/// <summary>
/// Fires the action pattern.
///
/// This method fires the current action / sense / sense-act or
/// competence of the pattern. In case of firing an action / sense
/// / sense-act, the method points to the next element in the
/// pattern and returns FireResult(True, None) if the current
/// action / sense / sense-act was successful (i.e. evaluated to
/// True) and not the last action in the sequence, in which case
/// it returns FireResult(False, None) and resets the action
/// pattern.
///
/// If the current element is a competence, then competence is
/// returned as the next element by returning
/// FireResult(True, competence), and the action pattern is
/// reset.
/// </summary>
/// <returns>The result of firing the action pattern.</returns>
public override FireResult fire()
{
log.Debug("Fired");
FireArgs args = new FireArgs();
CopiableElement element = elements[elementIdx];
if (element is POSHAction || element is POSHSense)
{
bool result;
if (element is POSHAction)
{
result = ((POSHAction)element).fire().continueExecution();
}
else
{
result = ((POSHSense)element).fire().continueExecution();
}
if (!result)
{
log.Debug(string.Format("Action/Sense {0} failed", element.getName()));
elementIdx = 0;
args.FireResult = result;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
return(new FireResult(false, null));
}
// check if we've just fired the last action
elementIdx += 1;
if (elementIdx >= elements.Count)
{
elementIdx = 0;
args.FireResult = result;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
return(new FireResult(false, null));
}
args.FireResult = result;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
return(new FireResult(true, null));
}
else if (element is Competence)
{
// we have a competence
elementIdx = 0;
args.FireResult = true;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
return(new FireResult(true, element));
}
return(null);
}
/// <summary>
/// Initialises the action pattern.
///
/// The log domain is set to [AgentId].AP.[patternName]
/// </summary>
/// <param name="agent">The corresponding agent.</param>
/// <param name="patternName">The name of the action pattern.</param>
/// <param name="elements">The sequence of actions or senses and
/// an optional competence as the final element.</param>
/// </param>
public ActionPattern(Agent agent, string patternName, CopiableElement []elements)
: base(string.Format("AP.{0}", patternName),agent)
{
name = patternName;
this.elements = (elements.Length > 0) ? new List<CopiableElement>(elements) : new List<CopiableElement>();
this.elementIdx = 0;
log.Debug("Created");
}
/// <summary>
/// Initialises the competence element.
///
/// The log domain is set to [AgentName].CE.[element_name].
/// </summary>
/// <param name="agent">The competence element's agent.</param>
/// <param name="elementName">The name of the competence element.</param>
/// <param name="trigger">The element's trigger</param>
/// <param name="element">The element to fire (Action,Competence or ActionPattern).</param>
/// <param name="maxRetries">The maximum number of retires. If this is set
/// to a negative number, it is ignored.</param>
public CompetenceElement(Agent agent, string elementName, Trigger trigger, CopiableElement element, int maxRetries)
: base(string.Format("CE.{0}", elementName), agent)
{
this.name = elementName;
this.trigger = trigger;
this.element = element;
this.maxRetries = maxRetries;
this.retries = 0;
log.Debug("Created");
}
/// <summary>
/// Initialises the result of firing an element.
///
/// For a more detailed description of the arguments, read the
/// class documentation.
/// </summary>
/// <param name="continueExecution">If we want to continue executing the current
/// part of the plan.</param>
/// <param name="nextElement">The next plan element to fire.</param>
public FireResult(bool continueExecution, CopiableElement nextElement)
{
continueExecuting = continueExecution;
if (continueExecution && nextElement is CopiableElement)
// copy the next element, if there is one
// FIX: @swen: I do not see the need for copying loads of elements when they can be referenced instead.
// FIXME: @ check if this still works when not cloned
next = (ElementCollection)nextElement.copy();
else
next = null;
// FIX: @swen: here must be an error in the original implementation I just uncommented the next line because it seemed wrong
// next = nextElement;
}
/// <summary>
/// Fires the drive element.
///
/// This method fires the current drive element and always
/// returns None. It uses the slip-stack architecture to determine
/// the element to fire in the next step.
/// </summary>
/// <returns>The result returned is null.</returns>
public override FireResult fire()
{
FireResult result;
FireArgs args = new FireArgs();
log.Debug("Fired");
// if our element is an action, we just fire it and do
// nothing afterwards. That's because we can only have an action
// as an element, if it is the drive element's root element.
// Hence, we didn't descend in the plan tree and can keep
// the same element.
if (element is POSHAction || element.GetType().IsSubclassOf(typeof(POSHAction)))
{
((POSHAction)element).fire();
element = root;
args.FireResult = false;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
return(null);
}
// the element is a competence or an action pattern
result = ((ElementCollection)element).fire();
args.FireResult = false;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
if (result.continueExecution())
{
// if we have a new next element, store it as the next
// element to execute
CopiableElement next = result.nextElement();
if (next is CopiableElement)
{
element = next;
}
}
else
{
// we were told not to continue the execution -> back to root
// We must not call reset() here, as that would also reset
// the firing frequency of the element.
element = root;
}
return(null);
}
/// <summary>
/// Initialises the result of firing an element.
///
/// For a more detailed description of the arguments, read the
/// class documentation.
/// </summary>
/// <param name="continueExecution">If we want to continue executing the current
/// part of the plan.</param>
/// <param name="nextElement">The next plan element to fire.</param>
public FireResult(bool continueExecution, CopiableElement nextElement)
{
continueExecuting = continueExecution;
if (continueExecution && nextElement is CopiableElement)
{
// copy the next element, if there is one
// FIX: @swen: I do not see the need for copying loads of elements when they can be referenced instead.
// FIXME: @ check if this still works when not cloned
next = (ElementCollection)nextElement.copy();
}
else
{
next = null;
}
// FIX: @swen: here must be an error in the original implementation I just uncommented the next line because it seemed wrong
// next = nextElement;
}
// TODO: replace root which should be a polymoph type (maybe create superclass)
/// <summary>
/// Initialises the drive element.
///
/// The log domain is set to [AgentName].DE.[element_name]
/// </summary>
/// <param name="agent">The element's agent.</param>
/// <param name="elementName">The name of the drive element.</param>
/// <param name="trigger">The trigger of the element.</param>
/// <param name="root">The element's root element.
/// root is either POSH.strict.Action, POSH.strict.Competence or POSH.strict.ActionPattern
/// </param>
/// <param name="maxFreq">The maximum frequency at which is element is
/// fired. The frequency is given in milliseconds between
/// invocation. A negative number disables this feature.</param>
public DriveElement(Agent agent, string elementName, Trigger trigger, CopiableElement root, long maxFreq)
: base(string.Format("DE.{0}", elementName), agent)
{
this.name = elementName;
this.trigger = trigger;
this.root = root;
this.element = root;
this.maxFreq = maxFreq;
// the timestamp when it was last fired
this.lastFired = -100000L;
log.Debug("Created");
this.agent = agent;
this.isLatched = false;
this.behaviours = new List<Behaviour>();
foreach (POSHSense sense in trigger.senses)
this.behaviours.Add(sense.behaviour);
}
// TODO: replace root which should be a polymoph type (maybe create superclass)
/// <summary>
/// Initialises the drive element.
///
/// The log domain is set to [AgentName].DE.[element_name]
/// </summary>
/// <param name="agent">The element's agent.</param>
/// <param name="elementName">The name of the drive element.</param>
/// <param name="trigger">The trigger of the element.</param>
/// <param name="root">The element's root element.
/// root is either POSH.strict.Action, POSH.strict.Competence or POSH.strict.ActionPattern
/// </param>
/// <param name="maxFreq">The maximum frequency at which is element is
/// fired. The frequency is given in milliseconds between
/// invocation. A negative number disables this feature.</param>
public DriveElement(Agent agent, string elementName, Trigger trigger, CopiableElement root, long maxFreq)
: base(string.Format("DE.{0}", elementName), agent)
{
this.name = elementName;
this.trigger = trigger;
this.root = root;
this.element = root;
this.maxFreq = maxFreq;
// the timestamp when it was last fired
this.lastFired = -100000L;
log.Debug("Created");
this.agent = agent;
this.isLatched = false;
this.behaviours = new List <Behaviour>();
foreach (POSHSense sense in trigger.senses)
{
this.behaviours.Add(sense.behaviour);
}
}
/// <summary>
/// Fires the drive element.
///
/// This method fires the current drive element and always
/// returns None. It uses the slip-stack architecture to determine
/// the element to fire in the next step.
/// </summary>
/// <returns>The result returned is null.</returns>
public override FireResult fire()
{
FireResult result;
FireArgs args = new FireArgs();
log.Debug("Fired");
// if our element is an action, we just fire it and do
// nothing afterwards. That's because we can only have an action
// as an element, if it is the drive element's root element.
// Hence, we didn't descend in the plan tree and can keep
// the same element.
if (element is POSHAction || element.GetType().IsSubclassOf(typeof(POSHAction)))
{
((POSHAction)element).fire();
element = root;
args.FireResult = false;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
return null;
}
// the element is a competence or an action pattern
result = ((ElementCollection)element).fire();
args.FireResult = false;
args.Time = DateTime.Now;
BroadCastFireEvent(args);
if (result.continueExecution())
{
// if we have a new next element, store it as the next
// element to execute
CopiableElement next = result.nextElement();
if (next is CopiableElement)
element = next;
}
else
// we were told not to continue the execution -> back to root
// We must not call reset() here, as that would also reset
// the firing frequency of the element.
element = root;
return null;
}
/// <summary>
/// Resets the drive element to its root element,
/// and resets the firing frequency.
/// </summary>
public override void reset()
{
log.Debug("Reset");
element = root;
lastFired = -100000L;
}
/// <summary>
/// Sets the elements of an action pattern.
///
/// Calling this method also resets the action pattern.
/// </summary>
/// <param name="elements">The list of elements of the action patterns.
/// A sequence of Actions. An additional Competence can be the
/// last Element of the ActionPattern.</param>
public void SetElements(CopiableElement [] elements)
{
this.elements = new List<CopiableElement>(elements);
reset();
}
/// <summary>
/// Resets the drive element to its root element,
/// and resets the firing frequency.
/// </summary>
public override void reset()
{
log.Debug("Reset");
element = root;
lastFired = -100000L;
}