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The Jadex quickstart package contains the ready to use "Cleanerworld" environment as a testbed for experimenting with autonomous agents and intelligent behavior.
package jadex.quickstart.cleanerworld.single;
import java.util.LinkedHashSet;
import java.util.Set;
import jadex.bdiv3.annotation.Belief;
import jadex.bdiv3.annotation.Deliberation;
import jadex.bdiv3.annotation.ExcludeMode;
import jadex.bdiv3.annotation.Goal;
import jadex.bdiv3.annotation.GoalMaintainCondition;
import jadex.bdiv3.annotation.GoalTargetCondition;
import jadex.bdiv3.annotation.Plan;
import jadex.bdiv3.annotation.Trigger;
import jadex.bdiv3.features.IBDIAgentFeature;
import jadex.bdiv3.runtime.IPlan;
import jadex.bridge.service.annotation.OnStart;
import jadex.micro.annotation.Agent;
import jadex.quickstart.cleanerworld.environment.IChargingstation;
import jadex.quickstart.cleanerworld.environment.ICleaner;
import jadex.quickstart.cleanerworld.environment.SensorActuator;
import jadex.quickstart.cleanerworld.gui.SensorGui;
/**
* A Plan for Finding a Charging Station
*/
@Agent(type="bdi") // This annotation makes the java class and agent and enabled BDI features
public class CleanerBDIAgentC2
{
//-------- fields holding agent data --------
/** The sensor/actuator object gives access to the environment of the cleaner robot. */
private SensorActuator actsense = new SensorActuator();
/** Knowledge of the cleaner about itself (e.g. location and charge state). */
@Belief
private ICleaner self = actsense.getSelf();
/** Set of the known charging stations. Managed by SensorActuator object. */
@Belief
private Set stations = new LinkedHashSet<>();
//-------- simple example behavior --------
/**
* The body is executed when the agent is started.
* @param bdifeature Provides access to bdi specific methods
*/
@OnStart // This annotation informs the Jadex platform to call this method once the agent is started
private void exampleBehavior(IBDIAgentFeature bdi)
{
// Tell the sensor to update the belief sets
actsense.manageChargingstationsIn(stations);
// Open a window showing the agent's perceptions
new SensorGui(actsense).setVisible(true);
// Create and dispatch a goal.
bdi.dispatchTopLevelGoal(new PerformPatrol());
bdi.dispatchTopLevelGoal(new MaintainBatteryLoaded());
}
//-------- inner classes that represent agent goals --------
/**
* A goal to patrol around in the museum.
*/
@Goal(recur=true, orsuccess=false, recurdelay=3000)
// @Goal(recur=true, orsuccess=false, retrydelay=3000) // Goal flags: variation 1
// @Goal(recur=true, randomselection=true, recurdelay=3000) // Goal flags: variation 2
// @Goal(orsuccess=false, excludemode=ExcludeMode.WhenFailed, randomselection=true, retrydelay=3000) // Goal flags: variation 3
// @Goal(recur=true, posttoall=true) // Goal flags: variation 4
class PerformPatrol {}
/**
* A goal to recharge whenever the battery is low.
*/
@Goal(recur=true, recurdelay=3000,
deliberation=@Deliberation(inhibits=PerformPatrol.class)) // Pause patrol goal while loading battery
class MaintainBatteryLoaded
{
@GoalMaintainCondition // The cleaner aims to maintain the following expression, i.e. act to restore the condition, whenever it changes to false.
boolean isBatteryLoaded()
{
return self.getChargestate()>=0.4; // Everything is fine as long as the charge state is above 20%, otherwise the cleaner needs to recharge.
}
@GoalTargetCondition // Only stop charging, when this condition is true
boolean isBatteryFullyLoaded()
{
return self.getChargestate()>=0.9; // Charge until 90%
}
}
/**
* A goal to know a charging station.
*/
@Goal(excludemode=ExcludeMode.Never)
class QueryChargingStation
{
// Remember the station when found
IChargingstation station;
// Check if there is a station in the beliefs
@GoalTargetCondition
boolean isStationKnown()
{
station = stations.isEmpty() ? null : stations.iterator().next();
return station!=null;
}
}
//-------- methods that represent plans (i.e. predefined recipes for working on certain goals) --------
// /**
// * Declare the same plan for the PerformPatrol and QueryChargingStation goals
// * by using a method with @Plan and @Trigger annotation.
// */
// @Plan(trigger=@Trigger(goals={PerformPatrol.class, QueryChargingStation.class}))
// private void performPatrolPlan()
// {
// // Follow a simple path around the four corners of the museum and back to the first corner.
// System.out.println("Starting performPatrolPlan()");
// actsense.moveTo(0.1, 0.1);
// actsense.moveTo(0.1, 0.9);
// actsense.moveTo(0.9, 0.9);
// actsense.moveTo(0.9, 0.1);
// actsense.moveTo(0.1, 0.1);
// }
/**
* Declare a second plan for the PerformPatrol goal.
*/
@Plan(trigger=@Trigger(goals=PerformPatrol.class))
private void performPatrolPlan2()
{
// Follow another path around the middle of the museum.
System.out.println("Starting performPatrolPlan2()");
actsense.moveTo(0.3, 0.3);
actsense.moveTo(0.3, 0.7);
actsense.moveTo(0.7, 0.7);
actsense.moveTo(0.7, 0.3);
actsense.moveTo(0.3, 0.3);
}
/**
* Declare a third plan for the PerformPatrol goal.
*/
@Plan(trigger=@Trigger(goals=PerformPatrol.class))
private void performPatrolPlan3()
{
// Follow a zig-zag path in the museum.
System.out.println("Starting performPatrolPlan3()");
actsense.moveTo(0.3, 0.3);
actsense.moveTo(0.7, 0.7);
actsense.moveTo(0.3, 0.7);
actsense.moveTo(0.7, 0.3);
actsense.moveTo(0.3, 0.3);
}
/**
* Move to charging station and load battery.
*/
@Plan(trigger=@Trigger(goals=MaintainBatteryLoaded.class))
private void loadBattery(IPlan plan)
{
System.out.println("Starting loadBattery() plan");
// // Move to first known charging station -> fails when no charging station known.
// IChargingstation chargingstation = actsense.getChargingstations().iterator().next(); // from Exercise B1
// IChargingstation chargingstation = stations.iterator().next(); // from Exercise C0
// Dispatch a subgoal to find a charging station (from Exercise C1)
QueryChargingStation querygoal = new QueryChargingStation();
plan.dispatchSubgoal(querygoal).get();
IChargingstation chargingstation = querygoal.station;
// Move to charging station as provided by subgoal
actsense.moveTo(chargingstation.getLocation());
// Load until 100% (never reached, but plan is aborted when goal succeeds).
actsense.recharge(chargingstation, 1.0);
}
/**
* A plan to move randomly in the environment.
*/
@Plan(trigger=@Trigger(goals=QueryChargingStation.class))
private void moveAround()
{
// Choose a random location and move there.
System.out.println("Starting moveAround() plan");
actsense.moveTo(Math.random(), Math.random());
}
}