public void RepairWithComposite(OpenCondition oc, CompositePlanStep repairStep)
{
var needStep = Find(oc.step);
if (!needStep.Name.Equals("DummyGoal") && !needStep.Name.Equals("DummyInit"))
{
needStep.Fulfill(oc.precondition);
}
orderings.Insert(repairStep.GoalStep as IPlanStep, needStep);
//this.ID += string.Format("(^Orl[{0},{1}])", repairStep.GoalStep.ID, needStep.ID);
// Causal Link between repair step's goal condition and need step.
var clink = new CausalLink <IPlanStep>(oc.precondition, repairStep.GoalStep as IPlanStep, needStep);
causalLinks.Add(clink);
foreach (var step in Steps)
{
if (step.ID == repairStep.ID || step.ID == needStep.ID)
{
continue;
}
if (!CacheMaps.IsThreat(oc.precondition, step))
{
continue;
}
if (step.Height > 0)
{
// we need to check that this step's goal step
var stepAsComp = step as CompositePlanStep;
if (decomplinks.OnDecompPath(clink.Head, step.ID))
{
// must be ordered within
if (Orderings.IsPath(clink.Tail, stepAsComp.GoalStep))
{
// already tucked into Q's borders
continue;
}
if (!decomplinks.OnDecompPath(clink.Tail, step.ID))
{
// Special Case is when clink.Tail is goal step. Then we cannot tuck clink.Tail into borders.
if (clink.Tail.Equals(goalStep))
{
// We want to end this plan's existence, so we add a threat that cannot be resolved.
Flaws.Add(new ThreatenedLinkFlaw(clink, step));
continue;
}
// Q --> s -p-> t, not p in eff(Q), not Q --> t
// then, need to tuck t into Q's borders.
var tailRoot = GetStepByID(decomplinks.GetRoot(clink.Tail)) as CompositePlanStep;
Orderings.Insert(tailRoot.GoalStep, stepAsComp.InitialStep);
//this.ID += string.Format("(^Od[{0},{1}])", tailRoot.GoalStep.ID, stepAsComp.InitialStep.ID);
}
continue;
}
if (decomplinks.OnDecompPath(clink.Tail, step.ID))
{
// step cannot threaten
continue;
}
// step is a threat to need precondition
if (Orderings.IsPath(clink.Tail, stepAsComp.InitialStep))
{
continue;
}
if (Orderings.IsPath(stepAsComp.GoalStep, repairStep.InitialStep as IPlanStep))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, stepAsComp));
// Flaws.Add(new ThreatenedLinkFlaw(clink, compInit));
}
else
{
// is it possible that step is a sub-step of repair step? Yes it is.
if (decomplinks.OnDecompPath(step, repairStep.ID))
{
// but, there's nothing we can do about it; and all links to repairStep.GoalStep are there to be threatened
continue;
}
// step is a threat to need precondition
if (Orderings.IsPath(needStep, step))
{
continue;
}
if (Orderings.IsPath(step, repairStep.InitialStep as IPlanStep))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, step));
}
}
}
public void RepairWithComposite(OpenCondition oc, CompositeSchedulePlanStep repairStep)
{
var needStep = Find(oc.step);
if (!needStep.Name.Equals("DummyGoal") && !needStep.Name.Equals("DummyInit"))
{
needStep.Fulfill(oc.precondition);
}
// need to merge all steps that are being connected by this predicate:
if (oc.precondition.Name.Equals("obs-starts"))
//if (oc.precondition is ContextPredicate cxtp)
{
this.ID += "s";
//var repairEff = repairStep.Effects.Where(e => cxtp.Equals(oc.precondition)).First() ;
RepairWithMerge(oc.precondition, needStep, repairStep);
var otherflawsFromSameNeedStep = this.flaws.OpenConditions.Where(openC => openC.step.ID == oc.step.ID).ToList();
foreach (var otherFlaw in otherflawsFromSameNeedStep)
{
if (CacheMaps.IsCndt(otherFlaw.precondition, repairStep))
{
// Remove this flaw, because it would have been satisfied by this repair step. SHOULD produce new plan for each decision.
this.flaws.OpenConditions.Remove(otherFlaw);
}
}
return;
}
//if (oc.precondition.Name.Equals("obs-starts"))
//{
// Console.WriteLine("obs-starts");
//}
orderings.Insert(repairStep.GoalStep as IPlanStep, needStep);
//this.ID += string.Format("(^Orl[{0},{1}])", repairStep.GoalStep.ID, needStep.ID);
var clink = new CausalLink <IPlanStep>(oc.precondition as Predicate, repairStep.GoalStep as IPlanStep, needStep);
causalLinks.Add(clink);
foreach (var step in Steps)
{
if (step.ID == repairStep.ID || step.ID == needStep.ID)
{
continue;
}
if (!CacheMaps.IsThreat(oc.precondition, step))
{
continue;
}
if (step.Height > 0)
{
// we need to check that this step's goal step
var stepAsComp = step as CompositeSchedulePlanStep;
if (DeLinks.OnDecompPath(clink.Head, step.ID))
{
// must be ordered within
if (Orderings.IsPath(clink.Tail, stepAsComp.GoalStep))
{
// already tucked into Q's borders
continue;
}
if (!DeLinks.OnDecompPath(clink.Tail, step.ID))
{
// Special Case is when clink.Tail is goal step. Then we cannot tuck clink.Tail into borders.
if (clink.Tail.Equals(goalStep))
{
// We want to end this plan's existence, so we add a threat that cannot be resolved.
Flaws.Add(new ThreatenedLinkFlaw(clink, step));
continue;
}
// Q --> s -p-> t, not p in eff(Q), not Q --> t
// then, need to tuck t into Q's borders.
var tailRoot = GetStepByID(DeLinks.GetRoot(clink.Tail)) as CompositePlanStep;
Orderings.Insert(tailRoot.GoalStep, stepAsComp.InitialStep);
//this.ID += string.Format("(^Od[{0},{1}])", tailRoot.GoalStep.ID, stepAsComp.InitialStep.ID);
}
continue;
}
if (DeLinks.OnDecompPath(clink.Tail, step.ID))
{
// step cannot threaten
continue;
}
// step is a threat to need precondition
if (Orderings.IsPath(clink.Tail, stepAsComp.InitialStep))
{
continue;
}
if (Orderings.IsPath(stepAsComp.GoalStep, repairStep.InitialStep as IPlanStep))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, stepAsComp));
// Flaws.Add(new ThreatenedLinkFlaw(clink, compInit));
}
else
{
// is it possible that step is a sub-step of repair step? Yes it is.
if (DeLinks.OnDecompPath(step, repairStep.ID))
{
// but, there's nothing we can do about it; and all links to repairStep.GoalStep are there to be threatened
continue;
}
// step is a threat to need precondition
if (Orderings.IsPath(needStep, step))
{
continue;
}
if (Orderings.IsPath(step, repairStep.InitialStep as IPlanStep))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, step));
}
}
}