Node.java

package org.myrobotlab.memory;

import java.io.Serializable;
import java.util.HashMap;

import org.myrobotlab.codec.CodecUtils;
import org.myrobotlab.logging.Level;
import org.myrobotlab.logging.LoggerFactory;
import org.myrobotlab.logging.Logging;
import org.myrobotlab.logging.LoggingFactory;
import org.slf4j.Logger;

/**
 * @author GroG a "very" generalized memory node - potentially used to grow
 *         associations with other nodes uses the concept of attributes and
 *         free-form associations
 * 
 */
public class Node implements Serializable {

  /**
   * NodeContext is used with messaging to publish updates of nodes. A location
   * parentPath is needed since the node is not aware of its location.
   */
  public static class NodeContext {
    public String parentPath;
    public Node node;

    public NodeContext(String parentPath, Node node) {
      this.parentPath = parentPath;
      this.node = node;
    }
  }

  private static final long serialVersionUID = 1L;

  public final static Logger log = LoggerFactory.getLogger(Node.class.getCanonicalName());

  private String name;

  public double feelingIndex = 0;

  public double timestamp = System.currentTimeMillis();

  private HashMap<String, Object> data = new HashMap<String, Object>();

  public static void main(String[] args) {
    try {
      LoggingFactory.init(Level.INFO);

      Node root = new Node("root");
      root.put("key1", "value1");
      root.put("key2", "value2");
      Node node2 = new Node("node2");
      root.put("node2", node2);

      node2.put("subkey1", "subValue");
      node2.put("subIntKey", 5);
      Node node3 = new Node("node3");
      node3.put("subkey1", "value3");
      node2.put("node3", node3);
      Node node4 = root.getNode("root/node2/node3");
      log.info("{}", node4.get("subkey1"));

      // Node node5 = root.getNode("root/node2/node5");

      // SerializableImage img = new SerializableImage(ImageIO.read(new
      // File("opencv.4084.jpg")), "myImage");
      // node2.put("img", img);

      CodecUtils.toJsonFile(root, "node.json");
      log.info("here");
    } catch (Exception e) {
      Logging.logError(e);
    }
  }

  public Node(String name) {
    this.name = name;
  }

  /**
   * the most important method get is the effective "search" method of memory.
   * It has an XPath like syntax the "/" means "data of" a node, so when the
   * path is /k1/k2/ - would mean get the hashmap of k2 /k1/k2 - means get the
   * key value of k2 in the hashmap of k1
   * 
   * other examples /background /background/position/x /background/position/y
   * /foreground /known/ball/red /known/ball/yellow /known/cup /unknown/object1
   * /positions/x/ <map> /positions/y/ <map> /positions/time/ <map> /tracking
   * 
   * @param path
   * @return
   */
  public Object get(String path) {
    if (path == "") {
      return this;
    }
    if (path == "/") {
      return this.data;
    }

    int pos0 = path.indexOf('/');
    if (pos0 != -1) {
      int pos1 = path.indexOf('/', pos0 + 1);
      String subpath;
      String remaining;
      if (pos1 != -1) {
        subpath = path.substring(pos0 + 1, pos1);
        remaining = path.substring(pos0 + 1);
      } else {
        subpath = path.substring(pos0 + 1);
        remaining = subpath;
      }

      if (data.containsKey(subpath)) {
        Object o = data.get(subpath);
        Class<?> c = o.getClass();
        if (c == Node.class) {
          return ((Node) o).get(remaining);
        } else {
          return o;
        }
      }
    } else if (data.containsKey(path)) {
      return data.get(path);
    }

    if (path.equals(name)) {
      return this;
    }

    return null;

  }

  public String getName() {
    return name;
  }

  /**
   * a convienent cast method to get a node
   * 
   * @param path
   * @return
   */
  public Node getNode(String path) {
    return (Node) get(path);
  }

  public HashMap<String, Object> getNodes() {
    return data;
  }

  public Node put(Node node) {
    return (Node) data.put(node.getName(), node);
  }

  public Object put(String key, Object value) {
    return data.put(key, value);
  }

  public int size() {
    return data.size();
  }

}