().getWidth()+10,
							(int)fillstate.getPreferredSize().getHeight()));


						// Add listeners
						daytime.addChangeListener(new ChangeListener()
						{
							public void	stateChanged(ChangeEvent ce)
							{
								env.setDaytime(daytime.isSelected());
							}
						});
						setfillstate.addActionListener(new ActionListener()
						{
							public void actionPerformed(ActionEvent e)
							{
								Wastebin wb = env.getWastebin((String)wastebinchoice.getSelectedItem());

								if(fillstate.getSelectedItem().equals("empty"))
									wb.empty();
								if(fillstate.getSelectedItem().equals("full"))
									wb.fill();
							}
						});
						// Handle scaling of images.
						map.addComponentListener(new ComponentAdapter()
						{
							protected Rectangle	_bounds;

							public void	componentResized(ComponentEvent ce)
							{
								Rectangle	bounds	= map.getBounds();
								if(_bounds==null)	_bounds	= bounds;
								double	scale	= Math.min(bounds.width/(double)_bounds.width,
									bounds.height/(double)_bounds.height);

								// Wastes
								((ImageIcon)waste.getIcon()).setImage(
									waste_image.getScaledInstance(
										(int)(waste_image.getWidth(map)*scale),
										(int)(waste_image.getHeight(map)*scale),
										Image.SCALE_DEFAULT));

								// Wastebin
								((ImageIcon)wastebin.getIcon()).setImage(
									wastebin_image.getScaledInstance(
										(int)(wastebin_image.getWidth(map)*scale),
										(int)(wastebin_image.getHeight(map)*scale),
										Image.SCALE_DEFAULT));

								// Full Wastebin
								((ImageIcon)wastebin_full.getIcon()).setImage(
									wastebin_full_image.getScaledInstance(
										(int)(wastebin_full_image.getWidth(map)*scale),
										(int)(wastebin_full_image.getHeight(map)*scale),
										Image.SCALE_DEFAULT));

								// Chargingstation
								((ImageIcon)chargingstation.getIcon()).setImage(
									chargingstation_image.getScaledInstance(
										(int)(chargingstation_image.getWidth(map)*scale),
										(int)(chargingstation_image.getHeight(map)*scale),
										Image.SCALE_DEFAULT));

								// Cleaner
								((ImageIcon)cleaner.getIcon()).setImage(
									cleaner_image.getScaledInstance(
										(int)(cleaner_image.getWidth(map)*scale),
										(int)(cleaner_image.getHeight(map)*scale),
										Image.SCALE_DEFAULT));
							}
						});

						map.addMouseListener(new MouseAdapter()
						{
							public void mousePressed(MouseEvent me)
							{
								// Problem!!! Beliefbase is changed in
								// the gui thread.
								Point	p	= me.getPoint();
								Rectangle	bounds	= map.getBounds();
								final Location	mouseloc = new Location((double)p.x/(double)bounds.width,
									1.0-(double)p.y/(double)bounds.height);
								final double tol = 7/(double)bounds.height;

								agent.scheduleStep(new IComponentStep()
								{
									@Classname("mouse")
									public IFuture execute(IInternalAccess ia)
									{
										IBDIInternalAccess bia = (IBDIInternalAccess)ia;
										Environment env = (Environment)bia.getBeliefbase().getBelief("environment").getFact();
										
										Waste[] wastes = env.getWastes();
										Waste nearest = null;
										double dist = 0;
										for(int i=0; i0)
//									{
//										cs.deleteContext(contexts[0], null);
//									}
//								}
//								else
//								{
//									System.out.println("No context service found: Killing agents manually.");
//									// Todo: move to end goal.
//									Environment en = (Environment)agent.getBeliefbase().getBelief("environment").getFact();
//									Cleaner[] cleaners = en.getCleaners();
//									for(int i=0; i()
		{
			public void resultAvailable(Void result)
			{
			}
			
			public void exceptionOccurred(Exception exception)
			{
				dispose();
			}
		});
	}
	
	//-------- helper methods --------

	/**
	 *  Get the on screen location for a location in  the world.
	 */
	protected Point	onScreenLocation(Location loc, Rectangle bounds)
	{
		return new Point((int)(bounds.width*loc.getX()),
			(int)(bounds.height*(1.0-loc.getY())));
	}

	/**
	 *  Render a component on screen.
	 *  @param g	The graphics object.
	 *  @param comp	The component.
	 *  @param p	The on screen location.
	 */
	protected void	render(Graphics g, Component comp, Point p)
	{
		Dimension	d	= comp.getPreferredSize();
		Rectangle	bounds	= new Rectangle(p.x - d.width/2, p.y - d.height/2, d.width+1, d.height);
		comp.setBounds(bounds);
		g.translate(bounds.x, bounds.y);
		comp.paint(g);
		g.translate(-bounds.x, -bounds.y);
	}
}