/// <summary>
/// Fires the drive collection.
///
/// This method first checks if the goal (if not None) is met. If
/// that is the case, then FireResult(False, self) is
/// returned. Otherwise it goes through the list of priority
/// elements until the first one was fired successfully (returning
/// something else than None). In that case, FireResult(True,
/// None) is returned. If none of the priority elements were
/// successful, FireResult(False, None) is returned, indicating a
/// failing of the drive collection.
///
/// To summarise:
/// - FireResult(True, None): drive element fired
/// - FireResult(False, self): goal reached
/// - FireResult(False, None): drive failed
/// </summary>
/// <returns>The result of firing the drive.</returns>
public override FireResult fire()
{
log.Debug("Fired");
// check if goal reached
if (goal is Trigger && goal.fire())
{
log.Debug("Goal Satisfied");
return(new FireResult(false, this));
}
// fire elements
foreach (DrivePriorityElement elem in elements)
{
// a priority element returns None if it wasn't
// successfully fired
if (elem.fire() != null)
{
return(new FireResult(true, null));
}
}
// drive failed (no element fired)
log.Debug("Failed");
return(new FireResult(false, null));
}
/// <summary>
/// Fires the competence.
///
/// This method first checks if the competence's goal is satisfied
/// (if the goal is not None). If that is the case, then it
/// returns FireResult(False, None). Otherwise it fires the
/// priority elements one by one. On the first successful firing
/// of a competence priority element, the method returns the
/// result of the priority element. If no priority element fired
/// successfully, then FireResult(False, None) is returned.
/// </summary>
/// <returns>The result of firing an element, or
/// FireResult(False, None)</returns>
public override FireResult fire()
{
log.Debug("Fired");
// check if the goal is satisfied
if (goal is Trigger && goal.fire())
{
log.Debug("Goal satisfied");
return(new FireResult(false, null));
}
// process the elements
FireResult result;
foreach (CompetencePriorityElement elem in elements)
{
result = elem.fire();
// check if the competence priority element failed
if (result.continueExecution() && !(result.nextElement() is CopiableElement))
{
continue;
}
return(result);
}
// we failed
log.Debug("Failed");
return(new FireResult(false, null));
}
/// <summary>
/// Returns if the element is ready to be fired.
///
/// The element is ready to be fired if its trigger is
/// satisfied and it was not fired more than maxRetries.
/// Note that timestamp is ignored in this method. It is only
/// there because isReady is defined like that in the
/// POSH.scheduled.Element interface.
/// </summary>
/// <param name="timeStamp"></param>
/// <returns>If the element is ready to be fired.</returns>
public override bool isReady(long timeStamp)
{
if (trigger.fire())
{
if (maxRetries < 0 || retries < maxRetries)
{
retries += 1;
return(true);
}
else
{
log.Debug("Retry limit exceeded");
}
}
return(false);
}
/// <summary>
/// Returns if the element is ready to be fired.
///
/// The element is ready to be fired if its trigger is
/// satisfied and if the time since the last firing is
/// larger than the one given by C{maxFreq}. The time of the
/// last firing is determined by the timestamp given
/// to L{isReady} when it was called the last time and returned
/// True. This implies that the element has to be fired
/// every time when this method returns True.
/// </summary>
/// <param name="timeStamp">The current timestamp in milliseconds</param>
/// <returns></returns>
public override bool isReady(long timeStamp)
{
if (trigger.fire())
{
if (maxFreq < 0 || timeStamp - lastFired > +maxFreq)
{
lastFired = timeStamp;
return(true);
}
else
{
log.Debug("Max. firing frequency exceeded");
}
}
return(false);
}