Merge pull request #13 from CST-Group/gudwin

MindViewer refactoring

README.md

@@ -6,7 +6,7 @@
 
 # Welcome to the CST Toolkit pages.
 
-The [CST Toolkit](http://cst.fee.unicamp.br) is a Java-based toolkit to allow the construction of Cognitive Architectures. It has been developed at the [University of Campinas](http://www.dca.fee.unicamp.br) by a group of researchers in the field of Cognitive Architectures leaded by Prof. [Ricardo Gudwin](http://faculty.dca.fee.unicamp.br/gudwin). 
+The [CST Toolkit](http://cst.fee.unicamp.br) is a Java-based toolkit to allow the construction of Cognitive Architectures. It has been developed at the [University of Campinas](http://www.dca.fee.unicamp.br) by a group of researchers in the field of Cognitive Architectures led by Prof. [Ricardo Gudwin](http://faculty.dca.fee.unicamp.br/gudwin). 
 
 Note: This library is still under development, and some concepts or features might not be available yet. [Feedback/bug report](https://github.com/CST-Group/cst/issues) and [Pull Requests](https://github.com/CST-Group/cst/pulls) are most welcome!
 
@@ -28,7 +28,7 @@ Note: This library is still under development, and some concepts or features mig
 ```
 	dependencies {
             ...
-            implementation 'com.github.CST-Group:cst:0.4.0'
+            implementation 'com.github.CST-Group:cst:0.5.0'
 	}
 ```
 
@@ -53,7 +53,7 @@ Sometimes, the version number (tag) in this README gets out of date, as maintain
 	<dependency>
 	    <groupId>com.github.CST-Group</groupId>
 	    <artifactId>cst</artifactId>
-	    <version>0.4.0</version>
+	    <version>0.5.0</version>
 	</dependency>
 ```
 

build.gradle

@@ -10,7 +10,7 @@ description = "CST is the Cognitive Systems Toolkit, a toolkit for the construct
 
 sourceCompatibility = 1.8
 targetCompatibility = 1.8
-version = '0.4.0'
+version = '0.5.0'
 
 repositories {
 	flatDir {
@@ -80,6 +80,11 @@ jar {
     from {
     	configurations.extraLibs.collect { it.isDirectory() ? it : zipTree(it) }
     }
+    manifest {
+      attributes(
+        'Class-Path': configurations.runtimeClasspath.files.collect { it.getName() }.join(' ')    
+      )
+    }
 }
 
 task javadocJar(type: Jar) {
@@ -96,9 +101,17 @@ task sourcesJar(type: Jar) {
     	configurations.extraLibs.collect { it.isDirectory() ? it : zipTree(it) }
     }
 }
+task uberJar(type: Jar) {
+    archiveClassifier = 'full'
+    from sourceSets.main.output
+    dependsOn configurations.runtimeClasspath
+    from {
+        configurations.runtimeClasspath.findAll { it.name.endsWith('jar') }.collect { zipTree(it) }
+    }
+}
 artifacts
 {
-    archives javadocJar, sourcesJar
+    archives javadocJar, sourcesJar, uberJar
 }
 
 jacocoTestReport {

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.2.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.5-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

src/main/java/br/unicamp/cst/bindings/rosjava/RosServiceClientCodelet.java

@@ -74,7 +74,7 @@ public RosServiceClientCodelet(String nodeName, String service, String messageSe
 
 		serviceResponseListener = new ServiceResponseListener<T>() {
 			@Override
-			public void onSuccess(T response) {			    	  
+			public void onSuccess(T response) {	
 				if(response != null) {
 					processServiceResponse(response);
 					callInProgressSemaphore.release();
@@ -83,7 +83,7 @@ public void onSuccess(T response) {
 
 			@Override
 			public void onFailure(RemoteException e) {
-				e.printStackTrace();
+                                e.printStackTrace();
 			}
 		};
 
@@ -93,22 +93,22 @@ public void onFailure(RemoteException e) {
 
 	@Override
 	public synchronized void start() {
-		startRosNode();
+                startRosNode();
 		super.start();
 	}
 
 	@Override
 	public synchronized void stop() {
-		stopRosNode();
+                stopRosNode();
 		super.stop();
 	}
 
 	private void startRosNode() {
-		nodeMainExecutor.execute(this, nodeConfiguration);
+                nodeMainExecutor.execute(this, nodeConfiguration);
 	}
 
 	private void stopRosNode() {
-		serviceClient = null;
+                serviceClient = null;
 		serviceMessageRequest = null;
 		nodeMainExecutor.shutdownNodeMain(this);
 	}
@@ -185,7 +185,6 @@ public void onStart(ConnectedNode connectedNode) {
 
 	@Override
 	public void onShutdown(Node node) {
-		// empty
 	}
 
 	@Override

src/main/java/br/unicamp/cst/core/entities/Mind.java

@@ -12,7 +12,8 @@
 package br.unicamp.cst.core.entities;
 
 import br.unicamp.cst.bindings.soar.PlansSubsystemModule;
-import br.unicamp.cst.motivational.MotivationalSubsystemModule;
+import java.util.ArrayList;
+import java.util.concurrent.ConcurrentHashMap;
 
 /**
  * This class represents the Mind of the agent, wrapping all the CST's core
@@ -24,10 +25,8 @@
 public class Mind {
 
 	protected CodeRack codeRack;
-
 	protected RawMemory rawMemory;
-
-	private MotivationalSubsystemModule motivationalSubsystemModule;
+        protected ConcurrentHashMap<String,ArrayList> codelets;
 
 	private PlansSubsystemModule plansSubsystemModule;
 
@@ -36,11 +35,8 @@ public class Mind {
 	 */
 	public Mind() {
 		codeRack = new CodeRack();
-
 		rawMemory = new RawMemory();
-
-		motivationalSubsystemModule = new MotivationalSubsystemModule();
-
+                codelets = new ConcurrentHashMap();
 		plansSubsystemModule = new PlansSubsystemModule();
 	}
 
@@ -62,6 +58,35 @@ public synchronized RawMemory getRawMemory() {
 		return rawMemory;
 	}
 
+	/**
+	 * Creates a Codelet Group
+	 * 
+	 * @param groupName The Group name
+	 * 
+	 */
+        public synchronized void createCodeletGroup(String groupName) {
+            ArrayList<Codelet> group = new ArrayList<Codelet>();
+            codelets.put(groupName,group);
+        }
+
+        /**
+         * Returns the full HashMap which for every group Name it is associated a list of codelets
+         * 
+         * @return the HashMap with all pairs (groupname,list of codelets belonging to groupname)
+         */
+        public ConcurrentHashMap<String,ArrayList> getGroups() {
+            return(codelets);
+        }
+
+        /**
+         * Returns the number of registered groups
+         * 
+         * @return the number of registered groups
+         */
+        public int getGroupsNumber() {
+            return(codelets.size());
+        }
+
 	/**
 	 * Creates a Memory Container inside the Mind of a given type.
 	 * 
@@ -122,10 +147,45 @@ public synchronized MemoryObject createMemoryObject(String name) {
 	public Codelet insertCodelet(Codelet co) {
 		if (codeRack != null)
 			codeRack.addCodelet(co);
-
 		return co;
 	}
 
+	/**
+	 * Inserts the Codelet passed in the Mind's CodeRack.
+	 * 
+	 * @param co the Codelet to be inserted in the Mind
+         * @param groupName the Codelet group name
+	 * @return the Codelet.
+	 */
+	public Codelet insertCodelet(Codelet co, String groupName) {
+                insertCodelet(co);
+                registerCodelet(co,groupName);
+                return co;
+	}
+
+        /**
+         * Register a Codelet within a group
+         * 
+         * @param co the Codelet
+         * @param groupName the group name
+         */
+        public void registerCodelet(Codelet co, String groupName) {
+            ArrayList<Codelet> groupList = codelets.get(groupName);
+                if (groupList != null) groupList.add(co);
+        }
+
+
+        /**
+         * Get a list of all Codelets belonging to a group
+         * 
+         * @param groupName the group name to which the Codelets belong
+         * @return A list of all codelets belonging to the group indicated by groupName
+         */
+        public ArrayList<Codelet> getGroupList(String groupName) {
+                return(codelets.get(groupName));
+        }
+
+
 	/**
 	 * Starts all codelets in coderack.
 	 */
@@ -142,25 +202,6 @@ public void shutDown() {
 			codeRack.shutDown();
 	}
 
-	/**
-	 * Gets the Motivational Subsystem Module.
-	 * 
-	 * @return the motivationalSubsystemModule.
-	 */
-	public MotivationalSubsystemModule getMotivationalSubsystemModule() {
-		return motivationalSubsystemModule;
-	}
-
-	/**
-	 * Sets the Motivational Subsystem Module.
-	 * 
-	 * @param motivationalSubsystemModule
-	 *            the motivationalSubsystemModule to set.
-	 */
-	public void setMotivationalSubsystemModule(MotivationalSubsystemModule motivationalSubsystemModule) {
-		this.motivationalSubsystemModule = motivationalSubsystemModule;
-	}
-
 	/**
 	 * Gets the Plans Subsystem Module.
 	 * 

src/main/java/br/unicamp/cst/memory/BehaviorProposition.java

@@ -194,7 +194,7 @@ public boolean isPerformed() {
 
 	/**
          * This, set performed attribute and composes the behavior proposition string from attributes of class.
-	 * @param performed
+	 * @param performed 
 	 */
 	public void setPerformed(boolean performed) {   
                 //System.out.println("##### Trying to set performed to "+performed+"  ########");