Goal User Manual
Contents
1. 7 1 Middleware Infrastructures 0 3 7 2 Distributing Mas Processes Creating Your Own Environments 4 1 Locating Pre Installed Environments 4 2 Creating an Environment Interface 00 Running GOAL in Stand alone Mode 5 1 Setting the JVM environment 00 5 2 from Java 2 css sola ae 8 tly ase woe es ee ee E 5 3 fromthe Shell 2 0 0 ee ee 5 4 Runtime Settings 002 0000 0 ee 5 5 Interaction with Standalone 0 Known Issues and Work Arounds 6 1 Reporting Issii s o si cnn ke eo eae eee A CONTENTS Chapter 1 Installing the GOAL Environment The agent programming language GOAL is distributed with an Integrated Development Environ ment IDE This development environment provides a user interface that supports editing source code files running a multi agent system debugging and many more tasks needed for developing a GOAL multi agent system The environment thus facilitates development and running of GOAL agents that are part of a GOAL multi agent system This document is the GOAL User Manual It describes and explains how to use GOAL s development environment It does not describe nor explain the agent programming language GOAL in any detail For more information about the programming language and its features we refer the reader to the GOAL Programming Guide 5 and GOAL s website 4 1 1 Installation This se2. particular machine For example the used as separator in the CLASSPATH below should be replaced with a on Linux and OSX e on Windows PATH should be set to include GOALHOME swifiles libs On Linux you should set LD_LIBRARY_PATH instead and on OSX you should set DYLD_LIBRARY_PATH e SWI_HOME_DIR should be set to point to GOALHOME swifiles e JAVA_LIBRARY_PATH should be set to include GOALHOME swifiles libs e CLASSPATH should be set to include GOALHOME goal jar and to the EIS environment jar file that you want to use You can inspect the goal bat Windows or goal sh file Linux OSX to see a running example the above 5 2 from Java Running a stand alone mas from Java is very simple just create the goal tools Standalone object from java using this call new goal tools Standalone fileName where filename is an absolute path to the mas file you want to run 39 40 CHAPTER 5 RUNNING GOAL IN STAND ALONE MODE 5 3 from the Shell To run GOAL stand alone from the shell the typical call looks like this java d32 cp goal jar Djava library path swifiles libs goal tools Standalone lt filename mas2g gt where lt filename mas2g gt is the absolute path to the MAS file you want to run The d32 option is used only when you are running a JVM that supports both 32 and 64 bit architecture and you have the 32 bit libraries for SWI prolog installed 5 4 Runtime Settings Some settings e g used middleware are
3. used as set in the preferences Note that these preferences can be set using the GOAL IDE but also by direct calls Please refer to the JavaDoc for the various preference settings inside the goal tools SimpleIDE preferences directory There are preference settings for amongst others e the PlatformManager in PMPrefPanel e g the search directory for environments the location for the RMI registry relevant if you use RMI middleware e the Warning setting in WarningPrefPanel determining how many times errors are shown e IDEPrefPanel a o determining where messages are written to If you want to see debug output in the stand alone mode you should turn off the Preferences GUI Show console output in IDE s console 5 5 Interaction with Standalone In many cases it is unavoidable to have user interaction in a stand alone run This is because the environment needs additional setup actions before it can really be used Generally the agents appear in GOAL only after these additional actions have been taken Therefore the Standalone waits for you to press the key r and the return key Then it starts all the agents that are available in the middleware at that moment Agents entering later will be put to pause mode which is the initial run mode in GOAL at this time The standalone runner will check the environment run mode after the key press If the envi ronment is in paused mode it will start the environment Finally most mas d
4. GOAL User Manual Koen V Hindriks and Wouter Pasman September 5 2011 Contents 1 Installing the GOAL Environment Tel Installations a eit 34 epi ee be es SA eee ee a es Pee 1 1 1 System Requirements 0 02020 ee eee ee eee TA22 Installation 2 2 84 a be fee Shes ae ee a eA eee Pee A Installation for Admins 2 2 0 20 0 00002 eee ee 1 1 3 Uninstall and Update Versions 02 0000004 Creating and Modifying Multi Agent Systems Projects 21 Starting the GOALADE a 2 py 44 8 ee E a OE EE BOR bbe aE 2 2 Loading an Existing Multi Agent System Project 2000 2 3 Creating a New Multi Agent System Project 2 0000 004 2 3 1 Adding an Environment to a Mas Project 000 2 3 2 Adding an Agent File to a Mas Project 000 2 3 3 Using the File Menu to Create a New Agent File 0 2 3 4 Changing the Name ofa File 2 0 0 0 0008 2 3 5 Using the File Menu for Removing Agent Files 0 2 3 6 Specifying a Launch Policy 0 0 0 200 0000 2 4 Editing and Modifying an Existing Multi Agent Project 2 4 1 Adding Module and Knowledge Files 000 2 42 Savingan Agent File 0000002 ee eee 2 4 3 Removing Files from a Mas Project 2 000 2 4 4 Features Supported by the Editor 004 2 4 5 Syntax Highlighting 00 0 0 e R 2 4 6 Folding o
5. Prolog installations on your machine will not be affected and can be run without problems after installing GOAL Chapter 2 Creating and Modifying Multi Agent Systems Projects The Integrated Development Environment IDE distributed with GOAL allows you to create new and to load and modify existing GOAL multi agent system projects This chapter explains how to use the IDE to manage a multi agent project 2 1 Starting the GOAL IDE To start the GOAL IDE you can either double click on the GOAL icon if it has been created during installation or selecting GOAL from the program menu After opening the IDE window appears as illustrated in Figure 2 1 The GOAL IDE starts in edit mode GOAL IDE Lo S sal File Edit Run Debug Sniffer Help Ria y B MAS Projects B Other files Console 3 Parse Info Action log Re opening mas projects Re opening other files Figure 2 1 The GOAL IDE window right after start up The main IDE window consists of four parts 1 At the top of the window the menu bar is located The menu provides various functions for file management editing mas projects and running mas projects Most menu items have 1 Alternatively it is possible to start the GoaL IDE via executing the goal exe file Windows goal app file OSX or the goal file Linux in the main GOAL folder Finally the IDE can also be started by executing the goal bat Windows in the same
6. ction discusses how to install and run the GOAL IDE We briefly describe system require ments the installation procedure and how to start the GOAL IDE 1 1 1 System Requirements To install and run GOAL you need e a computer with the Windows Macintosh OSX or Linux operating system Precise require ments change over time and are detailed in the installation section on the GOAL website http mmi tudelft nl trac goal where you can also download the latest version of the GOAL installer e SUN Java currently version 1 6 or higher Note We have successfully run GOAL on 64 bits Windows machines running Windows 7 However 64 bit Java is not supported at this moment because of issues with running SWI Prolog on such machines In order to run GOAL on 64 bits Windows you need to install the 32 bit JVM download from the Sun website and make sure that the 32 bit JVM is the first one in the PATH environment variable 1 1 2 Installation In order to install GOAL you need to run the GOAL installer This installer can be used for Windows Mac OSX and Linux To obtain the installer download the GOAL installer from http mmi tudelft nl trac goal 6 CHAPTER 1 INSTALLING THE GOAL ENVIRONMENT Before installing GOAL you need to first make sure that the right version of Java has been installed See above for the Java version that needs to be available on on your machine We recommend to use Sun Java Run the installer and follow the instructi
7. et up before the agents can enter and perform actions e In the Wumpus environment the system seems to hang when the agent shoots The Wumpus World always has to be enclosed by means of walls If you shoot the arrow into open space the arrow will continue forever causing the system to hang e Reset seems not to work Known issue Please refer to 3 2 TODO CHECK Also check the console it may produce a warning e When a mas has been launched the environment is not visible The environment may be hidden behind the GOAL IDE This is due to a known bug in Java for Windows You need to install java 7 or higher to fix this issue Java 7 is available from http download java net jdk7 binaries e Occasionally there can appear a message Warning No mapping found for expired timer 1237484141952 You can safely ignore such messages It appears when a JADE agent is at a single moment in time both receiving a message and being scheduled in for execution 6 1 Reporting Issues Before reporting any issues make sure you have always checked the Feedback Area in particular the Console and Parse Info tabs for problems If you find any bugs or have any issues please report them to goal mmi tudelft nl To facilitate a quick resolution please provide us with the following when you send in an issue report 1 All the multi agent system project files 2 The relevant Console output and or Parse Info output Include any stack trace output as well i
8. f Program Sections 2 0 0 0 000000000004 2 4 7 Automatic Word Completion 0 2 000002 ee 2 5 Static Code Analysis va e kia ere ee ee ha ee hae be 2 6 Customizing the IDE Interface 0 0 0 00 0 0 2 00000 Running and Debugging a Multi Agent System 3 1 Launching a Multi Agent System 2 ee 3 1 1 Initializing an Environment 020004 3 1 2 Switching Between Edit and Debug Mode 3 2 Running a Multi Agent System 00 220000 ee 3 3 Debugging a Multi Agent System 2 2 0 02 20 0000002 ee eee 3 3 1 Debugging Output s e egres ea ra e a ata e 0 a ee Console 3 6 ea E a Gon a a a a oe Ba ee Pa aE SE bea eae E E EEE EE EE EE TE Debug Tracer ster ee aa Ee a a a a aa ae Be eS Customizing the Logging oaoa 000000000004 3 3 2 Stepping and Setting Breakpoints aoaaa Stepping and Global Breakpoints o ooa a a Setting Code Line Breakpoints ooa 3 3 3 Introspecting Agents 000 Using the Query area 000 3 4 Tracing Messages Exchanged Between Agents 3 5 Prolog Level Debugging 000 3 5 1 Exporting a Mental State toa File 3 5 2 Prolog Exceptions 00 0 3 6 Runtime Preference Settings 000 3 6 1 Platform Management 0 0 S022 Warnings 2 ga sein th a Gh ato dh eee ee a 9 3 7 Distributing Mas Processes Across Multiple Machines 3
9. f available see the 3 6 2 for adjusting settings to obtain stack trace output 3 Possibly a screen shot to clarify the situation you ran into Bibliography Tristan Behrens Environment interface standard project http sourceforge net projects apleis Tristan Behrens Koen V Hindriks and Jrgen Dix Towards an environment interface standard for agent platforms Annals of Mathematics and Artificial Intelligence pages 1 35 2010 10 1007 s10472 010 9215 9 Fabio Bellifemine Giovanni Caire and Dominic Greenwood editors Developing Multi Agent Systems with JADE Number 15 in Agent Technology John Wiley amp Sons Ltd 2007 Koen V Hindriks The goal agent programming language http mmi tudelft nl1 koen goal php 2011 Koen V Hindriks GOAL Programming Guide Delft University of Technology 2011 http mmi tudelft nl1 koen goal php open source platform Jade Java agent development framework http jade tilab com 2010 Jan Wielemaker Paul Singleton Fred Dushin Jpl A bidirectional prolog java interface http www swi prolog org packages jpl 2004 Open Source Platform jedit Programmer s text editor http www jedit org 2010 43
10. folder or executing goal sh on the command line Linux OSX 7 Chapter 4 Creating Your Own Environments 4 1 Locating Pre Installed Environments GOAL is distributed with several environments for which you can write your own agents These environments are included in the environments folder in the main GOAL folder in which GOAL is installed Running these environments is explained in Chapter 3 For ease of reference you should add environment files that you create yourself to the environments folder as well Alternatively you can use your own folder and either specify references to this folder in the environments section of your mas files or change the reference to the folder that contains your environments via the preference panel shown in Figure 4 1 IANO GOAL Preferences a PlatformManager Database Export GUI Environment Environment preferences print message when new entity appears MAS Settings Use this base path for the environment Environments directory inside GOAL install directory O Directory containing the MAS file O Specific absolute path Volumes documents EclipseWo C Browse Figure 4 1 Preferences related to Environments 4 2 Creating an Environment Interface Environments are viewed as a resource that provides so called controllable entities which can be instructed by GOAL agents More on this can be found in the GOAL Programming Guide 5 An interface is used to connect GOAL a
11. gents to such entities The interface used by GOAL is the Environment Interface Standard EIS 2 1 GOAL is fully compliant with EIS v0 3 EIS is an Open Source project and documentation on how to create an interface for your environment such that it can operate in combination with GOAL is provided on the website 1 Additionally we have created some guidelines for how to create an environment on GOAL s webpage 37 38 CHAPTER 4 CREATING YOUR OWN ENVIRONMENTS 4 on the wiki containing Developer s Resources Please mail to goal mmi tudelft n1 if you want to get access to these guidelines Chapter 5 Running GOAL in Stand alone Mode You can run a multi agent system containing GOAL agent programs stand alone that is without starting the IDE That way you can use GOAL from scripting languages like a shell script or bat script or from your Java program Stand alone running always involves starting up a Java Virtual Machine JVM with the right environment settings We first describe the required environment and then describe how to use this from a Java program or from a script 5 1 Setting the JVM environment The variables to be set up properly for the environment are the PATH the JAVA_LIBRARY_PATH CLASSPATH and the SWI_HOME_DIR Below we use the tag GOALHOME to point to the absolute directory where you installed GOAL The exact way to do this is machine dependent we assume 352 you have the knowledge how to do this on your
12. o not have a natural end point Therefore standalone kills a mas when you press the key x and the return key Chapter 6 Known Issues and Work Arounds Below we have listed some typical problems that you may encounter These problems typically occur due to either incorrect installation syntax errors in the GOAL program or represent some known issues e Fixing a Network issue Windows Only On Windows there is a problem if you want to run the GOAL system with JADE without having a network available The problem is caused by the JADE subsystem that needs an IP address to run and without network the computer has no IP address on Windows A workaround for this issue is to use the Windows Loopback adapter To install the adapter do the following steps You need administrator rights to do this go to add hardware in the control panel select yes I have already connected select add new hardware device Install the hardware that I manually select from a list network adapters select Microsoft and then select Microsoft Loopback Adapter finish the installation go to Control Panel Network Connections select an ip address for the Loopback adapter The number seems not really relevant we tried 111 0 0 1 with success Check that the status indicated in the Network Connections window for the loopback adapter is Limited or no connectivity e Excep
13. ogram to make changes to this computer 3 cd lt directory where you downloaded the goalxxx jar installer gt 4 java jar goalxxx jar 5 follow the steps for installation Select the required protected directory as install directory e g C Program Files GOAL 6 you can make shortcuts for all users default on 1 1 3 Uninstall and Update Versions In order to uninstall GOAL run the uninstaller that can be located in the main GOAL folder in which GOAL was installed in the uninstaller folder Note that running the uninstaller will remove all installed files possibly including any examples and environments that you modified Warning If GOAL was installed using an administrator account it needs to be de installed using the same administrator account If you try to de install without administrator rights the de installer will fail without any error message To update GOAL first run the uninstaller and then repeat the usual installation procedure above Alternatively simply run the GOAL installer and say yes when you are asked whether you want to overwrite old files 1 We have found that some non Sun Java fail to run the installer The installer will automatically detect whether the JVM you use is 32 or 64 bits and will install the correspond ing version of SWI Prolog Make sure that you have SWI Prolog version 5 8 3 installed including jpl 7 if you want to use your own SWI Prolog installation Also note that existing SWI
14. ons It is recommended to install all files including e g SWI Prolog by the installer The latter is advised because GOAL requires the right version of SWI Prolog and will not run with other versions Note Agent environments e g simulators etc that have been downloaded separately and your own GOAL projects can be saved wherever you think it is convenient It may be a good idea however to install these outside the GOAL directory This will allow for easy upgrading of the GOAL IDE without the risk of overwriting your own projects You need to specify your preferred folder for your own environments folder and folder to store their GOAL agents To do this use the Platformmanager and Environments tabs in the Help Preferences menu Installation for Admins GOAL can be installed in the Program Files directory or another shared directory on OSX or Linux so that multiple users can share the same installation The GOAL installer is not fully prepared for installation on Windows 7 in the Program Files directory or any other directory with restricted access because of some limitations of the installer we use To install in such a directory you need to log in as administrator or manually switch to administrator mode On Windows 7 this works as follows 1 right click on start menu all programs Accessories Command prompt and select Run as administrator 2 Select Yes as windows asks you Do you want to allow the following pr
15. tion in thread java lang UnsatisfiedLinkError This most likely indicates that a dynamically linked library as installed by SWI Prolog could not be found Did you install SWI Prolog using the GOALIDE installer If not your current installation of SWI Prolog is probably incompatible incomplete or not set up properly to work in combination with GOAL e The Step and Run buttons seem to do nothing There are a number of possible explanations for this you need to check 1 First make sure that your environment is ready to run For example when using the Elevator environment the environment will respond to GOALonly if you selected GOAL Controller 41 42 CHAPTER 6 KNOWN ISSUES AND WORK AROUNDS 2 You may be stepping an agent that is suspended somehow e g the environment may be refusing to serve that agent or it may be the turn of another agent Typically this is resolved by selecting the mas node in the Process Panel and then continue stepping e The system fails to start up JADE You may get a jade core ProfileException or java netMalformedURLException 1 An instance of JADE is already running Terminate the JADE instance that is running and try to launch your mas project again 2 On Windows there is an issue when you do not have a network available Check out Section 6 for a workaround e The environment appears not to work properly Check the documentation that comes with the environment Most environments need to be s
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