public virtual void OnReconfigured()
{
// For now, the resource disappears magically...
Resource = null;
_currentRole = default(Role);
_hasRole = false;
_requests.Clear();
_stateMachine.ChangeState(State.Idle); // Todo: This is a bit of a hack
}
protected override void OnRoleChosen(Role role)
{
// If we fail to move to the robot, the cart loses its route
if (Cart.MoveTo(((RobotAgent)role.PreCondition.Port).Robot))
return;
// ODP inconsistency: We shouldn't be doing this in all cases; for example,
// the cart might have the connections R0->R1 and R1->R2. If
// R0->R1 breaks, R1 would no longer be in its inputs and
// outputs, which is obviously wrong
Disconnect(this, role.PreCondition.Port);
Disconnect(role.PreCondition.Port, this);
CheckConstraints();
}
private bool PostMatching(Role role, Agent agent)
{
if (role.PostCondition.Port.AllocatedRoles.All(role1 => role1.PreCondition.Port != agent))
{
;
}
else if (
!role.PostCondition.Port.AllocatedRoles.Any(
role1 =>
role.PostCondition.StateMatches(role1.PreCondition.State)))
{
;
}
else if (role.PostCondition.Port.AllocatedRoles.All(role1 => role.PostCondition.Task != role1.PreCondition.Task))
{
;
}
return role.PostCondition.Port.AllocatedRoles.Any(role1 => role1.PreCondition.Port == agent
&&
role.PostCondition.StateMatches(role1.PreCondition.State)
&& role.PostCondition.Task == role1.PreCondition.Task);
}
/// <summary>
/// Applies the <paramref name="roleAllocations" /> to the system.
/// </summary>
/// <param name="roleAllocations">The sequence of agents and the capabilities they should execute.</param>
protected virtual void ApplyConfiguration(Tuple<Agent, Capability[]>[] roleAllocations)
{
foreach (var task in Tasks)
task.IsResourceInProduction = false;
_lastRoleAllocations = roleAllocations;
var allocatedCapabilities = 0;
for (var i = 0; i < roleAllocations.Length; i++)
{
var agent = roleAllocations[i].Item1;
var capabilities = roleAllocations[i].Item2;
var preAgent = i == 0 ? null : roleAllocations[i - 1].Item1;
var postAgent = i == roleAllocations.Length - 1 ? null : roleAllocations[i + 1].Item1;
var preCondition = new Condition(Tasks[0], preAgent, allocatedCapabilities);
var postCondition = new Condition(Tasks[0], postAgent, allocatedCapabilities + capabilities.Length);
var role = new Role(preCondition, postCondition, allocatedCapabilities, capabilities.Length);
allocatedCapabilities += capabilities.Length;
agent.Configure(role);
}
}
private bool PreMatching(Role role, Agent agent)
{
return role.PreCondition.Port.AllocatedRoles.Any(role1 => role1.PostCondition.Port == agent
&& role.PreCondition.StateMatches(role1.PostCondition.State)
&& role.PreCondition.Task == role1.PostCondition.Task);
}
public override void Configure(Role role)
{
}
public virtual void Configure(Role role)
{
AllocatedRoles.Add(role);
}
protected bool TryChooseRole(Func<Role, bool> predicate, out Role role)
{
foreach (var allocatedRole in AllocatedRoles)
{
if (predicate(allocatedRole))
{
role = allocatedRole;
return true;
}
}
role = default(Role);
return false;
}
protected virtual void OnRoleChosen(Role role)
{
}
