/// <summary>
/// If the planner and action queue are null, find and start a new plan.
/// </summary>
private void FindNewPlan()
{
// ------- CHECK IF THE PLANNER OR ACTION QUEUE ARE NULL --------
if (planner == null || actionQueue == null)
{
// -------------------- CREATE A NEW PLANNER --------------------
planner = new GPlanner();
target = null;
// --------------- SORT GOALS IN DESCENDING ORDER ---------------
var sortedGoals = SortGoals();
// ---------------------- FIND A NEW PLAN -----------------------
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.sGoals, beliefs);
if (actionQueue != null)
{
ActionList = new List <GAction>(actionQueue);
}
// ------------------ CHECK IF WE FOUND A PLAN ------------------
if (actionQueue != null)
{
currentGoal = sg.Key; // Set the current goal
break; // Goal is found, break out of the loop
}
}
}
}
public void ChangePriority(State g, int newPriority)
{
SubGoal key = goals.Keys.Single(x => x.goalName == g);
if (key != null)
{
goals[key] = newPriority;
}
if (currentAction != null && currentAction.GoalPriorityChange)
{
ForceNewPlan();
}
}