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✨ update examples
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‎jason_ros/config/actions_manifest

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[teste]
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method = topic
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name = hw/teste
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name = hw/teste1
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msg_type = String
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dependencies = std_msgs.msg
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params_name = data

‎jason_ros/config/actions_manifest2

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[teste]
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method = topic
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name = hw/teste2
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msg_type = String
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dependencies = std_msgs.msg
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params_name = data
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latch = True

‎jason_ros/config/perceptions_manifest2

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[DEFAULT]
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rate = 1
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[state]
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name = hw/teste1
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msg_type = String
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dependencies = std_msgs.msg
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args = data
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buf = add

‎jason_ros/examples/multiple_ags/build.gradle

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/*
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Project multiple_ags
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Gradle build file for Jason Application
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December 07, 2021 - 19:44:15
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*/
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defaultTasks 'run'
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apply plugin: 'java'
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apply plugin: 'eclipse'
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version '1.0'
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group 'org.jason'
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java {
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toolchain {
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languageVersion = JavaLanguageVersion.of(15)
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}
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}
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repositories {
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mavenCentral()
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jcenter()
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google()
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//maven { url "http://jacamo.sourceforge.net/maven2" }
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maven { url "https://raw.github.com/jacamo-lang/mvn-repo/master" }
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maven { url "https://jade.tilab.com/maven/" }
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maven { url "https://raw.github.com/rosjava/rosjava_mvn_repo/master" }
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maven { url "https://raw.github.com/jason-lang/mvn-repo/master" }
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flatDir { dirs 'lib' }
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}
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dependencies {
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implementation group: 'org.jason', name: 'jason' , version: '3.0'
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implementation 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
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implementation 'org.ros.rosjava_messages:std_msgs:[0.5,0.6)'
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implementation 'org.ros.rosjava_bootstrap:message_generation:[0.3,0.4)'
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implementation files('../../src/rosjava_agents/lib/jason_ros_msgs.jar') //(name:'jason_ros_msgs', ext:'jar')
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implementation 'com.google.guava:guava:12.0'
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implementation 'org.apache.commons:com.springsource.org.apache.commons.logging:1.1.1'
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}
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sourceSets {
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main {
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java {
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srcDir '../../src/rosjava_agents/src/java'
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}
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resources {
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srcDir '../../src/rosjava_agents/src/java'
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}
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}
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}
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task run (type: JavaExec, dependsOn: 'classes') {
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description 'runs the application'
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main = 'jason.infra.local.RunLocalMAS'
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args 'multiple_ags.mas2j'
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// options:
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// args = ['multiple_ags.mas2j', '--debug']
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// args = ['multiple_ags.mas2j', '--log-conf', 'l.p'] // to use file l.p to configure logging
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classpath sourceSets.main.runtimeClasspath
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}
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clean {
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delete 'bin'
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delete 'build'
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}

‎jason_ros/examples/multiple_ags/logging.properties

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# Jason Default log configuration
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#
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# Comment/uncomment the following lines to setup your log
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#
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# default Jason MAS Console
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#handlers = jason.runtime.MASConsoleLogHandler
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# To use the ConsoleHandler, use the following line instead.
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handlers= java.util.logging.ConsoleHandler
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# To also add the FileHandler, use the following line instead.
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#handlers= java.util.logging.FileHandler, java.util.logging.ConsoleHandler
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# Default logging level. Other values are:
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# SEVERE (only severe messages)
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# WARNING (only warnings and severe messages)
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# INFO (normal output)
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# FINE (debug level of messages)
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.level = INFO
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############################################################
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# Handler specific properties.
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# Describes specific configuration info for Handlers.
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############################################################
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# Jason Handler parameters
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jason.runtime.MASConsoleLogHandler.level = ALL
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jason.runtime.MASConsoleLogHandler.formatter = jason.runtime.MASConsoleLogFormatter
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# set one text area for each agent
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jason.runtime.MASConsoleLogHandler.tabbed = false
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jason.runtime.MASConsoleLogHandler.colors = false
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# default file output is in project's directory.
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java.util.logging.FileHandler.pattern = mas.log
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#java.util.logging.FileHandler.pattern = mas-%u.log
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java.util.logging.FileHandler.limit = 500000
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java.util.logging.FileHandler.count = 1
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java.util.logging.FileHandler.formatter = jason.runtime.MASConsoleLogFormatter
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#java.util.logging.FileHandler.formatter = java.util.logging.XMLFormatter
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# Limit the message that are printed on the console to FINE and above.
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java.util.logging.ConsoleHandler.level = FINE
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java.util.logging.ConsoleHandler.formatter = jason.runtime.MASConsoleLogFormatter
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java.level=OFF
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javax.level=OFF
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sun.level=OFF
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jade.level=OFF

‎jason_ros/examples/multiple_ags/multiple_ags.mas2j

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/*
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multiple_ags
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---------------------------
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Jason Project File
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This file defines the initial state of the MAS
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Jason 3.0
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December 07, 2021 - 19:44:15
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*/
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MAS multiple_ags {
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infrastructure: Local
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agents: sample_agent agentArchClass jasonros.RosArch;
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sample_agent2 agentArchClass jasonros.RosArch;
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}

‎jason_ros/examples/multiple_ags/sample_agent.asl

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// Agent sample_agent in project multiple_ags
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/* Initial beliefs and rules */
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/* Initial goals */
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!start.
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/* Plans */
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+!start : true <-
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teste("oi, sou agente 1");
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.print("hello world.");
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.send("bob", tell, oi("oi")).

‎jason_ros/examples/multiple_ags/sample_agent2.asl

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// Agent sample_agent in project multiple_ags
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/* Initial beliefs and rules */
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/* Initial goals */
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!start.
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/* Plans */
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+!start : true <-
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teste("oi, sou agente 2");
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.print("hello world.");
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.send("bob", tell, oi("oi")).

‎jason_ros/launch/example.launch

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<launch>
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<group ns="myagent">
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<node name="jason_hw_bridge" pkg="jason_ros" type="hw_bridge.py"
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args="-a $(find jason_ros)/config/actions_manifest
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-p $(find jason_ros)/config/perceptions_manifest" output="screen"/>
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<node name="jason_hw_bridge" pkg="jason_ros" type="hw_bridge.py" output="screen">
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<param name="actions_manifest" value="$(find jason_ros)/config/actions_manifest"/>
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<param name="perceptions_manifest" value="$(find jason_ros)/config/perceptions_manifest"/>
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<param name="agent_name" value="sample_agent"/>
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</node>
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<node name="jason_agent" pkg="jason_ros" type="gradle_starter.sh"
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args="$(find jason_ros)/src/rosjava_agents/build.gradle" output="screen"/>
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args="$(find jason_ros)/src/rosjava_agents/build.gradle"/>
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</group>
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</launch>

‎jason_ros/launch/example_multiple_ags.launch

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<launch>
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<node name="jason_hw_bridge" pkg="jason_ros" type="hw_bridge.py" output="screen">
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<param name="actions_manifest" value="$(find jason_ros)/config/actions_manifest"/>
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<param name="perceptions_manifest" value="$(find jason_ros)/config/perceptions_manifest"/>
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<param name="agent_name" value="sample_agent"/>
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</node>
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<node name="jason_hw_bridge2" pkg="jason_ros" type="hw_bridge.py" output="screen">
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<param name="actions_manifest" value="$(find jason_ros)/config/actions_manifest2"/>
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<param name="perceptions_manifest" value="$(find jason_ros)/config/perceptions_manifest2"/>
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<param name="agent_name" value="sample_agent2"/>
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</node>
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<node name="jason_agent" pkg="jason_ros" type="gradle_starter.sh"
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args="$(find jason_ros)/examples/multiple_ags/build.gradle" output="screen"/>
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</launch>

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