org.jactr.modules.pm.motor
Class AbstractMotorModule

java.lang.Object
  org.jactr.core.module.AbstractModule
      org.jactr.core.module.asynch.AbstractAsynchronousModule
          org.jactr.modules.pm.AbstractPerceptualModule
              org.jactr.modules.pm.motor.AbstractMotorModule

All Implemented Interfaces:

IAsynchronousModule, IModule, IInitializable, IInstallable, IParameterized, IPerceptualModule, IMotorModule

Direct Known Subclasses:

DefaultMotorModule6

public abstract class AbstractMotorModule
extends AbstractPerceptualModule
implements IMotorModule

abstract motor module that handles just about everything one needs. It uses a combination of the default MotorManager (which handles all the logic of communicating with common reality, as well as the movement lifecylce), the DefaultCommandTranslator to route ChunkPattern movement requests to specific ICommandTranslatorDelegates, and uses IMotorTimeEquation to determine how long preparation and processing phases last.

The ICommandTranslatorDelegates map ChunkPatterns and Strings to specific muscles, as defined by IEfferentObjects, as well as translating the ChunkPatterns into precise IEfferentCommands which will be passed to common reality by the MotorManager. There should be a unique ICommandTranslatorDelegate for each and every movement chunktype defined.

One will notice that only preparation and processing times are directly controled by the motor module. execution times can only be indirectly specified since execution time is actually up to common reality and the sensor that receives the command. It can be influenced by having the ICommandTranslatorDelegate set the MovementCommand.MOVEMENT_RATE property of the IEfferentCommand.

If StrictSynchronizationEnabled is false, preparation and processing times may not match ACT-R's predictions. If it is enabled, processing will block until a response is received from CR. However, run times may still not be consistent since the sensor may require more time than predicted by ACT-R.

Author:

harrison

Field Summary

static java.lang.String	COMPOUND_MOTOR_COMMAND_CHUNK_TYPE
static java.lang.String	ENABLE_PARALLEL_MUSCLES_PARAM

Fields inherited from interface org.jactr.modules.pm.motor.IMotorModule

ABORT_CHUNK_TYPE, ABORTING_CHUNK, MOVEMENT_CHUNK_TYPE, MUSCLE_SLOT

Fields inherited from interface org.jactr.modules.pm.IPerceptualModule

GREATER_THAN_CURRENT_CHUNK, HIGHEST_CHUNK, LESS_THAN_CURRENT_CHUNK, LOWEST_CHUNK

Fields inherited from interface org.jactr.core.module.asynch.IAsynchronousModule

STRICT_SYNCHRONIZATION_PARAM

Constructor Summary

AbstractMotorModule(java.lang.String name)

Method Summary

java.util.concurrent.Future<IMovement>	abort(IMovement movement, double requestTime)
void	addListener(IMotorModuleListener listener, java.util.concurrent.Executor executor)
java.util.concurrent.Future<IMovement>	adjust(IMovement movement, ChunkTypeRequest request, double requestTime)
boolean	canAbort(ChunkTypeRequest request)
boolean	canAbort(IMovement movement)
boolean	canAdjust(ChunkTypeRequest request)
boolean	canAdjust(IMovement movement)
boolean	canExecute(ChunkTypeRequest request)
boolean	canPrepare(ChunkTypeRequest request) return true if we could prepare this motor command
void	dispatch(MotorModuleEvent event)
java.util.concurrent.Future<IMovement>	execute(IMovement movement, double requestTime) execute a motor movement.
IChunkType	getAbortChunkType()
IChunk	getAbortingChunk()
MotorCommandManager	getCommandManager()
ICommandTranslator	getCommandTranslator() responsible code snippet that translates ChunkPatterns into IEfferentCommands
IChunkType	getCompoundCommandChunkType()
IMovement	getLastMovement(org.commonreality.identifier.IIdentifier muscle) returns the most recently prepared movement for the given muscle
IChunkType	getMovementChunkType() the root movement type chunk
MuscleStateManager	getMuscleManager() tracker and manager of muscle info
java.lang.String	getParameter(java.lang.String key) return parameter value - null if not defined.
IMotorTimeEquation	getPreparationTimeEquation() the IMotorTimeEquation that determines how long the preparation of a motor movement lasts
IMotorTimeEquation	getProcessingTimeEquation() the IMotorTimeEquation that determines how much time is spent processing the movement.
java.util.Collection<java.lang.String>	getSetableParameters() Return list of all parameters that can be set.
boolean	hasListeners()
void	initialize() this will be called after all the modules have been installed permitting the module to attach listeners to other modules.
boolean	isMuscleParallelismEnabled()
java.util.concurrent.Future<IMovement>	prepare(ChunkTypeRequest pattern, double requestTime, boolean prepareOnly) prepare a motor movement.
void	removeListener(IMotorModuleListener listener)
void	reset() reset the module.
void	reset(java.lang.String muscleName) reset the state of a single muscle
void	setCommandTranslator(ICommandTranslator translator)
void	setMuscleParallelismEnabled(boolean enable)
void	setParameter(java.lang.String key, java.lang.String value) Set the named parameter
void	setPreparationTimeEquation(IMotorTimeEquation equation)
void	setProcessingTimeEquation(IMotorTimeEquation equation)

Methods inherited from class org.jactr.modules.pm.AbstractPerceptualModule

dispose, getBusyChunk, getCommonRealityExecutor, getErrorChunk, getExecutor, getFreeChunk, getRequestedChunk, getSymbolGrounder, getUnrequestedChunk

Methods inherited from class org.jactr.core.module.asynch.AbstractAsynchronousModule

getPossibleParameters, isStrictSynchronizationEnabled, setStrictSynchronizationEnabled, synchronizedTimedEvent

Methods inherited from class org.jactr.core.module.AbstractModule

delayedFuture, getModel, getName, immediateFuture, immediateReturn, install, uninstall

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.jactr.modules.pm.motor.IMotorModule

getBuffer

Methods inherited from interface org.jactr.modules.pm.IPerceptualModule

getCommonRealityExecutor, getSymbolGrounder

Methods inherited from interface org.jactr.core.module.asynch.IAsynchronousModule

getExecutor, isStrictSynchronizationEnabled, setStrictSynchronizationEnabled, synchronizedTimedEvent

Methods inherited from interface org.jactr.core.module.IModule

dispose, getModel, getName, install

Methods inherited from interface org.jactr.core.utils.IInstallable

uninstall

Methods inherited from interface org.jactr.core.utils.parameter.IParameterized

getPossibleParameters

Field Detail

ENABLE_PARALLEL_MUSCLES_PARAM

public static final java.lang.String ENABLE_PARALLEL_MUSCLES_PARAM

See Also:

Constant Field Values

COMPOUND_MOTOR_COMMAND_CHUNK_TYPE

public static final java.lang.String COMPOUND_MOTOR_COMMAND_CHUNK_TYPE

See Also:

Constant Field Values

Constructor Detail

AbstractMotorModule

public AbstractMotorModule(java.lang.String name)

Method Detail

setCommandTranslator

public void setCommandTranslator(ICommandTranslator translator)

getCommandTranslator

public ICommandTranslator getCommandTranslator()

Description copied from interface: IMotorModule

responsible code snippet that translates ChunkPatterns into IEfferentCommands

Specified by:

getCommandTranslator in interface IMotorModule

Returns:

setProcessingTimeEquation

public void setProcessingTimeEquation(IMotorTimeEquation equation)

getProcessingTimeEquation

public IMotorTimeEquation getProcessingTimeEquation()

Description copied from interface: IMotorModule

the IMotorTimeEquation that determines how much time is spent processing the movement. Actual equation times are determined by individual IEfferentCommandTranslators.

Specified by:

getProcessingTimeEquation in interface IMotorModule

Returns:

setPreparationTimeEquation

public void setPreparationTimeEquation(IMotorTimeEquation equation)

getPreparationTimeEquation

public IMotorTimeEquation getPreparationTimeEquation()

Description copied from interface: IMotorModule

the IMotorTimeEquation that determines how long the preparation of a motor movement lasts

Specified by:

getPreparationTimeEquation in interface IMotorModule

Returns:

getMovementChunkType

public IChunkType getMovementChunkType()

Description copied from interface: IMotorModule

the root movement type chunk

Specified by:

getMovementChunkType in interface IMotorModule

Returns:

getAbortChunkType

public IChunkType getAbortChunkType()

Specified by:

getAbortChunkType in interface IMotorModule

getAbortingChunk

public IChunk getAbortingChunk()

getCompoundCommandChunkType

public IChunkType getCompoundCommandChunkType()

initialize

public void initialize()

Description copied from interface: IModule

this will be called after all the modules have been installed permitting the module to attach listeners to other modules. if you want to get access to chunks,types, or productions before the model runs, attach a model listener and do that during the modelStarted call

Specified by:

initialize in interface IModule

Specified by:

initialize in interface IInitializable

Overrides:

initialize in class AbstractPerceptualModule

isMuscleParallelismEnabled

public boolean isMuscleParallelismEnabled()

Returns:

setMuscleParallelismEnabled

public void setMuscleParallelismEnabled(boolean enable)

canPrepare

public boolean canPrepare(ChunkTypeRequest request)

Description copied from interface: IMotorModule

return true if we could prepare this motor command

Specified by:

canPrepare in interface IMotorModule

Returns:

prepare

public java.util.concurrent.Future<IMovement> prepare(ChunkTypeRequest pattern,
                                                      double requestTime,
                                                      boolean prepareOnly)

Description copied from interface: IMotorModule

prepare a motor movement. This involves creating the movement, setting up the buffer (and queueing timed events), and negotiating the newly created IEfferentCommand with common reality

Specified by:

prepare in interface IMotorModule

canExecute

public boolean canExecute(ChunkTypeRequest request)

Specified by:

canExecute in interface IMotorModule

execute

public java.util.concurrent.Future<IMovement> execute(IMovement movement,
                                                      double requestTime)

Description copied from interface: IMotorModule

execute a motor movement. This involves communicating the movement start with common reality and queueing whatever timed events are necessary

Specified by:

execute in interface IMotorModule

Returns:

canAdjust

public boolean canAdjust(ChunkTypeRequest request)

Specified by:

canAdjust in interface IMotorModule

canAdjust

public boolean canAdjust(IMovement movement)

Specified by:

canAdjust in interface IMotorModule

adjust

public java.util.concurrent.Future<IMovement> adjust(IMovement movement,
                                                     ChunkTypeRequest request,
                                                     double requestTime)

Specified by:

adjust in interface IMotorModule

canAbort

public boolean canAbort(ChunkTypeRequest request)

Specified by:

canAbort in interface IMotorModule

canAbort

public boolean canAbort(IMovement movement)

Specified by:

canAbort in interface IMotorModule

abort

public java.util.concurrent.Future<IMovement> abort(IMovement movement,
                                                    double requestTime)

Specified by:

abort in interface IMotorModule

reset

public void reset()

Description copied from interface: IModule

reset the module. This will typically clear the owned buffers and abort any module specific operations

Specified by:

reset in interface IModule

Specified by:

reset in interface IMotorModule

reset

public void reset(java.lang.String muscleName)

Description copied from interface: IMotorModule

reset the state of a single muscle

Specified by:

reset in interface IMotorModule

getLastMovement

public IMovement getLastMovement(org.commonreality.identifier.IIdentifier muscle)

Description copied from interface: IMotorModule

returns the most recently prepared movement for the given muscle

Specified by:

getLastMovement in interface IMotorModule

Parameters:

muscle - if null, return the last movement regardless of the muscle

Returns:

getCommandManager

public MotorCommandManager getCommandManager()

Specified by:

getCommandManager in interface IMotorModule

getMuscleManager

public MuscleStateManager getMuscleManager()

Description copied from interface: IMotorModule

tracker and manager of muscle info

Specified by:

getMuscleManager in interface IMotorModule

Returns:

getSetableParameters

public java.util.Collection<java.lang.String> getSetableParameters()

Description copied from interface: IParameterized

Return list of all parameters that can be set.

Specified by:

getSetableParameters in interface IParameterized

Overrides:

getSetableParameters in class AbstractAsynchronousModule

Returns:

The setableParameters value

setParameter

public void setParameter(java.lang.String key,
                         java.lang.String value)

Description copied from interface: IParameterized

Set the named parameter

Specified by:

setParameter in interface IParameterized

Overrides:

setParameter in class AbstractAsynchronousModule

getParameter

public java.lang.String getParameter(java.lang.String key)

Description copied from interface: IParameterized

return parameter value - null if not defined.

Specified by:

getParameter in interface IParameterized

Overrides:

getParameter in class AbstractAsynchronousModule

Parameters:

key - Description of the Parameter

Returns:

The parameter value

addListener

public void addListener(IMotorModuleListener listener,
                        java.util.concurrent.Executor executor)

Specified by:

addListener in interface IMotorModule

hasListeners

public boolean hasListeners()

Specified by:

hasListeners in interface IMotorModule

removeListener

public void removeListener(IMotorModuleListener listener)

Specified by:

removeListener in interface IMotorModule

dispatch

public void dispatch(MotorModuleEvent event)

Specified by:

dispatch in interface IMotorModule