public void CheckAllocatedCapabilities()
{
// We ignore faults for unused capabilities that are currently not used to improve general model checking efficiency
// For DCCA efficiency, it would be beneficial, however, to check for faults of all capabilities and I/O relations;
// this is also how the ODP seems to work
// Using ToArray() to prevent modifications of the list during iteration...
foreach (var capability in AvailableCapabilities.ToArray())
{
if (!CheckAllocatedCapability(capability))
{
AvailableCapabilities.Remove(capability);
}
}
foreach (var input in Inputs.ToArray())
{
if (!CheckInput(input))
{
Disconnect(input, this);
}
}
foreach (var output in Outputs.ToArray())
{
if (!CheckOutput(output))
{
Disconnect(this, output);
}
}
}
public override void Process(ProcessCapability capability)
{
if (Resource == null)
{
return;
}
if (_currentCapability != capability)
{
// Switch the capability; if we fail to do so, remove all other capabilities from the available ones and
// trigger a reconfiguration
if (Robot.SwitchCapability(capability))
{
_currentCapability = capability;
}
else
{
AvailableCapabilities.RemoveAll(c => c != _currentCapability);
CheckConstraints();
return;
}
}
// Apply the capability; if we fail to do so, remove it from the available ones and trigger a reconfiguration
if (!Robot.ApplyCapability())
{
AvailableCapabilities.Remove(capability);
CheckConstraints();
}
else
{
if (Resource.State.Count() == Resource.Task.Capabilities.Length)
{
throw new InvalidOperationException();
}
Resource.OnCapabilityApplied();
}
}
public override bool HasAvailableCapability(Capability capability) => AvailableCapabilities.Contains(capability);
