kernel

Class Kernel

java.lang.Object

kernel.Kernel

public class Kernel
extends java.lang.Object

The Robocup Rescue kernel.

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	KERNEL_LOG_CONTEXT The log context for kernel log messages.

Constructor Summary

Constructors

Constructor and Description
Kernel(Config config, Perception perception, CommunicationModel communicationModel, WorldModel<? extends Entity> worldModel, EntityIDGenerator idGenerator, CommandFilter commandFilter, TerminationCondition termination, ScoreFunction score, CommandCollector collector) Construct a kernel.

Method Summary

Modifier and Type	Method and Description
void	addAgent(AgentProxy agent) Add an agent to the system.
void	addKernelListener(KernelListener l) Add a KernelListener.
void	addSimulator(SimulatorProxy sim) Add a simulator to the system.
void	addViewer(ViewerProxy viewer) Add a viewer to the system.
java.util.Collection<AgentProxy>	getAllAgents() Get all agents in the system.
java.util.Collection<SimulatorProxy>	getAllSimulators() Get all simulators in the system.
java.util.Collection<ViewerProxy>	getAllViewers() Get all viewers in the system.
Config	getConfig() Get the kernel's configuration.
KernelState	getState() Get a snapshot of the kernel's state.
int	getTime() Get the current time.
WorldModel<? extends Entity>	getWorldModel() Get the world model.
boolean	hasTerminated() Find out if the kernel has terminated.
void	removeAgent(AgentProxy agent) Remove an agent from the system.
void	removeKernelListener(KernelListener l) Remove a KernelListener.
void	removeSimulator(SimulatorProxy sim) Remove a simulator from the system.
void	removeViewer(ViewerProxy viewer) Remove a viewer from the system.
void	shutdown() Shut down the kernel.
void	timestep() Run a single timestep.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

KERNEL_LOG_CONTEXT

public static final java.lang.String KERNEL_LOG_CONTEXT

The log context for kernel log messages.

See Also:

Constant Field Values

Constructor Detail

Kernel

public Kernel(Config config,
              Perception perception,
              CommunicationModel communicationModel,
              WorldModel<? extends Entity> worldModel,
              EntityIDGenerator idGenerator,
              CommandFilter commandFilter,
              TerminationCondition termination,
              ScoreFunction score,
              CommandCollector collector)
       throws KernelException

Construct a kernel.

Parameters:

config - The configuration to use.

perception - A perception calculator.

communicationModel - A communication model.

worldModel - The world model.

idGenerator - An EntityIDGenerator.

commandFilter - An optional command filter. This may be null.

termination - The termination condition.

score - The score function.

collector - The CommandCollector to use.

Throws:

KernelException - If there is a problem constructing the kernel.

Method Detail

getConfig

public Config getConfig()

Get the kernel's configuration.

Returns:

The configuration.

getState

public KernelState getState()

Get a snapshot of the kernel's state.

Returns:

A new KernelState snapshot.

addAgent

public void addAgent(AgentProxy agent)

Add an agent to the system.

Parameters:

agent - The agent to add.

removeAgent

public void removeAgent(AgentProxy agent)

Remove an agent from the system.

Parameters:

agent - The agent to remove.

getAllAgents

public java.util.Collection<AgentProxy> getAllAgents()

Get all agents in the system.

Returns:

An unmodifiable view of all agents.

addSimulator

public void addSimulator(SimulatorProxy sim)

Add a simulator to the system.

Parameters:

sim - The simulator to add.

removeSimulator

public void removeSimulator(SimulatorProxy sim)

Remove a simulator from the system.

Parameters:

sim - The simulator to remove.

getAllSimulators

public java.util.Collection<SimulatorProxy> getAllSimulators()

Get all simulators in the system.

Returns:

An unmodifiable view of all simulators.

addViewer

public void addViewer(ViewerProxy viewer)

Add a viewer to the system.

Parameters:

viewer - The viewer to add.

removeViewer

public void removeViewer(ViewerProxy viewer)

Remove a viewer from the system.

Parameters:

viewer - The viewer to remove.

getAllViewers

public java.util.Collection<ViewerProxy> getAllViewers()

Get all viewers in the system.

Returns:

An unmodifiable view of all viewers.

addKernelListener

public void addKernelListener(KernelListener l)

Add a KernelListener.

Parameters:

l - The listener to add.

removeKernelListener

public void removeKernelListener(KernelListener l)

Remove a KernelListener.

Parameters:

l - The listener to remove.

getTime

public int getTime()

Get the current time.

Returns:

The current time.

getWorldModel

public WorldModel<? extends Entity> getWorldModel()

Get the world model.

Returns:

The world model.

hasTerminated

public boolean hasTerminated()

Find out if the kernel has terminated.

Returns:

True if the kernel has terminated, false otherwise.

timestep

public void timestep()
              throws java.lang.InterruptedException,
                     KernelException,
                     LogException

Run a single timestep.

Throws:

java.lang.InterruptedException - If this thread is interrupted during the timestep.

KernelException - If there is a problem executing the timestep.

LogException - If there is a problem writing the log.

shutdown

public void shutdown()

Shut down the kernel. This method will notify all agents/simulators/viewers of the shutdown.