Merge pull request #21 from CST-Group/activityCodelet

Changes to ActivityCodelet and ActivityTrackingCodelet

Author: andre-paraense

README.md

@@ -28,7 +28,7 @@ Note: This library is still under development, and some concepts or features mig
 ```
 	dependencies {
             ...
-            implementation 'com.github.CST-Group:meca:0.4.2'
+            implementation 'com.github.CST-Group:meca:0.4.3'
 	}
 ```
 

build.gradle

@@ -10,7 +10,7 @@ description = "The Multipurpose Enhanced Cognitive Architecture (MECA)"
 
 sourceCompatibility = 1.8
 targetCompatibility = 1.8
-version = '0.4.2'
+version = '0.4.3'
 
 repositories {
     mavenCentral()

src/main/java/br/unicamp/meca/models/ActionSequencePlan.java

@@ -44,26 +44,40 @@ public ActionSequencePlan(ActionStep[] actionIdSequence) {
 	}
 
 	/**
-	 * Returns the id of the current ActionFromPlanningCodelet to be undertaken in the plan.
+	 * Returns the ActionStep of the current ActionFromPlanningCodelet to be undertaken in the plan.
 	 * 
-	 * @return currentActionId
+	 * @return the current ActionStep 
 	 */
 	public ActionStep getCurrentActionStep() {
 		return actionIdSequence[currentActionIdIndex];
 	}
+        
+        /**
+	 * Returns the ActionStep of the last ActionFromPlanningCodelet to be undertaken in the plan, or null if it is the first step.
+	 * 
+	 * @return the last ActionStep
+	 */
+	public ActionStep getLastExecutedActionStep() {
+            if (currentActionIdIndex == 0) return(actionIdSequence[actionIdSequence.length-1]);
+            else return actionIdSequence[currentActionIdIndex-1];
+	}
 
 	/**
+         * get the array of ActionSteps which are related to the ActionSequencePlan
+         * 
 	 * @return the actionIdSequence
 	 */
 	public ActionStep[] getActionStepSequence() {
 		return actionIdSequence;
 	}
 
 	/**
-	 * @param actionIdSequence the actionIdSequence to set
+         * Forces a new actionStepSequence
+         * 
+	 * @param actionStepSequence the actionIdSequence to set
 	 */
-	public void setActionStepSequence(ActionStep[] actionIdSequence) {
-		this.actionIdSequence = actionIdSequence;
+	public void setActionStepSequence(ActionStep[] actionStepSequence) {
+		this.actionIdSequence = actionStepSequence;
 	}
 
 	/**
@@ -80,13 +94,18 @@ public void setCurrentActionIdIndex(int currentActionIdIndex) {
 		this.currentActionIdIndex = currentActionIdIndex;
 	}
 
+        /**
+	 * Go to next action. If the action is the last in the plan, go to the first action 
+	 */
         public void gotoNextAction() {
+            actionIdSequence[currentActionIdIndex].executed = true;
             if (currentActionIdIndex < actionIdSequence.length-1)
                 currentActionIdIndex++;
+            else currentActionIdIndex = 0;
         }
 
         public String toString() {
-            String output = "{ ";
+            String output = "{";
             int i=0;
             for (ActionStep a : actionIdSequence) {
                 output += a.toString();
@@ -97,4 +116,13 @@ public String toString() {
             output += "}";
             return(output);
         }
+        
+        /**
+         * Reset the plan. Set all the action steps executed flag to false. 
+         */
+        public void resetPlan() {
+            for (ActionStep as : actionIdSequence) {
+                as.executed = false;
+            }
+        }
 }

src/main/java/br/unicamp/meca/models/ActionStep.java

@@ -24,6 +24,8 @@
 public abstract class ActionStep {
     String actionId;
     Map<String,Object> parameters;
+    public boolean needsConclusion = false;
+    public boolean executed = false;
 
     public ActionStep() {
         actionId = "";

src/main/java/br/unicamp/meca/system1/codelets/ActivityCodelet.java

@@ -93,7 +93,8 @@ public void accessMemoryObjects() {
 
 				for(String perceptualCodeletId : perceptualCodeletsIds) {
 					Memory perceptualMemory = this.getInput(perceptualCodeletId, index);
-					perceptualMemories.add(perceptualMemory);
+					if (perceptualMemory != null)
+                                            perceptualMemories.add(perceptualMemory);
 				}
 			}
 		}
@@ -107,7 +108,8 @@ public void accessMemoryObjects() {
 				for(String motivationalCodeletsId : motivationalCodeletsIds)
 				{
 					Memory inputDrive = this.getInput(motivationalCodeletsId + "Drive");
-					driveMemories.add(inputDrive);
+                                        if (inputDrive != null)
+                                            driveMemories.add(inputDrive);
 				}
 			}
 		}
@@ -168,11 +170,20 @@ public void calculateActivation() {
 	public void proc() {		
 		if(actionSequencePlanMemoryContainer != null && actionSequencePlanMemoryContainer.getI() != null && actionSequencePlanMemoryContainer.getI() instanceof ActionSequencePlan) {
 			ActionSequencePlan actionSequencePlan = (ActionSequencePlan) actionSequencePlanMemoryContainer.getI();
-			String currentActionId = actionSequencePlan.getCurrentActionStep().getActionId();
+			ActionStep currentAction = actionSequencePlan.getCurrentActionStep();
+                        String currentActionId = currentAction.getActionId();
 
-			if(currentActionId != null && currentActionId.equalsIgnoreCase(id)) {
+			if(currentActionId != null && currentActionId.equalsIgnoreCase(id) && currentAction.executed == false) {
 				proc(perceptualMemories, broadcastMemory, motorMemory);
 			}
+                        else {
+                            ActionStep lastActionStep = actionSequencePlan.getLastExecutedActionStep();
+                            String lastActionId = lastActionStep.getActionId();
+                            if (lastActionStep != null && lastActionStep.needsConclusion && lastActionId.equalsIgnoreCase(id)) {
+                                doConclusion(perceptualMemories, broadcastMemory, motorMemory);
+                                lastActionStep.needsConclusion = false;
+                            }
+                        }
 		}else {
 			proc(perceptualMemories, broadcastMemory, motorMemory);
 		}
@@ -189,6 +200,19 @@ public void proc() {
 	 * 			the output motor memory.
 	 */
 	public abstract void proc(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory);
+        
+        /**
+	 * Method to be called to do the Conclusion of an ActionStep, after its activities are over. 
+         * Similar to the proc method, but to be called one last time to clean whatever needs to be cleaned at the motorMemory
+	 * 
+	 * @param perceptualMemories
+	 * 			the input memories coming from perception.
+	 * @param broadcastMemory
+	 * 			the input memory coming from the conscious planner broadcast.
+	 * @param motorMemory
+	 * 			the output motor memory.
+	 */
+	public abstract void doConclusion(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory);
 
 	/**
 	 * Returns the id of the Soar Codelet whose outputs will be read by this
@@ -278,4 +302,24 @@ public void setMotorCodeletId(String motorCodeletId) {
 	public ArrayList<String> getMotivationalCodeletsIds() {
 		return motivationalCodeletsIds;
 	}
+        
+        public ArrayList<Memory> getPerceptionMemories() {
+            return(perceptualMemories);
+        }
+        
+        public ArrayList<Memory> getDriveMemories() {
+            return(driveMemories);
+        }
+        
+        public Memory getBroadcastMemory() {
+            return(broadcastMemory);
+        }
+        
+        public Memory getActionSequencePlanMemoryContainer() {
+            return(actionSequencePlanMemoryContainer);
+        }
+        
+        public Memory getMotorMemory() {
+            return(motorMemory);
+        }
 }

src/main/java/br/unicamp/meca/system1/codelets/ActivityTrackingCodelet.java

@@ -100,18 +100,24 @@ public void trackActionSequencePlan(ArrayList<Memory> perceptualMemories, Action
           perceptualMemories != null && 
           perceptualMemories.size() > 0) {
           ActionStep currentActionStep = actionSequencePlan.getCurrentActionStep();
-          if (currentActionStep.stopCondition(perceptualMemories)) {
-            actionSequencePlan.gotoNextAction();       
-          }        
+          ActionStep lastActionStep = actionSequencePlan.getLastExecutedActionStep();
+          if ((actionSequencePlan.getCurrentActionIdIndex() == 0 
+                || lastActionStep.needsConclusion == false) // you can go to next step if it is the first step of the plan or if the last step is clear
+                && (currentActionStep != null // then just check if current ActionStep is not null to avoid breaking the next tests
+                && currentActionStep.executed == false // the ActionStep was not already executed
+                && currentActionStep.stopCondition(perceptualMemories)) ) { // and the ActionStep reached its final destination 
+                    currentActionStep.needsConclusion = true;
+                    actionSequencePlan.gotoNextAction();       
+          }
         }
     }
 
 	@Override
 	public void proc() {
-		
-		actionSequencePlan = (ActionSequencePlan) actionSequencePlanMemoryContainer.getI();
-		
-		trackActionSequencePlan(perceptualMemories, actionSequencePlan);
+		if (actionSequencePlanMemoryContainer != null) {
+                    actionSequencePlan = (ActionSequencePlan) actionSequencePlanMemoryContainer.getI();
+                    trackActionSequencePlan(perceptualMemories, actionSequencePlan);
+                }    
 	}
 
 	/**

src/test/java/br/unicamp/meca/mind/action/Test1ActivityCodelet.java

@@ -26,20 +26,26 @@ public Test1ActivityCodelet(String id, ArrayList<String> perceptualCodeletsIds,
 			ArrayList<String> motivationalCodeletsIds, String motorCodeletId, String soarCodeletId) {
 		super(id, perceptualCodeletsIds, motivationalCodeletsIds, motorCodeletId, soarCodeletId);
 	}
+        
+        @Override
+	public void doConclusion(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory) {
+             System.out.println("Concluding "+id);
+             ((MemoryContainer) motorMemory).setI(id+" - concluded",getActivation(),id);
+        }
 
 	@Override
 	public void proc(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory) {
 		if(perceptualMemories == null || perceptualMemories.size() == 0) {
 			return;
 		}
 
-		motorMemory.setI(null);
+		((MemoryContainer) motorMemory).setI(null,0.0,id);
 
 		for(Memory memory: perceptualMemories) {			
 			if(memory.getI()!=null && memory.getI() instanceof String) {
 				String perceptualContent = (String) memory.getI();
 
-				((MemoryContainer) motorMemory).setI("Test1Activity - "+perceptualContent,getActivation(),id);
+				((MemoryContainer) motorMemory).setI(id+" - "+perceptualContent,getActivation(),id);
 			}
 		}
 	}

src/test/java/br/unicamp/meca/mind/action/Test2ActivityCodelet.java

@@ -26,14 +26,19 @@ public Test2ActivityCodelet(String id, ArrayList<String> perceptualCodeletsIds,
 			ArrayList<String> motivationalCodeletsIds, String motorCodeletId, String soarCodeletId) {
 		super(id, perceptualCodeletsIds, motivationalCodeletsIds, motorCodeletId, soarCodeletId);		
 	}
+        
+        @Override
+	public void doConclusion(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory) {
+            System.out.println("Concluding Test2Activity");
+        }
 
 	@Override
 	public void proc(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory) {
 		if(perceptualMemories == null || perceptualMemories.size() == 0) {
 			return;
 		}
 
-		motorMemory.setI(null);
+		((MemoryContainer) motorMemory).setI(null,0.0,id);
 
 		for(Memory memory: perceptualMemories) {			
 			if(memory.getI()!=null && memory.getI() instanceof String) {

src/test/java/br/unicamp/meca/mind/action/Test3ActivityCodelet.java

@@ -26,14 +26,19 @@ public Test3ActivityCodelet(String id, ArrayList<String> perceptualCodeletsIds,
 			ArrayList<String> motivationalCodeletsIds, String motorCodeletId, String soarCodeletId) {
 		super(id, perceptualCodeletsIds, motivationalCodeletsIds, motorCodeletId, soarCodeletId);
 	}
+        
+        @Override
+	public void doConclusion(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory) {
+            System.out.println("Concluding Test3Activity");
+        }
 
 	@Override
 	public void proc(ArrayList<Memory> perceptualMemories, Memory broadcastMemory, Memory motorMemory) {
 		if(perceptualMemories == null || perceptualMemories.size() == 0) {
 			return;
 		}
 
-		motorMemory.setI(null);
+		((MemoryContainer) motorMemory).setI(null,0.0,id);
 
 		for(Memory memory: perceptualMemories) {			
 			if(memory.getI()!=null && memory.getI() instanceof String) {