it.cnr.istc.pst.platinum.control.acting.ExecutiveProcess.run() - Code Metrics - Inspection of "minor" - pstlab/PLATINUm - Measure and Improve Code Quality continuously with Scrutinizer

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Push — master ( 791563...573dd0 )

by Alessandro

created 2021-07-17 20:19 UTC

run() B

↳ Parent: it.cnr.istc.pst.platinum.control.acting.ExecutiveProcess

Complexity

Conditions

Size

Total Lines	53
Code Lines	24

Duplication

Lines	0
Ratio	0 %

Importance

Changes

Metric	Value
cc	7
eloc	24
dl	0
loc	53
rs	7.904
c	0
b	0
f	0

How to fix Long Method

package it.cnr.istc.pst.platinum.control.acting;

import java.util.HashSet;
import java.util.Set;

import it.cnr.istc.pst.platinum.ai.executive.Executive;
import it.cnr.istc.pst.platinum.ai.executive.ExecutiveBuilder;
import it.cnr.istc.pst.platinum.ai.executive.lang.ex.ExecutionException;
import it.cnr.istc.pst.platinum.ai.executive.lang.ex.ExecutionPreparationException;
import it.cnr.istc.pst.platinum.ai.executive.lang.failure.ExecutionFailureCause;
import it.cnr.istc.pst.platinum.ai.executive.pdb.ExecutionNode;
import it.cnr.istc.pst.platinum.ai.executive.pdb.ExecutionNodeStatus;
import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.plan.SolutionPlan;
import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.PlanProtocolDescriptor;
import it.cnr.istc.pst.platinum.control.lang.Goal;
import it.cnr.istc.pst.platinum.control.lang.GoalStatus;
import it.cnr.istc.pst.platinum.control.lang.TokenDescription;
import it.cnr.istc.pst.platinum.control.lang.ex.PlatformException;

/**
 * 
 * @author alessandro
 *
 */
public class ExecutiveProcess implements Runnable {
	
	private GoalOrientedActingAgent agent;
	private Class<? extends Executive> eClass;
	
	/**
	 * 
	 * @param eClass
	 * @param agent
	 */
	protected ExecutiveProcess(Class<? extends Executive> eClass, GoalOrientedActingAgent agent) {
		this.agent = agent;
		this.eClass = eClass;
	}
	
	/**
	 * 
	 */
	@Override
	public void run() {
		
		boolean running = true;
		while(running) {
			
			try {
				
				// take a goal to plan for
				Goal goal = this.agent.waitGoal(GoalStatus.COMMITTED);
				System.out.println("executing goal ...\n" + goal + "\n");
				// execute extracted goal
				int code = this.agent.execute(goal);
				
				// check execution code
				switch (code) {
				
					// success
					case 1 : {
						
						// goal successfully executed
						this.agent.finish(goal);
					}
					break;
					
					// execution failure
					case 2 : {
						
						// goal execution suspended due to some failure
						this.agent.suspend(goal);
					}
					break;
					
					// execution error
					case 3 : {
						
						// goal execution error due to some major failure
						this.agent.abort(goal);
					}
					break;
					
					default : {
						
						// unknown execution code
						System.err.println("Unknown Execution code :\n"
								+ "\t- goal: " + goal + "\n"
								+ "\t- code: " + code + "\n"); 
					}
				}
				
				
			} catch (InterruptedException ex) {

				running = false;
			}
		}
	}
	
	/**
	 * 
	 * @param goal
	 * @throws InterruptedException
	 * @throws ExecutionException
	 * @throws ExecutionPreparationException
	 * @throws PlatformException
	 */
	protected void doHandle(Goal goal) 
			throws InterruptedException, ExecutionException, ExecutionPreparationException, PlatformException  {
		
		// get solution plan 
		SolutionPlan plan = goal.getPlan();
		// build executive
		Executive exec = ExecutiveBuilder.createAndSet(this.eClass, 0, plan.getHorizon());
		// export plan 
		PlanProtocolDescriptor desc = plan.export();
		System.out.println("\n\nREADY TO EXECUTE PLAN:\n" + desc + "\n\n");
		// set the executive according to the plan being executed
		exec.initialize(desc);
		
		// bind simulator if any
		if (this.agent.proxy != null) {
			// bind simulator
			exec.link(this.agent.proxy);
		}
		
		
		try {
			
			// run the executive starting at a given tick
			boolean complete = exec.execute(goal.getExecutionTick(), goal);
			// check execution result 
			if (!complete) {
				
				// get failure cause
				ExecutionFailureCause cause = exec.getFailureCause();
				// set failure cause
				goal.setFailureCause(cause);
				// set repaired 
				goal.setRepaired(false);
				// set goal interruption tick
				goal.setExecutionTick(cause.getInterruptionTick());
				// set execution trace by taking into account executed nodes
				for (ExecutionNode node : exec.getNodes(ExecutionNodeStatus.EXECUTED)) {
					// add the node to the goal execution trace
					goal.addNodeToExecutionTrace(node);
				}
				
				// get the name of of goal components
				Set<String> components = new HashSet<>();
				for (TokenDescription t : goal.getTaskDescription().getGoals()) {
					components.add(t.getComponent());
				}
				
				// set execution trace by taking into account also (virtual) nodes in-execution
				for (ExecutionNode node : exec.getNodes(ExecutionNodeStatus.IN_EXECUTION)) {
					// do not consider nodes belonging to "goal component"
					if (!components.contains(node.getComponent())) {
						// add the node to the goal execution trace
						goal.addNodeToExecutionTrace(node);
					}
				}
				
				// throw exception
				throw new ExecutionException("Execution failure... try to repair the plan through replanning... \n"
						+ "\t- cause: " + cause + "\n", cause);
			}
			
		} finally {
		
			// stop simulator if any
			if (this.agent.proxy != null) {
				// unlink from simulator
				exec.unlink();
			}
			
		}
	}
}


1			package it.cnr.istc.pst.platinum.control.acting;
2
3			import java.util.HashSet;
4			import java.util.Set;
5
6			import it.cnr.istc.pst.platinum.ai.executive.Executive;
7			import it.cnr.istc.pst.platinum.ai.executive.ExecutiveBuilder;
8			import it.cnr.istc.pst.platinum.ai.executive.lang.ex.ExecutionException;
9			import it.cnr.istc.pst.platinum.ai.executive.lang.ex.ExecutionPreparationException;
10			import it.cnr.istc.pst.platinum.ai.executive.lang.failure.ExecutionFailureCause;
11			import it.cnr.istc.pst.platinum.ai.executive.pdb.ExecutionNode;
12			import it.cnr.istc.pst.platinum.ai.executive.pdb.ExecutionNodeStatus;
13			import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.plan.SolutionPlan;
14			import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.PlanProtocolDescriptor;
15			import it.cnr.istc.pst.platinum.control.lang.Goal;
16			import it.cnr.istc.pst.platinum.control.lang.GoalStatus;
17			import it.cnr.istc.pst.platinum.control.lang.TokenDescription;
18			import it.cnr.istc.pst.platinum.control.lang.ex.PlatformException;
19
20			/**
21			*
22			* @author alessandro
23			*
24			*/
25			public class ExecutiveProcess implements Runnable {
26
27			private GoalOrientedActingAgent agent;
28			private Class<? extends Executive> eClass;
29
30			/**
31			*
32			* @param eClass
33			* @param agent
34			*/
35			protected ExecutiveProcess(Class<? extends Executive> eClass, GoalOrientedActingAgent agent) {
36			this.agent = agent;
37			this.eClass = eClass;
38			}
39
40			/**
41			*
42			*/
43			@Override
44			public void run() {
45
46			boolean running = true;
47			while(running) {
48
49			try {
50
51			// take a goal to plan for
52			Goal goal = this.agent.waitGoal(GoalStatus.COMMITTED);
53			System.out.println("executing goal ...\n" + goal + "\n");
54			// execute extracted goal
55			int code = this.agent.execute(goal);
56
57			// check execution code
58			switch (code) {
59
60			// success
61			case 1 : {
62
63			// goal successfully executed
64			this.agent.finish(goal);
65			}
66			break;
67
68			// execution failure
69			case 2 : {
70
71			// goal execution suspended due to some failure
72			this.agent.suspend(goal);
73			}
74			break;
75
76			// execution error
77			case 3 : {
78
79			// goal execution error due to some major failure
80			this.agent.abort(goal);
81			}
82			break;
83
84			default : {
85
86			// unknown execution code
87			System.err.println("Unknown Execution code :\n"
88			+ "\t- goal: " + goal + "\n"
89			+ "\t- code: " + code + "\n");
90			}
91			}
92
93
94			} catch (InterruptedException ex) {
			0 ignored issues – show introduced 2021-04-10 16:53 UTC by Report Bug Copy Issue Report Either re-interrupt this method or rethrow the "InterruptedException". Loading history...
95			running = false;
96			}
97			}
98			}
99
100			/**
101			*
102			* @param goal
103			* @throws InterruptedException
104			* @throws ExecutionException
105			* @throws ExecutionPreparationException
106			* @throws PlatformException
107			*/
108			protected void doHandle(Goal goal)
109			throws InterruptedException, ExecutionException, ExecutionPreparationException, PlatformException {
110
111			// get solution plan
112			SolutionPlan plan = goal.getPlan();
113			// build executive
114			Executive exec = ExecutiveBuilder.createAndSet(this.eClass, 0, plan.getHorizon());
115			// export plan
116			PlanProtocolDescriptor desc = plan.export();
117			System.out.println("\n\nREADY TO EXECUTE PLAN:\n" + desc + "\n\n");
118			// set the executive according to the plan being executed
119			exec.initialize(desc);
120
121			// bind simulator if any
122			if (this.agent.proxy != null) {
123			// bind simulator
124			exec.link(this.agent.proxy);
125			}
126
127
128			try {
129
130			// run the executive starting at a given tick
131			boolean complete = exec.execute(goal.getExecutionTick(), goal);
132			// check execution result
133			if (!complete) {
134
135			// get failure cause
136			ExecutionFailureCause cause = exec.getFailureCause();
137			// set failure cause
138			goal.setFailureCause(cause);
139			// set repaired
140			goal.setRepaired(false);
141			// set goal interruption tick
142			goal.setExecutionTick(cause.getInterruptionTick());
143			// set execution trace by taking into account executed nodes
144			for (ExecutionNode node : exec.getNodes(ExecutionNodeStatus.EXECUTED)) {
145			// add the node to the goal execution trace
146			goal.addNodeToExecutionTrace(node);
147			}
148
149			// get the name of of goal components
150			Set<String> components = new HashSet<>();
151			for (TokenDescription t : goal.getTaskDescription().getGoals()) {
152			components.add(t.getComponent());
153			}
154
155			// set execution trace by taking into account also (virtual) nodes in-execution
156			for (ExecutionNode node : exec.getNodes(ExecutionNodeStatus.IN_EXECUTION)) {
157			// do not consider nodes belonging to "goal component"
158			if (!components.contains(node.getComponent())) {
159			// add the node to the goal execution trace
160			goal.addNodeToExecutionTrace(node);
161			}
162			}
163
164			// throw exception
165			throw new ExecutionException("Execution failure... try to repair the plan through replanning... \n"
166			+ "\t- cause: " + cause + "\n", cause);
167			}
168
169			} finally {
170
171			// stop simulator if any
172			if (this.agent.proxy != null) {
173			// unlink from simulator
174			exec.unlink();
175			}
176
177			}
178			}
179			}
180

pstlab / PLATINUm

Push — master ( 791563...573dd0 )

run() B

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Size

Duplication

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How to fix Long Method

Long Method

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