Adapted to use CST MindViewer and a MemoryContainer

build.gradle

@@ -1,6 +1,6 @@
 apply plugin: 'application'
 mainClassName = 'ExperimentMain'
-version = '0.0.2' 
+version = '0.0.3' 
 
 sourceCompatibility = '1.8'
 [compileJava, compileTestJava]*.options*.encoding = 'UTF-8'
@@ -24,8 +24,8 @@ repositories {
 }
 
 dependencies {
-    implementation fileTree(dir: 'lib', include: ['*.jar'])
     implementation 'com.github.CST-Group:cst-desktop:1.0.3'
+    implementation 'com.github.CST-Group:WS3DProxy:0.0.1'
     implementation 'org.json:json:20180813'
     testImplementation group: 'junit', name: 'junit', version: '4.10'
 }

src/main/java/AgentMind.java

@@ -33,7 +33,6 @@
 import java.util.Collections;
 import java.util.List;
 import memory.CreatureInnerSense;
-import support.MindView;
 import ws3dproxy.model.Thing;
 
 /**
@@ -43,90 +42,108 @@
 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 AgentMind(Environment env) {
                 super();
 
+                // Create CodeletGroups and MemoryGroups for organizing Codelets and Memories
+                createCodeletGroup("Sensory");
+                createCodeletGroup("Motor");
+                createCodeletGroup("Perception");
+                createCodeletGroup("Behavioral");
+                createMemoryGroup("Sensory");
+                createMemoryGroup("Motor");
+                createMemoryGroup("Working");
+
                 // Declare Memory Objects
-	        Memory legsMO;
+	        Memory legsMO;  // This Memory is going to be a MemoryContainer
 	        Memory handsMO;
                 Memory visionMO;
                 Memory innerSenseMO;
                 Memory closestAppleMO;
                 Memory knownApplesMO;
 
                 //Initialize Memory Objects
-                legsMO=createMemoryObject("LEGS", "");
+                legsMO=createMemoryContainer("LEGS");
+                registerMemory(legsMO,"Motor");
 		handsMO=createMemoryObject("HANDS", "");
+                registerMemory(handsMO,"Motor");
                 List<Thing> vision_list = Collections.synchronizedList(new ArrayList<Thing>());
 		visionMO=createMemoryObject("VISION",vision_list);
+                registerMemory(visionMO,"Sensory");
                 CreatureInnerSense cis = new CreatureInnerSense();
 		innerSenseMO=createMemoryObject("INNER", cis);
+                registerMemory(innerSenseMO,"Sensory");
                 Thing closestApple = null;
                 closestAppleMO=createMemoryObject("CLOSEST_APPLE", closestApple);
+                registerMemory(closestAppleMO,"Working");
                 List<Thing> knownApples = Collections.synchronizedList(new ArrayList<Thing>());
                 knownApplesMO=createMemoryObject("KNOWN_APPLES", knownApples);
+                registerMemory(knownApplesMO,"Working");
 
-                // Create and Populate MindViewer
-                MindView mv = new MindView("MindView");
-                mv.addMO(knownApplesMO);
-                mv.addMO(visionMO);
-                mv.addMO(closestAppleMO);
-                mv.addMO(innerSenseMO);
-                mv.addMO(handsMO);
-                mv.addMO(legsMO);
-                mv.StartTimer();
-                mv.setVisible(true);
-
-		// Create Sensor Codelets	
+ 		// Create Sensor Codelets	
 		Codelet vision=new Vision(env.c);
 		vision.addOutput(visionMO);
                 insertCodelet(vision); //Creates a vision sensor
+                registerCodelet(vision,"Sensory");
 
 		Codelet innerSense=new InnerSense(env.c);
 		innerSense.addOutput(innerSenseMO);
                 insertCodelet(innerSense); //A sensor for the inner state of the creature
+                registerCodelet(innerSense,"Sensory");
 
 		// Create Actuator Codelets
 		Codelet legs=new LegsActionCodelet(env.c);
 		legs.addInput(legsMO);
                 insertCodelet(legs);
+                registerCodelet(legs,"Motor");
 
 		Codelet hands=new HandsActionCodelet(env.c);
 		hands.addInput(handsMO);
                 insertCodelet(hands);
+                registerCodelet(hands,"Motor");
 
 		// Create Perception Codelets
                 Codelet ad = new AppleDetector();
                 ad.addInput(visionMO);
                 ad.addOutput(knownApplesMO);
                 insertCodelet(ad);
+                registerCodelet(ad,"Perception");
 
 		Codelet closestAppleDetector = new ClosestAppleDetector();
 		closestAppleDetector.addInput(knownApplesMO);
 		closestAppleDetector.addInput(innerSenseMO);
 		closestAppleDetector.addOutput(closestAppleMO);
                 insertCodelet(closestAppleDetector);
+                registerCodelet(closestAppleDetector,"Perception");
 
 		// Create Behavior Codelets
 		Codelet goToClosestApple = new GoToClosestApple(creatureBasicSpeed,reachDistance);
 		goToClosestApple.addInput(closestAppleMO);
 		goToClosestApple.addInput(innerSenseMO);
 		goToClosestApple.addOutput(legsMO);
                 insertCodelet(goToClosestApple);
+                registerCodelet(goToClosestApple,"Behavioral");
+
+                behavioralCodelets.add(goToClosestApple);
 
 		Codelet eatApple=new EatClosestApple(reachDistance);
 		eatApple.addInput(closestAppleMO);
 		eatApple.addInput(innerSenseMO);
 		eatApple.addOutput(handsMO);
                 eatApple.addOutput(knownApplesMO);
                 insertCodelet(eatApple);
+                registerCodelet(eatApple,"Behavioral");
+                behavioralCodelets.add(eatApple);
 
                 Codelet forage=new Forage();
 		forage.addInput(knownApplesMO);
                 forage.addOutput(legsMO);
                 insertCodelet(forage);
+                registerCodelet(forage,"Behavioral");
+                behavioralCodelets.add(forage);
 
                 // sets a time step for running the codelets to avoid heating too much your machine
                 for (Codelet c : this.getCodeRack().getAllCodelets())

src/main/java/Environment.java

@@ -17,16 +17,19 @@
  *    Klaus Raizer, Andre Paraense, Ricardo Ribeiro Gudwin
  *****************************************************************************/
 
+import support.ResourcesGenerator;
 import ws3dproxy.CommandExecException;
 import ws3dproxy.WS3DProxy;
 import ws3dproxy.model.Creature;
 import ws3dproxy.model.World;
+import ws3dproxy.util.Constants;
+import ws3dproxy.util.Logger;
 
 /**
  *
  * @author rgudwin
  */
-public class Environment {
+public final class Environment {
 
     public String host="localhost";
     public int port = 4011;
@@ -41,18 +44,25 @@ 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();
-             //c.setRobotID("r0");
-             //c.startCamera("r0");
-
-
+             grow(w,7);
           } catch (CommandExecException e) {
 
           }
           System.out.println("Robot "+c.getName()+" is ready to go.");
-
-
-
 	}
+
+    public synchronized void grow(World w, int time) {
+        try {
+            if (time <= 0) {
+                time = Constants.TIMEFRAME;
+            }
+            w.getDimensionAndDeliverySpot();
+            ResourcesGenerator rg = new ResourcesGenerator(time, w.getEnvironmentWidth(), w.getEnvironmentHeight(), w.getDeliverySpot().getX(), w.getDeliverySpot().getY());
+            rg.start();
+        } catch (CommandExecException ex) {
+            Logger.logException(World.class.getName(), ex);
+        }
+    }
 }

src/main/java/ExperimentMain.java

@@ -17,6 +17,7 @@
  *    Klaus Raizer, Andre Paraense, Ricardo Ribeiro Gudwin
  *****************************************************************************/
 
+import br.unicamp.cst.util.viewer.MindViewer;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
@@ -32,11 +33,13 @@ public class ExperimentMain {
 
 
         public ExperimentMain() {
-                //WS3DProxy.logger.setLevel(Level.SEVERE);
                 Logger.getLogger("codelets").setLevel(Level.SEVERE);
                 // Create Environment
                 Environment env=new Environment(); //Creates only a creature and some apples
-		AgentMind a = new AgentMind(env);  // Creates the Agent Mind and start it                
+		AgentMind a = new AgentMind(env);  // Creates the Agent Mind and start it   
+                // The following lines create the MindViewer and configure it
+                MindViewer mv = new MindViewer(a,"MindViewer",a.behavioralCodelets);
+                mv.setVisible(true);
 
         }
 

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

@@ -47,6 +47,7 @@ public class EatClosestApple extends Codelet {
 	public EatClosestApple(int reachDistance) {
                 setTimeStep(50);
 		this.reachDistance=reachDistance;
+                this.name = "EatClosestApple";
 	}
 
 	@Override
@@ -71,8 +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();
 
 
@@ -93,13 +94,15 @@ 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());
+                                        activation=1.0;
                                         DestroyClosestApple();
 				}else{
 					handsMO.setI("");	//nothing
+                                        activation=0.0;
 				}
 
 //				System.out.println(message);
@@ -109,6 +112,7 @@ public void proc() {
 			}
 		}else{
 			handsMO.setI("");	//nothing
+                        activation=0.0;
 		}
         //System.out.println("Before: "+known.size()+ " "+known);
 

src/main/java/codelets/behaviors/Forage.java

@@ -21,6 +21,7 @@
 
 import br.unicamp.cst.core.entities.Codelet;
 import br.unicamp.cst.core.entities.Memory;
+import br.unicamp.cst.core.entities.MemoryContainer;
 import br.unicamp.cst.core.entities.MemoryObject;
 import java.util.List;
 import org.json.JSONException;
@@ -38,13 +39,14 @@ public class Forage extends Codelet {
 
         private Memory knownMO;
         private List<Thing> known;
-        private Memory legsMO;
+        private MemoryContainer legsMO;
 
 
 	/**
 	 * Default constructor
 	 */
-	public Forage(){       
+	public Forage(){
+            this.name = "Forage";
 	}
 
 	@Override
@@ -54,23 +56,23 @@ public void proc() {
 		JSONObject message=new JSONObject();
 			try {
 				message.put("ACTION", "FORAGE");
-				legsMO.setI(message.toString());
-
+                                activation=1.0;
+				legsMO.setI(message.toString(),activation,name);
 			} catch (JSONException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-            }            
-
+            }
+            else activation=0.0;
+            JSONObject message=new JSONObject();
+            message.put("ACTION", "FORAGE");
+            legsMO.setI(message.toString(),activation,name);		
 	}
 
 	@Override
 	public void accessMemoryObjects() {
             knownMO = (MemoryObject)this.getInput("KNOWN_APPLES");
-            legsMO=(MemoryObject)this.getOutput("LEGS");
-
-		// TODO Auto-generated method stub
-
+            legsMO = (MemoryContainer)this.getOutput("LEGS");
 	}
 
         @Override