private void AddCollabActionReq(out List <Action> exctractedActions)
{
exctractedActions = new List <Action>();
if (m_ReqCollabActions == null || m_ReqCollabActions.Count == 0)
{
return;
}
// If there are collaborative constraints - remove the general action of join push.
// TODO in future work - consider the case if you allow a general joint action push - the agent will be able to
// activate new joint pushes before the constraint joint push from other agent - and by that he might create for
//himself the ability to use the artifitial joint push by pushing earlier the big box
//
// For example - constraint joint push send to be activated at t4
// +------------+
// | B0, a0, a1 | B0 is an heavy box
// +------------+
//
// Iteration 1:
// a1 plan : 1. Observe big box -->(t) 2. No-op --> 3. No-op --> 4. Joint-Push (with a1, new)
//
// Iteration 2:
// a2 plan : 1. Observe big box -->(t) 2. Joint-Push t2 (new) --> 3. No-op --> 4. Art-Joint-Push
// (f) 2. No-op --> 3. No-op --> 4. Art-Joint-Push
// Until then -- > remove general collaborative action
HashSet <string> JointActionsUsed = new HashSet <string>();
foreach (var reqAction in m_ReqCollabActions)
{
JointActionsUsed.Add(reqAction.GetOperationName());
}
if (JointActionsUsed.Count > 1)
{
// Multiple joint actions type is not yet supported!
throw new Exception();
}
else
{
if (JointActionsUsed.Count == 1)
{
// Remove general joint action of the same name
string jointActionName = JointActionsUsed.ElementAt(0);
Action generalActionToRemove = null;
foreach (var item in m_AgentDomain.Actions)
{
if (item.GetOperationName() == jointActionName)
{
generalActionToRemove = item;
}
}
if (generalActionToRemove != null)
{
m_AgentDomain.Actions.Remove(generalActionToRemove);
exctractedActions.Add(generalActionToRemove);
}
}
}
// Add the notion of sub goals to the domain.
m_AgentDomain.AddPredicate("sub-goal", "?g", "aGoal");
// Count the number of artifitial goals.
int artGoals = 0;
// For each required action that needs attention:
foreach (var reqAction in m_ReqCollabActions)
{
// Create sub-goal for this action
string predicateName = "sub-goal" + (artGoals++);
GroundedPredicate gp = new GroundedPredicate("sub-goal");
gp.AddConstant(new Constant("aGoal", predicateName));
m_AgentDomain.AddConstant("aGoal", predicateName);
// Update this goal to the domain and problem;
m_ActiveGoals.Add(gp);
// Let it be known that this goal has not been achieved yet
m_AgentProblem.AddKnown(gp.Negate());
// This action now achieves this goal
reqAction.AddEffect(gp);
// OK, action is ready. add it to the set of actions
m_AgentDomain.AddAction(reqAction);
// We also need to create a counter-action that can be used in cases in which the previous action
// cannot be used. - only when the agent observes that
Action counterAction = new Action("art-" + reqAction.Name);
Formula cgf = reqAction.Preconditions.GetUnknownPredicates(m_AgentDomain.m_lObservable);
counterAction.Preconditions = cgf.Negate(true);
//counterAction.Preconditions.AddTime
//counterAction.Preconditions = counterAction.Preconditions.AddTime(reqAction.GetTime());
counterAction.AddEffect(gp);
//Formula cf = reqAction.Effects.Clone();
//cf.RemoveTime();
//counterAction.Effects = cf;
//counterAction.AddEffect(reqAction.Effects);
m_AgentDomain.AddAction(counterAction);
}
}