Included the MindViewer and ported to cst-desktop 1.0.3

build.gradle

@@ -1,18 +1,10 @@
-//apply plugin: 'java-library-distribution'
 apply plugin: 'application'
 mainClassName = 'ExperimentMain'
 
 sourceCompatibility = '1.8'
 version = '0.0.2'
 [compileJava, compileTestJava]*.options*.encoding = 'UTF-8'
 
-// NetBeans will automatically add "run" and "debug" tasks relying on the
-// "mainClass" property. You may however define the property prior executing
-// tasks by passing a "-PmainClass=<QUALIFIED_CLASS_NAME>" argument.
-//
-// Note however, that you may define your own "run" and "debug" task if you
-// prefer. In this case NetBeans will not add these tasks but you may rely on
-// your own implementation.
 if (!hasProperty('mainClass')) {
     ext.mainClass = 'ExperimentMain'
 }
@@ -22,34 +14,31 @@ repositories {
         dirs '../cst/build/libs'
     }
     mavenCentral()
+    maven {
+        url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
+    }
+    maven {
+        url "https://repository.springsource.com/maven/bundles/release"
+    }
+    maven {
+        url "https://repository.springsource.com/maven/bundles/external"
+    }
     maven { url 'https://jitpack.io' }
-    // You may define additional repositories, or even remove "mavenCentral()".
-    // Read more about repositories here:
-    //   http://www.gradle.org/docs/current/userguide/dependency_management.html#sec:repositories
 }
 
 dependencies {
-    // TODO: Add dependencies here ...
-    // You can read more about how to add dependency here:
-    //   http://www.gradle.org/docs/current/userguide/dependency_management.html#sec:how_to_declare_your_dependencies
-    //implementation fileTree(dir: 'lib', include: ['*.jar'])
-    implementation 'com.github.CST-Group:cst:0.6.1'
+    implementation 'com.github.CST-Group:cst-desktop:1.0.3'
     implementation 'com.github.CST-Group:WS3DProxy:0.0.1'
-    //implementation 'sqlite-jdbc:3.7.2'
-    //implementation ':cst:0.6.2-full'   // To be used while developing CST code
     implementation 'org.json:json:20180813'
-
     implementation fileTree(dir: 'lib', include: ['*.jar'])
-    //implementation 'com.github.CST-Group:cst:0.2.4'
-    //implementation 'org.json:json:20180813'
-    testCompile group: 'junit', name: 'junit', version: '4.10'
+    testImplementation group: 'junit', name: 'junit', version: '4.10'
 }
 
-task uberJar(type: Jar) {
+jar {
+    duplicatesStrategy = DuplicatesStrategy.EXCLUDE
     archiveClassifier = 'full'
     manifest {
       attributes(
-        'Class-Path': configurations.compile.collect { it.getName() }.join(' '),
         'Main-Class': mainClassName
       )
     }
@@ -58,8 +47,5 @@ task uberJar(type: Jar) {
     from {
         configurations.runtimeClasspath.findAll { it.name.endsWith('jar') }.collect { zipTree(it) }
     }
-}
-artifacts
-{
-    archives uberJar
+    exclude 'META-INF/*.RSA', 'META-INF/*.SF','META-INF/*.DSA'
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.8-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

src/main/java/AgentMind.java

@@ -43,7 +43,7 @@
 public class AgentMind extends Mind {
 
     private static int creatureBasicSpeed=3;
-    private static int reachDistance=50;
+    private static int reachDistance=40;
     public ArrayList<Codelet> behavioralCodelets = new ArrayList<Codelet>();
     public PlansSubsystemModule psm;
 

src/main/java/Environment.java

@@ -44,7 +44,7 @@ public Environment() {
              World.createFood(0, 350, 75);
              World.createFood(0, 100, 220);
              World.createFood(0, 250, 210);
-             c = proxy.createCreature(100,450,0);
+             c = proxy.createCreature(100,450,0,0);
              c.start();
              grow(w,7);
              //c.setRobotID("r0");

src/main/java/ExperimentMain.java

@@ -17,7 +17,7 @@
  *    Klaus Raizer, Andre Paraense, Ricardo Ribeiro Gudwin
  *****************************************************************************/
 
-import br.unicamp.cst.util.MindViewer;
+import br.unicamp.cst.util.viewer.MindViewer;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 

src/main/java/codelets/behaviors/EatClosestApple.java

@@ -72,8 +72,8 @@ public void proc() {
 			double appleX=0;
 			double appleY=0;
 			try {
-				appleX=closestApple.getX1();
-				appleY=closestApple.getY1();
+				appleX=closestApple.getCenterPosition().getX();
+				appleY=closestApple.getCenterPosition().getY();
                                 appleName = closestApple.getName();
 
 
@@ -94,7 +94,7 @@ public void proc() {
 			double distance = pSelf.distance(pApple);
 			JSONObject message=new JSONObject();
 			try {
-				if(distance<reachDistance){ //eat it						
+				if(distance<=reachDistance){ //eat it						
 					message.put("OBJECT", appleName);
 					message.put("ACTION", "EATIT");
 					handsMO.setI(message.toString());

src/main/java/codelets/behaviors/GoToClosestApple.java

@@ -66,8 +66,8 @@ public void proc() {
 			double appleX=0;
 			double appleY=0;
 			try {
-                                appleX = closestApple.getX1();
-                                appleY = closestApple.getY1();
+                                appleX = closestApple.getCenterPosition().getX();
+                                appleY = closestApple.getCenterPosition().getY();
 
 			} catch (Exception e) {
 				e.printStackTrace();

src/main/java/codelets/motor/LegsActionCodelet.java

@@ -73,14 +73,15 @@ public void proc() {
                                     int x=0,y=0;
                                     String action=command.getString("ACTION");
                                     if(action.equals("FORAGE")){
-                                               //if (!comm.equals(previousLegsAction)) { 
-                                               if (!comm.equals(previousLegsAction)) 
+                                               if (!comm.equals(previousLegsAction)) { 
+                                               //if (!comm.equals(previousLegsAction)) 
                                                     log.info("Sending Forage command to agent");
                                                 try {  
                                                       c.rotate(2);     
                                                 } catch (Exception e) {
                                                     e.printStackTrace();
                                                 }
+                                               } 
 					}
                                     else if(action.equals("GOTO")){
                                         if (!comm.equals(previousLegsAction)) {
@@ -112,9 +113,10 @@ else if(action.equals("GOTO")){
 			} catch (JSONException e) {e.printStackTrace();}
 		}
                 else {
-			log.info("Sending stop command to agent");
+			previousLegsAction = comm;
+                        log.info("Sending stop command to agent");
                         try {
-                             c.moveto(0,0,0);
+                             //c.moveto(0,0,0);
                         } catch(Exception e) {
                             e.printStackTrace();
                         }  

src/main/java/codelets/sensors/Vision.java

@@ -53,12 +53,13 @@ public void accessMemoryObjects() {
 	@Override
 	public void proc() {
              c.updateState();
+
              synchronized (visionMO) {
-             List<Thing> lt = c.getThingsInVision();
-             //System.out.println("Vision:" + lt.toString());
-             visionMO.setI(lt);
-             //Class cl = List.class;
-             //visionMO.setT(cl);
+                List<Thing> lt = c.getThingsInVision();
+                //System.out.println("Vision:" + lt.toString());
+                visionMO.setI(lt);
+                //Class cl = List.class;
+                //visionMO.setT(cl);
              }
 	}//end proc()