public BuildAgents_II(List <Domain> lNotGroundedDomains, List <Domain> domains, List <Problem> problems)
{
HashSet <Predicate> lAllGoals = new HashSet <Predicate>();
HashSet <Predicate> lAllDividedGoals = new HashSet <Predicate>();
HashSet <Constant> publicConst = new HashSet <Constant>();
for (int i = 0; i < domains.Count; i++)
{
foreach (Constant cons in domains.ElementAt(i).PublicConstants)
{
publicConst.Add(cons);
}
}
for (int i = 0; i < domains.Count; i++)
{
Problem p = problems.ElementAt(i);
Domain d = domains.ElementAt(i);
Domain notGroundedDomain = lNotGroundedDomains.ElementAt(i);
foreach (Constant cons in publicConst)
{
if (!notGroundedDomain.Constants.Contains(cons))
{
notGroundedDomain.Constants.Add(cons);
}
}
Dictionary <Predicate, HashSet <Predicate> > lInvariants = null;
//lInvariants = new Dictionary<Predicate,HashSet<Predicate>>();
HashSet <GroundedPredicate> publicPredicates = new HashSet <GroundedPredicate>();
HashSet <GroundedPredicate> Predicates = new HashSet <GroundedPredicate>();
d.Predicates = new HashSet <Predicate>();
foreach (GroundedPredicate gp in d.PublicPredicates)
{
publicPredicates.Add(gp);
Predicates.Add(gp);
GroundedPredicate ngp = (GroundedPredicate)gp.Negate();
publicPredicates.Add(ngp);
Predicates.Add(ngp);
d.Predicates.Add(gp);
d.Predicates.Add(ngp);
}
foreach (GroundedPredicate gp in d.PrivatePredicates)
{
Predicates.Add(gp);
GroundedPredicate ngp = (GroundedPredicate)gp.Negate();
Predicates.Add(ngp);
d.Predicates.Add(gp);
d.Predicates.Add(ngp);
}
State initialState = new State(p);
/*foreach(GroundedPredicate gp in p.Known)
* {
* initialState.AddPredicate(gp);
* }*/
foreach (Predicate gp in p.Known)
{
if (gp is GroundedPredicate)
{
initialState.AddPredicate(gp);
}
}
d.groundedAction = d.Actions;
List <GroundedPredicate> goal = DivideGoal(p.Goal, d.PublicActions.ToList(), d.PrivateActions.ToList(), publicPredicates);
lAllGoals.UnionWith(p.Goal.GetAllPredicates());
foreach (Predicate pGoal in goal)
{
lAllDividedGoals.Add(pGoal);
}
BuildTables(domains);
List <Action> projPublicActions = getProjectionPublicActionForAgent("Agent: " + i.ToString());
notGroundedDomain.Actions = new List <Action>(d.Actions);
notGroundedDomain.Actions.AddRange(projPublicActions);
/* bool f = true;
* while (f)
* {
* f = false;
* foreach (Action act in projPublicActions)
* {
* bool preInclude = true;
* foreach(GroundedPredicate gp in act.HashPrecondition)
* {
* if (!initialState.Contains(gp))
* {
* preInclude = false;
* break;
* }
* }
* if (preInclude)
* {
* foreach (GroundedPredicate gp in act.HashEffects)
* {
* if (!gp.Negation && !initialState.Contains(gp))
* {
* initialState.AddPredicate(gp);
* f = true;
* }
* }
* }
* }
* }*/
//lInvariants = notGroundedDomain.IdentifyMutexSAS(p, initialState);
//lInvariants = new Dictionary<Predicate, HashSet<Predicate>>();
projPublicActions.AddRange(d.groundedAction);
lInvariants = d.IdentifyStrongInvariants(projPublicActions);
Dictionary <Predicate, HashSet <Predicate> > tmp = d.IdentifyInvariants(projPublicActions);
foreach (var kv in tmp)
{
if (!lInvariants.ContainsKey(kv.Key))
{
lInvariants.Add(kv.Key, kv.Value);
}
else
{
foreach (GroundedPredicate gp in kv.Value)
{
lInvariants[kv.Key].Add(gp);
}
}
}
foreach (Action act in d.groundedAction)
{
if (!mapActionNameToAgents.ContainsKey(act.Name))
{
mapActionNameToAgents.Add(act.Name, new HashSet <string>());
}
mapActionNameToAgents[act.Name].Add("Agent: " + i.ToString());
}
/* Agent agent = new Agent(p, notGroundedDomain, d.groundedAction, d.PublicActions.ToList(), d.PrivateActions.ToList(),
* Predicates, publicPredicates, initialState, goal,
* "Agent: " + i.ToString(), projPublicActions, lInvariants); */
Agent agent = new Agent(p, notGroundedDomain, d.groundedAction, d.PublicActions.ToList(), d.PrivateActions.ToList(),
Predicates, publicPredicates, initialState, goal,
"Agent: " + i.ToString(), projPublicActions, lInvariants);
agents.Add(agent);
}
//There is a problem with goals that are satisfied in the initial state and are constant - not handling for now
//if (!lAllDividedGoals.Equals(lAllGoals))
// throw new Exception("Some goals cannot be obtained by any agent");
}