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The Jadex applib BDI package contains ready to use functionalities for BDI agents mostly in form of modules called capabilities.
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package jadex.bdi.planlib;

import java.util.HashMap;
import java.util.Map;
import java.util.Set;

import jadex.bdiv3x.features.IBDIXAgentFeature;
import jadex.bridge.IComponentStep;
import jadex.bridge.IExternalAccess;
import jadex.bridge.IInternalAccess;
import jadex.bridge.service.types.cms.IComponentDescription;
import jadex.commons.IValueFetcher;
import jadex.commons.SUtil;
import jadex.commons.SimplePropertyObject;
import jadex.commons.future.IFuture;
import jadex.commons.future.IResultListener;
import jadex.commons.transformation.annotations.Classname;
import jadex.extension.envsupport.environment.IEnvironmentSpace;
import jadex.extension.envsupport.environment.IPerceptProcessor;
import jadex.extension.envsupport.environment.ISpaceObject;
import jadex.extension.envsupport.environment.space2d.Space2D;
import jadex.extension.envsupport.math.IVector1;
import jadex.extension.envsupport.math.IVector2;
import jadex.extension.envsupport.math.Vector1Double;
import jadex.javaparser.IParsedExpression;
import jadex.javaparser.SimpleValueFetcher;

/**
 *  Default bdi agent vision processor.
 *  Updates the agent's beliefsets according to the percepts of new/disappeared waste.
 */
public class DefaultBDIVisionProcessor extends SimplePropertyObject implements IPerceptProcessor
{
	//-------- constants --------

	/** The percept types property. */
	public static final String PROPERTY_PERCEPTTYPES = "percepttypes";
	
	
	/** The add action. */
	public static final String ADD = "add";
	
	/** The remove action. */
	public static final String REMOVE = "remove";
	
	/** The remove_outdated action (checks all entries in the belief set, if they should be seen, but are no longer there). */
	public static final String REMOVE_OUTDATED = "remove_outdated";
	
	/** The set action. */
	public static final String SET = "set";
	
	/** The unset action (sets a belief fact to null). */
	public static final String UNSET = "unset";
	
	/** The maxrange property. */
	public static final String PROPERTY_MAXRANGE = "range";

	/** The maxrange property. */
	public static final String PROPERTY_RANGE = "range_property";

	//-------- attributes --------
	
	/** The percepttypes infos. */
	protected Map percepttypes;
	
	//-------- methods --------
	
	/**
	 *  Process a new percept.
	 *  @param space The space.
	 *  @param type The type.
	 *  @param percept The percept.
	 *  @param agent The agent identifier.
	 *  @param agent The avatar of the agent (if any).
	 */
	public void processPercept(final IEnvironmentSpace space, final String type, final Object percept, final IComponentDescription agent, final ISpaceObject avatar)
	{
		boolean	invoke	= false;
		final String[][] metainfos = getMetaInfos(type);
		for(int i=0; !invoke && metainfos!=null && i fut = space.getExternalAccess().getExternalAccessAsync(agent.getName());
			fut.addResultListener(new IResultListener()
			{
				public void exceptionOccurred(Exception exception)
				{
					// Happens when component already removed
//							exception.printStackTrace();
				}
				public void resultAvailable(IExternalAccess result)
				{
					final IExternalAccess exta = (IExternalAccess)result;
					
					for(int i=0; i()
							{
								@Classname("add")
								public IFuture execute(IInternalAccess ia)
								{
									IBDIXAgentFeature bdif = ia.getFeature(IBDIXAgentFeature.class);
									Object[]	facts	= bdif.getBeliefbase().getBeliefSet(name).getFacts();
									if(cond!=null)
										fetcher.setValue("$facts", facts);
									
									if(!SUtil.arrayContains(facts, percept) && (cond==null || evaluate(cond, fetcher)))
									{
										bdif.getBeliefbase().getBeliefSet(name).addFact(percept);
//												System.out.println("added: "+percept+" to: "+belset);
									}
									return IFuture.DONE;
								}
							});
						}
						else if(REMOVE.equals(metainfos[i][0]))
						{
							exta.scheduleStep(new IComponentStep()
							{
								@Classname("remove")
								public IFuture execute(IInternalAccess ia)
								{
									IBDIXAgentFeature bdif = ia.getFeature(IBDIXAgentFeature.class);
									Object[]	facts	= bdif.getBeliefbase().getBeliefSet(name).getFacts();
									if(cond!=null)
										fetcher.setValue("$facts", facts);
									
									if(SUtil.arrayContains(facts, percept) && (cond==null || evaluate(cond, fetcher)))
									{
										bdif.getBeliefbase().getBeliefSet(name).removeFact(percept);
//												System.out.println("removed: "+percept+" from: "+belset);
									}
									return IFuture.DONE;
								}
							});
						}
						else if(SET.equals(metainfos[i][0]))
						{
							exta.scheduleStep(new IComponentStep()
							{
								@Classname("set")
								public IFuture execute(IInternalAccess ia)
								{
									IBDIXAgentFeature bdif = ia.getFeature(IBDIXAgentFeature.class);
									Object	fact	= bdif.getBeliefbase().getBelief(name).getFact();
									if(cond!=null)
										fetcher.setValue("$fact", fact);
									
									if(cond==null || evaluate(cond, fetcher))
									{
										bdif.getBeliefbase().getBelief(name).setFact(percept);
//												System.out.println("set: "+percept+" on: "+belset);
									}
									return IFuture.DONE;
								}
							});
						}
						else if(UNSET.equals(metainfos[i][0]))
						{
							exta.scheduleStep(new IComponentStep()
							{
								@Classname("unset")
								public IFuture execute(IInternalAccess ia)
								{
									IBDIXAgentFeature bdif = ia.getFeature(IBDIXAgentFeature.class);
									Object	fact	= bdif.getBeliefbase().getBelief(name).getFact();
									if(cond!=null)
										fetcher.setValue("$fact", fact);
									
									if(cond==null || evaluate(cond, fetcher))
									{
										bdif.getBeliefbase().getBelief(name).setFact(null);
//												System.out.println("unset: "+percept+" on: "+belset);
									}
									return IFuture.DONE;
								}
							});
						}
						else if(REMOVE_OUTDATED.equals(metainfos[i][0]) && percept.equals(avatar))
						{
							exta.scheduleStep(new IComponentStep()
							{
								@Classname("removeoutdated")
								public IFuture execute(IInternalAccess ia)
								{
									IBDIXAgentFeature bdif = ia.getFeature(IBDIXAgentFeature.class);
									Object[]	facts	= bdif.getBeliefbase().getBeliefSet(name).getFacts();
									if(cond!=null)
										fetcher.setValue("$facts", facts);
									
									if(cond==null || evaluate(cond, fetcher))
									{
										IVector1 vision	= getRange(avatar);
										Space2D	space2d	= (Space2D)space;
										IVector2	mypos	= (IVector2)avatar.getProperty(Space2D.PROPERTY_POSITION);
										ISpaceObject[]	known	= (ISpaceObject[])facts;
										Set	seen = space2d.getNearObjects(mypos, vision);
										for(int j=0; j