saphiramanager.java

一个用来控制poineer2型机器人的智能体软件

/*
* SaphiraManager.java
*/

package OaaSaphira.CarrierUnit;

/**
* Title:        SaphiraManager<p>
* Description:  An interface to the Saphira environment<p>
* Company:      University of Applied Sciences, Hamburg<p>
* <p>
* If you find this package useful or you want to make comments on it,
* please drop me a line ([e-mail]).
* @author Alexander M. Osherenko ([e-mail])
* @version 1.0
*/

public class SaphiraManager extends Thread {

/**
Default constructor. See also the Saphira developer guide www.ai.sri.com/~konolige/saphira.
*/
  public SaphiraManager() {
  }

/**
Starts the Saphira thread.
*/
  public void run() {
    // TODO: thread priority
    // starting saphira
    this.RunSaphira();
  }
  
/**
*  Runs the Saphira environment
*/
  public native void RunSaphira();
  
/**
Prints a message.
@param msg - A message to print on the Saphira console.
*/
	public native void sfMessage(String msg);
	
/**
* Loads a Colbert file.
* @param fileName A Colbert file to load to the Saphira environment.
*/
	public native void sfLoadEvalFile(String fileName);
	
/**
* Starts a task, for example activity that is already registered in the Saphira environment.
* @param schema Library name of the task.
* @param iname Instantiation name of the task.
* @param timeout Must be specified; a timeout of 0 means the activity executes indefinitely.
* @param suspend 0 if the behavior is to be active immediately, and 1 if it is to be
started in a suspended state, to be activated by a resume signal.
* @arg an integer argument to pass to the activated task.
* @return 0 if the task is started successfully, and -1 if it did not.
*/
	public native int sfStartTask (String schema, String iname, 
		int timeout, int priority, int suspend, int arg);

/**
* Returns the task state.
* @param task Task name.
* @return 1 if the task has completed successfully, failed, or timed out; it is 2 if the micro-task is
not on the scheduler抯 list; and it is 0 if the micro-task is still active.
*/
	public native int sfTaskFinished(String task);

  static {
    System.loadLibrary("SaphiraWrapper");
  }

}