engagement_generation: engagement_generation/src/edu/wpi/hri/gen/policy/ref/DegradedReferencePolicy.java Source File

00001 /*
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00034 package edu.wpi.hri.gen.policy.ref;
00035 
00036 import edu.wpi.hri.gen.comm.BMLEmitListener;
00037 import edu.wpi.hri.gen.comm.GazeKnowledge;
00038 import edu.wpi.hri.gen.comm.SituationKnowledge;
00039 import edu.wpi.hri.gen.comm.SituationKnowledge.InvalidIDException;
00040 import edu.wpi.hri.gen.ebml.EBMLList;
00041 import edu.wpi.hri.gen.ebml.ReferenceBehavior;
00042 import edu.wpi.hri.log.Logger;
00043 import edu.wpi.hri.log.Logger.LoggerLevel;
00044 
00053 public class DegradedReferencePolicy extends ReferencePolicy {
00054 
00065         public DegradedReferencePolicy(Logger logger, BMLEmitListener emit,
00066                         NoPointZone noZone) {
00067                 super(logger, emit, noZone);
00068                 this.logger.debug(LoggerLevel.INIT, "Created Degraded ...");
00069         }
00070 
00071         @Override
00072         public boolean apply(EBMLList list, GazeKnowledge knowledge,
00073                         SituationKnowledge world, String actor) {
00074                 try {
00075                         logger.debug(LoggerLevel.POLICY_EXECUTION,
00076                                         "Applying for entire list");
00077                         // create the data structures required to find the optimal series of
00078                         // behaviors.
00079                         ReferenceBehavior[] orderedRefs = this.findOrderedList(list);
00080                         DegradedReferenceOptions[] orderedOptions = new DegradedReferenceOptions[orderedRefs.length];
00081 
00082                         // create a reference option for each behavior, in the same order
00083                         // this automatically filters out the unreliable options
00084                         for (int c = 0; c < orderedRefs.length; c++) {
00085                                 orderedOptions[c] = new DegradedReferenceOptions(logger,
00086                                                 orderedRefs[c], world);
00087                         }
00088                         return this.applyOptions(list, knowledge, world, orderedOptions,
00089                                         actor);
00090                 } catch (InvalidIDException e) {
00091                         logger.error("Reference policy failed: " + e.getMessage());
00092                         logger.printThrowable(LoggerLevel.ALL, e);
00093                         return false;
00094                 }
00095         }
00096 }