pstlab / PLATINUm

import java.util.ArrayList;

import java.util.Collections;

import java.util.List;

import java.util.Map;

import java.util.concurrent.ConcurrentHashMap;

import java.util.concurrent.atomic.AtomicBoolean;

import it.cnr.istc.pst.platinum.ai.executive.dispatcher.ConditionCheckingDispatcher;

import it.cnr.istc.pst.platinum.ai.executive.dispatcher.Dispatcher;

import it.cnr.istc.pst.platinum.ai.executive.lang.ExecutionFeedback;

import it.cnr.istc.pst.platinum.ai.executive.lang.ExecutionFeedbackType;

import it.cnr.istc.pst.platinum.ai.executive.lang.ex.ExecutionException;

import it.cnr.istc.pst.platinum.ai.executive.lang.failure.ExecutionFailureCause;

import it.cnr.istc.pst.platinum.ai.executive.monitor.ConditionCheckingMonitor;

import it.cnr.istc.pst.platinum.ai.executive.monitor.Monitor;

import it.cnr.istc.pst.platinum.ai.executive.pdb.ControllabilityType;

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.executive.pdb.ExecutivePlanDataBase;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.FrameworkObject;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.cfg.FrameworkLoggerConfiguration;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.cfg.executive.DispatcherConfiguration;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.cfg.executive.MonitorConfiguration;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.executive.DispatcherPlaceholder;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.executive.ExecutivePlanDataBasePlaceholder;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.executive.MonitorPlaceholder;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.PlanProtocolDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.time.ex.TemporalConstraintPropagationException;

import it.cnr.istc.pst.platinum.ai.framework.utils.log.FrameworkLoggingLevel;

import it.cnr.istc.pst.platinum.ai.framework.utils.properties.FilePropertyReader;

import it.cnr.istc.pst.platinum.ai.framework.utils.view.executive.ExecutiveWindow;

import it.cnr.istc.pst.platinum.control.lang.AgentTaskDescription;

import it.cnr.istc.pst.platinum.control.lang.Goal;

import it.cnr.istc.pst.platinum.control.lang.PlatformCommand;

import it.cnr.istc.pst.platinum.control.lang.PlatformFeedback;

import it.cnr.istc.pst.platinum.control.lang.PlatformObservation;

import it.cnr.istc.pst.platinum.control.lang.ex.PlatformException;

import it.cnr.istc.pst.platinum.control.platform.PlatformObserver;

import it.cnr.istc.pst.platinum.control.platform.PlatformProxy;

/**

 * 

 * @author anacleto

 *

 */

@FrameworkLoggerConfiguration(

		level = FrameworkLoggingLevel.WARNING

)

@MonitorConfiguration(

		monitor = ConditionCheckingMonitor.class

)

@DispatcherConfiguration(

		dispatcher = ConditionCheckingDispatcher.class

)

public class Executive extends FrameworkObject implements ExecutionManager, PlatformObserver

{

	@ExecutivePlanDataBasePlaceholder

	protected ExecutivePlanDataBase pdb;										// the (executive) plan to execute

	@MonitorPlaceholder

	protected Monitor<?> monitor;												// plan monitor

	@DispatcherPlaceholder

	protected Dispatcher<?> dispatcher;											// dispatching process

	private static final String TIME_UNIT_PROPERTY = "time_unit_to_second";		// property specifying the amount of seconds a time unit corresponds to

	private static final String DISPLAY_PLAN_PROPERTY = "display_plan";			// property specifying the display plan flag

	private FilePropertyReader properties;										// configuration property file

	private ExecutionStatus status;												// executive's operating status

	private final Object lock;													// executive's status lock

	private ClockManager clock;													// execution clock controller

	private long currentTick;													// current tick

	private ExecutiveWindow window;												// executive window

	private Map<PlatformCommand, ExecutionNode> dispatchedIndex;				// keep track of dispatched nodes

	private AtomicBoolean failure;												// execution failure flag

	private ExecutionFailureCause cause;										// execution failure cause

	private PlatformProxy platformProxy;										// platform PROXY to send commands to

	/**

	 * 

	 */

	protected Executive() 

	{

		super();

		// get executive file properties

		this.properties = new FilePropertyReader(

			FRAMEWORK_HOME + FilePropertyReader.DEFAULT_EXECUTIVE_PROPERTY);

		// set clock and initial status

		this.lock = new Object();

		// set status

		this.status = ExecutionStatus.INACTIVE;

		// set clock manager

		this.clock = new AtomicClockManager(this);

		// set the PROXY and the observer

		this.platformProxy = null;

		// set failure flag

		this.failure = new AtomicBoolean(false);

		// check plan display property

		if (this.getProperty(DISPLAY_PLAN_PROPERTY).equals("1")) {

			// create executive window

			this.window = new ExecutiveWindow("Executive Window");

		}

	}

	/**

	 * 

	 */

	@Override

	public String getProperty(String property) {

		return this.properties.getProperty(property);

	}

	/**

	 * 

	 * @param proxy

	 */

	public synchronized void link(PlatformProxy proxy) 

	{

		// check if already set

		if (this.platformProxy == null) {

			// bind the executive

			this.platformProxy = proxy;

			// register to the PROXY

			this.platformProxy.register(this);

		}

		else {

			warning("Platform proxy already set. Do unlink before setting another platform proxy");

		}

	}

	/**

	 * 

	 */

	public synchronized void unlink() {

		// unlink form simulator

		if (this.platformProxy != null) {

			// unregister

			this.platformProxy.unregister(this);

			// clear data

			this.platformProxy = null;

		}

	}

	/**

	 * 

	 * @return

	 */

	public long getHorizon() {

		return this.pdb.getHorizon();

	}

	/**

	 * 

	 * @return

	 */

	public ExecutionStatus getStatus() {

		return this.status;

	}

	/**

	 * 

	 * @param node

	 * @return

	 */

	public boolean canEnd(ExecutionNode node) {

		return this.pdb.checkEndExecutionDependencies(node);

	}

	/**

	 * 

	 * @param node

	 * @return

	 */

	public boolean canStart(ExecutionNode node) {

		return this.pdb.checkStartExecutionDependencies(node);

	}

	/**

	 * Convert clock's tick to time units from execution start

	 * 

	 * @param tick

	 * @return

	 */

	public long convertTickToTau(long tick) 

	{

		// covert tick to seconds from the execution start

		double seconds = this.clock.convertClockTickToSeconds(tick);

		// get property to convert seconds to time units

		double converter = Double.parseDouble(this.properties.getProperty(TIME_UNIT_PROPERTY));

		// convert seconds to time units

		return Math.round(seconds / converter);

	}

	/**

	 * 

	 * @param tick

	 * @return

	 */

	public double convertClockTickToSeconds(long tick) {

		return this.clock.convertClockTickToSeconds(tick);

	}

	/**

	 * 

	 * @return

	 * @throws InterruptedException

	 */

	public long getTau() 

			throws InterruptedException 

	{

		// current tick

		long tick = this.clock.getCurrentTick();

		// cover to tau

		return this.convertTickToTau(tick);

	}

	/**

	 * 

	 * @return

	 * @throws InterruptedException

	 */

	public long getTick() 

			throws InterruptedException 

	{

		// return current tick

		return this.clock.getCurrentTick();

	}

	/**

	 * 

	 * @param status

	 * @return

	 */

	public List<ExecutionNode> getNodes(ExecutionNodeStatus status) {

		return this.pdb.getNodesByStatus(status);

	}

	/**

	 * 

	 * @return

	 */

	public List<ExecutionNode> getNodes() {

		// list of nodes

		List<ExecutionNode> list = new ArrayList<>();

			// skip failed nodes

			if (!status.equals(ExecutionNodeStatus.FAILURE)) {

				// add all nodes with current status

				list.addAll(this.getNodes(status));

			}

		}

		// sort node list

		Collections.sort(list);

		// get sorted list

		return list;

	}

	/**

	 * 

	 * @param node

	 * @param s

	 */

	public void updateNode(ExecutionNode node, ExecutionNodeStatus s) {

		this.pdb.updateNodeStatus(node, s);

	}

	/**

	 * 

	 * @param node

	 */

	public void checkSchedule(ExecutionNode node) {

		this.pdb.checkSchedule(node);

	}

	/***

	 * 

	 * @param node

	 * @param start

	 * @throws TemporalConstraintPropagationException

	 * @throws PlatformException

	 */

	public void scheduleTokenStart(ExecutionNode node, long start) 

			throws TemporalConstraintPropagationException, PlatformException 

	{

		// check controllability type

		ControllabilityType type = node.getControllabilityType();

		switch (type)

		{

			// schedule uncontrollable token

			case UNCONTROLLABLE : 

			{

				// simply set the proper state - no propagation is needed in this case

				this.updateNode(node, ExecutionNodeStatus.STARTING);

			}

			break;

			case PARTIALLY_CONTROLLABLE : 

			case CONTROLLABLE : 

			{

				// actually schedule the start time of the token

				this.pdb.scheduleStartTime(node, start);

				// update node status

				this.updateNode(node, ExecutionNodeStatus.IN_EXECUTION);

			}

			break;

		}

		// dispatch the command through the executive if needed

		this.sendStartCommandSignalToPlatform(node);

	}

	/**

	 * 

	 * @param node

	 * @param start

	 * @throws ExecutionException

	 */

	public void scheduleUncontrollableTokenStart(ExecutionNode node, long start) 

			throws TemporalConstraintPropagationException

	{

		// schedule the observed start time of the token

		this.pdb.scheduleStartTime(node, start);

		// update node status

		this.updateNode(node, ExecutionNodeStatus.IN_EXECUTION);

	}

	/**

	 * 

	 * @param node

	 * @param duration

	 * @throws TemporalConstraintPropagationException

	 * @throws PlatformException

	 */

	public void scheduleTokenDuration(ExecutionNode node, long duration) 

			throws TemporalConstraintPropagationException, PlatformException

	{

		// propagate scheduled duration time

		this.pdb.scheduleDuration(node, duration);

		// the node can be considered as executed

		this.updateNode(node, ExecutionNodeStatus.EXECUTED);

		// if controllable send a stop command

		if (node.getControllabilityType().equals(ControllabilityType.CONTROLLABLE)) {

			// send stop signal to the platform

			this.sendStopCommandSignalToPlatform(node);

		}

	}

	/**

	 * This method sets an executive system on a generated plan.

	 * 

	 * It builds the plan data-based related to the generated plan and sets

	 * the clock, the dispatcher and the monitor processes.

	 * 

	 * @param plan

	 */

	public final void initialize(PlanProtocolDescriptor plan) 

			throws InterruptedException

	{

		// check status

		synchronized (this.lock) {

			while (!this.status.equals(ExecutionStatus.INACTIVE)) {

				this.lock.wait();

			}

			// change status and send a signal

			this.status = ExecutionStatus.INITIALIZING;

			this.lock.notifyAll();

		}

		// set plan data-base

		this.pdb.setup(plan);

		// set complete

		synchronized (this.lock) {

			// update status and send a signal

			this.status = ExecutionStatus.READY;

			this.lock.notifyAll();

		}

	}

	/**

	 * 

	 * @return

	 * @throws Exception

	 */

	public final boolean execute() 

			throws Exception {

		// call executive starting at tick 0

		return this.execute(0, null);

	}

	/**

	 * Blocking method which start the execution of the plan and waits for completion.

	 * 

	 * @return

	 * @throws Exception

	 */

	public final boolean execute(long startTick, Goal goal) 

			throws Exception

	{

		// check status

		synchronized (this.lock) 

		{

			// check lock condition

			while (!this.status.equals(ExecutionStatus.READY)) {

				this.status.wait();

			}

			// change status and send signal

			this.status = ExecutionStatus.EXECUTING;

			this.lock.notifyAll();

		}

		// check goal 

		if (goal == null) {

			// prepare execution

			this.doPrepareExecution();

		}

		else {

			// prepare execution

			this.doPrepareExecution(goal);

		}

		// set dispatching index

		this.dispatchedIndex = new ConcurrentHashMap<>();

		// start clock

		this.clock.start(startTick);

		// wait execution completes

		this.clock.join();

		// check execution failure or not 

		if (this.failure.get()) 

		{

			// execution failure

			error("Execution failure:\n\t- tick: " + this.cause.getInterruptionTick() +"\n"

					+ "\t- cause: " + this.cause.getType() + "\n");

			// update executive status

			synchronized (this.lock) {

				// set error state

				this.status = ExecutionStatus.ERROR;

				// send signal 

				this.lock.notifyAll();

			}

		}

		else 

		{

			// successful execution 

			info("Execution successfully complete:\n\t- tick: " + this.currentTick + "\n");

			// update executive status

			synchronized (this.lock) {

				// set inactive status

				this.status = ExecutionStatus.INACTIVE;

				// send signal 

				this.lock.notifyAll();

			}

		}

		// clear monitor and dispatcher

		this.monitor.clear();

		this.dispatcher.clear();

		// return execution result

		return !this.failure.get();

	}

	/**

	 * 

	 * @return

	 */

	public ExecutionFailureCause getFailureCause() {

		return this.cause;

	}

	/**

	 * 

	 * @return

	 */

	public boolean isFailure() {

		return this.failure.get();

	}

	/**

	 * 

	 * @param tick

	 * @return

	 */

	@Override

	public boolean onTick(long tick)

	{

		// execution completion flag

		boolean complete = false;

		try 

		{

			// check failure flag

			if (!this.failure.get()) 

			{

				// handle current tick

				this.currentTick = tick;

				debug("{Executive} -> Handle tick: " + tick + "\n");

				// synch step

				debug("{Executive} {tick: " + tick + "} -> Synchronization step\n");

				this.monitor.handleTick(tick);

				// dispatching step

				debug("{Executive} {tick: " + tick + "} -> Dispatching step\n");

				this.dispatcher.handleTick(tick);

				// check if execution is complete

				complete = this.pdb.getNodesByStatus(ExecutionNodeStatus.WAITING).isEmpty() &&

						this.pdb.getNodesByStatus(ExecutionNodeStatus.STARTING).isEmpty() && 

						this.pdb.getNodesByStatus(ExecutionNodeStatus.IN_EXECUTION).isEmpty();

			}

			else 

			{

				// handle current tick

				this.currentTick = tick;

				warning("{Executive} -> [FAILURE] Handle tick: " + tick + "\n");

				// sync step only in "failure" mode

				warning("{Executive} {tick: " + tick + "} -> [FAILURE] Synchronization step\n");

				// handle observations

				this.monitor.handleExecutionFailure(tick, this.cause);

				// hypothesis

				complete = true;

				// get nodes in starting state

				for (ExecutionNode node : this.pdb.getNodesByStatus(ExecutionNodeStatus.STARTING)) {

					// the executive cannot complete 

					complete = false;

					// waiting for a feedback of the node 

					warning("{Executive} {tick: " + tick + "} -> [FAILURE] Terminating execution... waiting for feedback about dispatched starting command request :\n"

							+ "\t- node: " + node + "\n");

				}

				// get nodes in execution 

				for (ExecutionNode node : this.pdb.getNodesByStatus(ExecutionNodeStatus.IN_EXECUTION)) {

					// the executive cannot complete 

					complete = false;

					// waiting for a feedback of the node 

					warning("{Executive} {tick: " + tick + "} -> [FAILURE] Terminating execution... waiting for feedback about dispatched command :\n"

							+ "\t- node: " + node + "\n");

				}

			}

			// get tau

			long tau = this.convertTickToTau(tick);

			// display executive window

			this.displayWindow(tau);

		}

		catch (ExecutionException ex) 

		{

			// set execution failure flag

			this.failure.set(true);

			// do not complete execution to wait for pending signals

			complete = false;

			// set execution failure cause

			this.cause = ex.getFailureCause();

			// error message

			error("{Executive} {tick: " + tick + "} -> Error while executing plan:\n"

					+ "\t- message: " + ex.getMessage() + "\n\n"

					+ "Wait for execution feedbacks of pending controllable and partially-controllable tokens if any... \n\n");

		}

		catch (PlatformException ex) 

		{

			// set failure

			this.failure.set(true);

			// complete execution in this case

			complete = true;

			// error message

			error("{Executive} {tick: " + tick + "} -> Platform error:\n"

					+ "\t- message: " + ex.getMessage() + "\n");

		}

			// execution error

			error(ex.getMessage());

			// set execution failure 

			this.failure.set(true);

			// complete execution in this case

			complete = true;

		}

		// get boolean flag

		return complete;

	} 

	/**

	 * 

	 * @param tau

	 * @throws InterruptedException

	 */

	private void displayWindow(long tau) 

			throws InterruptedException 

	{

		// check property

		if (this.getProperty(DISPLAY_PLAN_PROPERTY).equals("1")) {

			// set the data-set to show

			this.window.setDataSet(this.pdb.getHorizon(), this.getNodes());

			// display current execution state

			this.window.display(tau);

		}

	}

	/**

	 * Perform some setting operation just before starting execution

	 * 

	 * @throws Exception

	 */

	protected void doPrepareExecution() 

		// prepare execution

		info("[Executive] Preparing execution...");

	}

	/**

	 * Perform some setting operation just before starting execution

	 * 

	 * @param goal

	 * @throws Exception

	 */

	protected void doPrepareExecution(Goal goal) 

		// prepare execution

		info("[Executive] Preparing execution of:\n- goal= " + goal + "\n");

	}

	/**

	 * 

	 * @param node

	 * @throws PlatformException

	 */

	public void sendStopCommandSignalToPlatform(ExecutionNode node) 

			throws PlatformException

	{

		if (this.platformProxy != null && this.platformProxy.isPlatformCommand(node)) {

			// also send stop command execution request

			this.platformProxy.stopNode(node);

		}

	}

	/**

	 * 

	 * @param node

	 * @throws PlatformException

	 */

	public void sendStartCommandSignalToPlatform(ExecutionNode node) 

			throws PlatformException

	{

		// check if a platform PROXY exists

		if (this.platformProxy != null) 

		{

			// check controllability type 

			if (node.getControllabilityType().equals(ControllabilityType.PARTIALLY_CONTROLLABLE) || 

					node.getControllabilityType().equals(ControllabilityType.UNCONTROLLABLE))

			{

				// check if command to execute on platform

				if (this.platformProxy.isPlatformCommand(node)) {

	 				// send command and take operation ID

					PlatformCommand cmd = this.platformProxy.executeNode(node);

					// add entry to the index

					this.dispatchedIndex.put(cmd, node);

				}

			}

			else

			{

				// check if command to execute on platform

				if (this.platformProxy.isPlatformCommand(node)) {

					// require execution start

					PlatformCommand cmd = this.platformProxy.startNode(node);

					// add entry to the index

					this.dispatchedIndex.put(cmd, node);

				}

			}

		}

		else {

			// nothing to do, no platform PROXY available

		}

	}

	/**

	 * Action execution feedback callback

	 */

	@Override

	public void feedback(PlatformFeedback feedback) 

	{

		// check feedback type

		switch (feedback.getType())

		{

			// successful action execution

			case SUCCESS : { 

				// handle command positive feedback

				this.success(feedback.getCmd());

			}

			break;

			// action execution failure

			case FAILURE : {

				// handle failure

				this.failure(feedback.getCmd());

			}

			break;

			case UNKNOWN : {

				// runtime exception

			}

		}

	}

	/**

	 * 

	 */

	}

	/**

	 * Handle general observations from the environment

	 */

	@Override

	public void observation(PlatformObservation<? extends Object> obs) 

	{

		/* 

		 * TODO Auto-generated method stub

		 */

	}

	/**

	 * 

	 * @param cmd

	 */

	private void success(PlatformCommand cmd) 

	{

		// check command  

		if (this.dispatchedIndex.containsKey(cmd))

		{

			// get execution node

			ExecutionNode node = this.dispatchedIndex.get(cmd);

			// check node current status

			if (node.getStatus().equals(ExecutionNodeStatus.STARTING)) 

			{

				// create execution feedback

				ExecutionFeedback feedback = new ExecutionFeedback(

						this.currentTick,

						node, 

						ExecutionFeedbackType.UNCONTROLLABLE_TOKEN_START);

				// forward the feedback to the monitor

				this.monitor.addExecutionFeedback(feedback);

				// got start execution feedback from a completely uncontrollable token

				info("{Executive} {tick: " + this.currentTick + "} -> Got \"positive\" feedback about the start of the execution of an uncontrollable token:\n"

						+ "\t- node: " + node.getGroundSignature() + " (" + node + ")\n");

			}

			else if (node.getStatus().equals(ExecutionNodeStatus.IN_EXECUTION))

			{

				// create execution feedback

				ExecutionFeedback feedback = new ExecutionFeedback(

						this.currentTick,

						node, 

						node.getControllabilityType().equals(ControllabilityType.UNCONTROLLABLE) ? 

								ExecutionFeedbackType.UNCONTROLLABLE_TOKEN_COMPLETE : 

								ExecutionFeedbackType.PARTIALLY_CONTROLLABLE_TOKEN_COMPLETE);

				// forward feedback to the monitor

				this.monitor.addExecutionFeedback(feedback);

				// remove operation ID from index

				this.dispatchedIndex.remove(cmd);

				// got end execution feedback from either a partially-controllable or uncontrollable token

				info("{Executive} {tick: " + this.currentTick + "} -> Got \"positive\" feedback about the end of the execution of either a partially-controllable or uncontrollable token:\n"

						+ "\t- node: " + node.getGroundSignature() + " (" + node + ")\n");

			}

			else 

			{

				// nothing to do

			}

		}

		else 

		{

			// no operation ID found 

			warning("{Executive} {tick: " + this.currentTick + "} -> Receiving feedback about an unknown operation:\n\t- cmd: " + cmd + "\n\t-data: " + cmd.getData() + "\n");

		}

	}

	/**

	 * 

	 * @param cmd

	 */

	private void failure(PlatformCommand cmd) 

	{

		// check command  

		if (this.dispatchedIndex.containsKey(cmd))

		{

			// get execution node

			ExecutionNode node = this.dispatchedIndex.get(cmd);

			// create execution feedback

			ExecutionFeedback feedback = new ExecutionFeedback(

					this.currentTick,

					node, 

					ExecutionFeedbackType.TOKEN_EXECUTION_FAILURE);

			// forward feedback to the monitor

			this.monitor.addExecutionFeedback(feedback);

			// remove operation ID from index

			this.dispatchedIndex.remove(cmd);

			// got end execution feedback from either a partially-controllable or uncontrollable token

			info("{Executive} {tick: " + this.currentTick + "} -> Got \"failure\" feedback about the execution of token:\n"

					+ "\t- node: " + node.getGroundSignature() + " (" + node + ")\n");

		}

		else 

		{

			// no operation ID found 

			warning("{Executive} {tick: " + this.currentTick + "} -> Receiving feedback about an unknown operation:\n\t- cmd: " + cmd + "\n\t-data: " + cmd.getData() + "\n");

		}

	}

}