public List<HTNTaskSet> AssignAndRefineTaskSet(
ResourceProfileSet resourceSet,
HTNState currentHTNState,
HTNState targetHTNState,
SpecificationKnowledge specificationKnowledge)
{
List<HTNTaskSet> newRefinedHTNTaskSetList = new List<HTNTaskSet>();
List<string> waitingTaskList = new List<string>();
foreach (string taskID in this.TaskIDList)
{
waitingTaskList.Add(taskID);
}
while (waitingTaskList.Count > 0)
{
List<string> allocatedResourceIDList = new List<string>();
List<string> allocatedTaskIDList = new List<string>();
List<bool> resourceAllocatedIndicator = new List<bool>();
HTNTaskSet htnTaskSet = new HTNTaskSet();
for (int i = 0; i < resourceSet.Resources.Count; i++)
{
resourceAllocatedIndicator.Add(true);
}
foreach (string taskID in waitingTaskList)
{
for (int i = 0; i < resourceSet.Resources.Count; i++)
{
ResourceProfile ra = resourceSet.Resources[i];
if (resourceAllocatedIndicator[i] && ra.CanExecuteThisTask(taskID))
{
resourceAllocatedIndicator[i] = false;
htnTaskSet.AddTaskID(taskID);
htnTaskSet.TaskExecutors.Add(taskID, ra.ID);
allocatedTaskIDList.Add(taskID);
// added to prevent the re-added value
break;
}
}
}
foreach (string taskID in allocatedTaskIDList)
{
waitingTaskList.Remove(taskID);
}
newRefinedHTNTaskSetList.Add(htnTaskSet);
}
return newRefinedHTNTaskSetList;
}
public ComplexHTNPlanner()
{
InitialState = new HTNState();
TargetState = new HTNState();
TaskNetwork = new HTNTaskNetwork();
StateConstraints = new List<HTNState>();
TaskSets = new List<HTNTaskSet>();
AllocationDictionary = new Dictionary<string, string>();
ResourceProfileSet = new ResourceProfileSet();
}
/// <summary>
/// Decomposes and schedules the transition between current state and target state.
/// </summary>
public List<HTNTaskSet> DecomposeTaskSet(
ResourceProfileSet resourceProfileSet,
SpecificationKnowledge specificationKnowledge,
ComplexHTNPlanner htnPlanner,
HTNState currentHTNState,
HTNState targetHTNState)
{
List<List<HTNTaskSet>> allNewDecomposedTaskSetList = new List<List<HTNTaskSet>>();
HTNState currentState = currentHTNState;
int longestSize = 1;
// Start to decompose
foreach (string taskID in TaskIDList)
{
// If the task needs to be decomposed, decompose it
if (!specificationKnowledge.IsTaskAPrimitive(taskID))
{
HTNMethod method = htnPlanner.FindASuitableMethodOrOperator(taskID, currentState);
HTNTaskNetwork decomposedTaskNetwork = specificationKnowledge.GetTaskNetwork(method.TaskNetworkID);
int constraintsCount = decomposedTaskNetwork.Constraints.Count;
Random random = new Random();
int selectedConstraint = random.Next(0, constraintsCount);
HTNTaskNetworkConstraints htnTaskNetworkConstraints
= decomposedTaskNetwork.Constraints.ElementAt(selectedConstraint).Value;
List<HTNTaskSet> decomposedTaskSetList = htnTaskNetworkConstraints.HTNTaskConstraints;
if (decomposedTaskSetList.Count > longestSize)
{
longestSize = decomposedTaskSetList.Count;
}
string resourceID = TaskExecutors[taskID];
foreach (HTNTaskSet decomposedHTNTask in decomposedTaskSetList)
{
foreach (string subTaskID in decomposedHTNTask.TaskIDList)
{
decomposedHTNTask.TaskExecutors.Add(subTaskID, resourceID);
}
}
allNewDecomposedTaskSetList.Add(decomposedTaskSetList);
}
// The task is primitive so does not need to be decomposed further
else
{
List<HTNTaskSet> decomposedTaskSetList = new List<HTNTaskSet>();
HTNTaskSet htnTaskSet = new HTNTaskSet();
string resourceID = TaskExecutors[taskID];
htnTaskSet.TaskExecutors.Add(taskID, resourceID);
htnTaskSet.TaskIDList.Add(taskID);
decomposedTaskSetList.Add(htnTaskSet);
allNewDecomposedTaskSetList.Add(decomposedTaskSetList);
}
}
// end of decomposing
// Schedule all tasks into a single list of task sets
List<HTNTaskSet> mergeredHTNSetList = new List<HTNTaskSet>();
for (int i = 0; i < longestSize; i++)
{
HTNTaskSet newlyMergeredHTNTaskSet = new HTNTaskSet();
foreach (List<HTNTaskSet> htnTaskSetList in allNewDecomposedTaskSetList)
{
if (htnTaskSetList.Count > i)
{
foreach (string taskID in htnTaskSetList[i].TaskIDList)
{
string resourceID = htnTaskSetList[i].TaskExecutors[taskID];
newlyMergeredHTNTaskSet.TaskExecutors.Add(taskID, resourceID);
newlyMergeredHTNTaskSet.AddTaskID(taskID);
}
}
}
mergeredHTNSetList.Add(newlyMergeredHTNTaskSet);
}
return mergeredHTNSetList;
}
public abstract void SetPlannerProperties(
HTNState initialHTNState,
HTNState targetHTNState,
string workitemID,
SpecificationKnowledge specificationKnowledge,
ResourceProfileSet resourceProfileSet);
public override void SetPlannerProperties(
HTNState initialHTNState,
HTNState targetHTNState,
string workitemID,
SpecificationKnowledge specificationKnowledge,
ResourceProfileSet resourceProfileSet)
{
ResourceProfileSet = resourceProfileSet;
SpecificationKnowledge = specificationKnowledge;
StateConstraints.Clear();
StateConstraints.Add(initialHTNState);
StateConstraints.Add(targetHTNState);
InitialState.StateAtoms.Clear();
InitialState = new HTNState(initialHTNState);
TargetState = new HTNState(targetHTNState);
WorkitemID = workitemID;
}
public override void SetPlannerProperties(HTNState initialHTNState, HTNState targetHTNState, string workitemID, SpecificationKnowledge specificationKnowledge, ResourceProfileSet resourceProfileSet)
{
throw new NotImplementedException();
}
