public void InitializeSoar(SoarMSRState initialState)
{
if (_kernel != null)
{
throw new Exception("Soar: Already initialized");
}
_kernel = sml.Kernel.CreateKernelInNewThread("SoarKernelSML");
if (_kernel.HadError())
{
_kernel = null;
throw new Exception("Soar: Error initializing kernel: " + _kernel.GetLastErrorDescription());
}
_running = false;
_stop = false;
_agent = _kernel.CreateAgent(initialState.AgentName);
// We test the kernel for an error after creating an agent as the agent
// object may not be properly constructed if the create call failed so
// we store errors in the kernel in this case. Once this create is done we can work directly with the agent.
if (_kernel.HadError())
{
throw new Exception("Soar: Error creating agent: " + _kernel.GetLastErrorDescription());
}
_kernel.SetAutoCommit(false);
_agent.SetBlinkIfNoChange(false);
bool result = _agent.LoadProductions(initialState.Productions);
if (!result)
{
throw new Exception("Soar: Error loading productions " + initialState.Productions
+ " (current working directory: " + _agent.ExecuteCommandLine("pwd") + ")");
}
// reset state
Bumper = new BumperState();
Override = new OverrideState();
Obstacle = false;
// Prepare communication channel
Identifier inputLink = _agent.GetInputLink();
if (inputLink == null)
{
throw new Exception("Soar: Error getting the input link");
}
Identifier overrideWME = _agent.CreateIdWME(inputLink, "override");
_overrideActiveWME = _agent.CreateStringWME(overrideWME, "active", "false");
Identifier drivePowerWME = _agent.CreateIdWME(overrideWME, "drive-power");
_overrideLeftWME = _agent.CreateFloatWME(drivePowerWME, "left", 0);
_overrideRightWME = _agent.CreateFloatWME(drivePowerWME, "right", 0);
_overrideStopWME = _agent.CreateStringWME(drivePowerWME, "stop", "false");
Identifier configWME = _agent.CreateIdWME(inputLink, "config");
Identifier powerWME = _agent.CreateIdWME(configWME, "power");
_agent.CreateFloatWME(powerWME, "drive", initialState.DrivePower);
_agent.CreateFloatWME(powerWME, "reverse", initialState.ReversePower);
Identifier delayWME = _agent.CreateIdWME(configWME, "delay");
_agent.CreateFloatWME(delayWME, "stop", initialState.StopTimeout);
_agent.CreateFloatWME(delayWME, "reverse", initialState.BackUpTimeout);
_agent.CreateFloatWME(delayWME, "turn", initialState.TurnTimeout);
_agent.CreateFloatWME(delayWME, "variance", initialState.TimeoutVariance);
Identifier sensorsWME = _agent.CreateIdWME(inputLink, "sensors");
Identifier bumperWME = _agent.CreateIdWME(sensorsWME, "bumper");
Identifier frontWME = _agent.CreateIdWME(bumperWME, "front");
_frontBumperPressedWME = _agent.CreateStringWME(frontWME, "pressed", "false");
_frontBumperWasPressedWME = _agent.CreateStringWME(frontWME, "was-pressed", "false");
Identifier rearWME = _agent.CreateIdWME(bumperWME, "rear");
_rearBumperPressedWME = _agent.CreateStringWME(rearWME, "pressed", "false");
_rearBumperWasPressedWME = _agent.CreateStringWME(rearWME, "was-pressed", "false");
Identifier sickLRFWME = _agent.CreateIdWME(sensorsWME, "sicklrf");
_obstacleWME = _agent.CreateStringWME(sickLRFWME, "obstacle", "false");
// Current time WME
_timeWME = _agent.CreateFloatWME(inputLink, "time", 0);
// Random number WME and supporting state
_randomWME = _agent.CreateFloatWME(inputLink, "random", 0);
if (initialState.HasRandomSeed)
{
_random = new Random(initialState.RandomSeed);
Trace.WriteLine("Seeding Soar's random number generator.");
_agent.ExecuteCommandLine("srand " + initialState.RandomSeed);
if (_agent.HadError())
{
throw new Exception("Failed to seed Soar's random number generator");
}
}
else
{
_random = new Random();
}
// commit input link structure
_agent.Commit();
_updateCall = new sml.Kernel.UpdateEventCallback(UpdateEventCallback);
_kernel.RegisterForUpdateEvent(sml.smlUpdateEventId.smlEVENT_AFTER_ALL_OUTPUT_PHASES, _updateCall, null);
// spawn debugger
if (initialState.SpawnDebugger)
{
SpawnDebugger();
}
_simulationStart = DateTime.Now;
OnLog("Soar initialized.");
}
bool Test()
{
//
// TODO: Add code to start application here
//
sml.Kernel kernel = sml.Kernel.CreateKernelInNewThread("SoarKernelSML");
// Make sure the kernel was ok
if (kernel.HadError())
{
throw new Exception("Error initializing kernel: " + kernel.GetLastErrorDescription());
}
sml.Agent agent = kernel.CreateAgent("First");
// We test the kernel for an error after creating an agent as the agent
// object may not be properly constructed if the create call failed so
// we store errors in the kernel in this case. Once this create is done we can work directly with the agent.
if (kernel.HadError())
{
throw new Exception("Error creating agent: " + kernel.GetLastErrorDescription());
}
bool ok = agent.LoadProductions("..\\Tests\\testcsharpsml.soar");
if (!ok)
{
System.Console.Out.WriteLine("Load failed");
return(false);
}
Agent pAgent = agent; // So it's easier copying existing C++ code here
Kernel pKernel = kernel;
Identifier pInputLink = agent.GetInputLink();
if (pInputLink == null)
{
throw new Exception("Error getting the input link");
}
// Some random adds
Identifier pID = pAgent.CreateIdWME(pInputLink, "plane");
StringElement pWME1 = pAgent.CreateStringWME(pID, "type", "Boeing747");
IntElement pWME2 = pAgent.CreateIntWME(pID, "speed", 200);
// Then add some tic tac toe stuff which should trigger output
Identifier pSquare = pAgent.CreateIdWME(pInputLink, "square");
StringElement pEmpty = pAgent.CreateStringWME(pSquare, "content", "RANDOM");
IntElement pRow = pAgent.CreateIntWME(pSquare, "row", 1);
IntElement pCol = pAgent.CreateIntWME(pSquare, "col", 2);
ok = pAgent.Commit();
// Quick test of init-soar
pAgent.InitSoar();
// Update the square's value to be empty. This ensures that the update
// call is doing something. Otherwise, when we run we won't get a match.
pAgent.Update(pEmpty, "EMPTY");
ok = pAgent.Commit();
String myTestData = "my data";
sml.Agent.RunEventCallback runCall = new sml.Agent.RunEventCallback(MyRunEventCallback);
sml.Agent.ProductionEventCallback prodCall = new sml.Agent.ProductionEventCallback(MyProductionEventCallback);
sml.Agent.PrintEventCallback printCall = new sml.Agent.PrintEventCallback(MyPrintEventCallback);
sml.Agent.OutputEventCallback outputCall = new sml.Agent.OutputEventCallback(MyOutputEventCallback);
sml.Agent.XMLEventCallback xmlCall = new sml.Agent.XMLEventCallback(MyXMLEventCallback);
sml.Agent.OutputNotificationCallback noteCall = new sml.Agent.OutputNotificationCallback(MyOutputNotificationCallback);
sml.Kernel.AgentEventCallback agentCall = new sml.Kernel.AgentEventCallback(MyAgentEventCallback);
sml.Kernel.SystemEventCallback systemCall = new sml.Kernel.SystemEventCallback(MySystemEventCallback);
sml.Kernel.UpdateEventCallback updateCall = new sml.Kernel.UpdateEventCallback(MyUpdateEventCallback);
sml.Kernel.StringEventCallback strCall = new sml.Kernel.StringEventCallback(MyStringEventCallback);
sml.Kernel.RhsFunction rhsCall = new sml.Kernel.RhsFunction(MyTestRhsFunction);
sml.Kernel.ClientMessageCallback clientCall = new sml.Kernel.ClientMessageCallback(MyTestClientMessageCallback);
int runCallbackID = agent.RegisterForRunEvent(sml.smlRunEventId.smlEVENT_AFTER_DECISION_CYCLE, runCall, myTestData);
int prodCallbackID = agent.RegisterForProductionEvent(sml.smlProductionEventId.smlEVENT_AFTER_PRODUCTION_FIRED, prodCall, myTestData);
int printCallbackID = agent.RegisterForPrintEvent(sml.smlPrintEventId.smlEVENT_PRINT, printCall, myTestData);
int outputCallbackID = agent.AddOutputHandler("move", outputCall, myTestData);
int noteCallbackID = agent.RegisterForOutputNotification(noteCall, myTestData);
int xmlCallbackID = agent.RegisterForXMLEvent(sml.smlXMLEventId.smlEVENT_XML_TRACE_OUTPUT, xmlCall, myTestData);
int agentCallbackID = kernel.RegisterForAgentEvent(sml.smlAgentEventId.smlEVENT_BEFORE_AGENT_REINITIALIZED, agentCall, myTestData);
int systemCallbackID = kernel.RegisterForSystemEvent(sml.smlSystemEventId.smlEVENT_SYSTEM_START, systemCall, myTestData);
int updateCallbackID = kernel.RegisterForUpdateEvent(sml.smlUpdateEventId.smlEVENT_AFTER_ALL_OUTPUT_PHASES, updateCall, myTestData);
int stringCallbackID = kernel.RegisterForStringEvent(sml.smlStringEventId.smlEVENT_EDIT_PRODUCTION, strCall, myTestData);
int rhsCallbackID = kernel.AddRhsFunction("test-rhs", rhsCall, myTestData);
int clientCallbackID = kernel.RegisterForClientMessageEvent("test-client", clientCall, myTestData);
// Running the agent will trigger most of the events we're listening for so
// we can check that they're working correctly.
agent.RunSelf(3);
//kernel.RunAllAgents(3) ;
// Trigger an agent event
agent.InitSoar();
ok = agent.UnregisterForRunEvent(runCallbackID);
ok = ok && agent.UnregisterForProductionEvent(prodCallbackID);
ok = ok && agent.UnregisterForPrintEvent(printCallbackID);
ok = ok && agent.RemoveOutputHandler(outputCallbackID);
ok = ok && agent.UnregisterForOutputNotification(noteCallbackID);
ok = ok && agent.UnregisterForXMLEvent(xmlCallbackID);
ok = ok && kernel.UnregisterForAgentEvent(agentCallbackID);
ok = ok && kernel.UnregisterForSystemEvent(systemCallbackID);
ok = ok && kernel.UnregisterForUpdateEvent(updateCallbackID);
ok = ok && kernel.UnregisterForStringEvent(stringCallbackID);
ok = ok && kernel.RemoveRhsFunction(rhsCallbackID);
ok = ok && kernel.UnregisterForClientMessageEvent(clientCallbackID);
if (!ok)
{
System.Console.Out.WriteLine("Failed to unregister an event");
return(false);
}
// Close down the kernel (or for a remote connection disconnect from the kernel w/o closing it down).
kernel.Shutdown();
return(ok);
}
public void InitializeSoar(SoarMSRState initialState)
{
if (_kernel != null)
{
throw new Exception("Soar: Already initialized");
}
_kernel = sml.Kernel.CreateKernelInNewThread("SoarKernelSML");
if (_kernel.HadError())
{
_kernel = null;
throw new Exception("Soar: Error initializing kernel: " + _kernel.GetLastErrorDescription());
}
_running = false;
_stop = false;
_agent = _kernel.CreateAgent(initialState.AgentName);
// We test the kernel for an error after creating an agent as the agent
// object may not be properly constructed if the create call failed so
// we store errors in the kernel in this case. Once this create is done we can work directly with the agent.
if (_kernel.HadError())
throw new Exception("Soar: Error creating agent: " + _kernel.GetLastErrorDescription());
_kernel.SetAutoCommit(false);
_agent.SetBlinkIfNoChange(false);
bool result = _agent.LoadProductions(initialState.Productions);
if (!result)
{
throw new Exception("Soar: Error loading productions " + initialState.Productions
+ " (current working directory: " + _agent.ExecuteCommandLine("pwd") + ")");
}
// reset state
Bumper = new BumperState();
Override = new OverrideState();
Obstacle = false;
// Prepare communication channel
Identifier inputLink = _agent.GetInputLink();
if (inputLink == null)
throw new Exception("Soar: Error getting the input link");
Identifier overrideWME = _agent.CreateIdWME(inputLink, "override");
_overrideActiveWME = _agent.CreateStringWME(overrideWME, "active", "false");
Identifier drivePowerWME = _agent.CreateIdWME(overrideWME, "drive-power");
_overrideLeftWME = _agent.CreateFloatWME(drivePowerWME, "left", 0);
_overrideRightWME = _agent.CreateFloatWME(drivePowerWME, "right", 0);
_overrideStopWME = _agent.CreateStringWME(drivePowerWME, "stop", "false");
Identifier configWME = _agent.CreateIdWME(inputLink, "config");
Identifier powerWME = _agent.CreateIdWME(configWME, "power");
_agent.CreateFloatWME(powerWME, "drive", initialState.DrivePower);
_agent.CreateFloatWME(powerWME, "reverse", initialState.ReversePower);
Identifier delayWME = _agent.CreateIdWME(configWME, "delay");
_agent.CreateFloatWME(delayWME, "stop", initialState.StopTimeout);
_agent.CreateFloatWME(delayWME, "reverse", initialState.BackUpTimeout);
_agent.CreateFloatWME(delayWME, "turn", initialState.TurnTimeout);
_agent.CreateFloatWME(delayWME, "variance", initialState.TimeoutVariance);
Identifier sensorsWME = _agent.CreateIdWME(inputLink, "sensors");
Identifier bumperWME = _agent.CreateIdWME(sensorsWME, "bumper");
Identifier frontWME = _agent.CreateIdWME(bumperWME, "front");
_frontBumperPressedWME = _agent.CreateStringWME(frontWME, "pressed", "false");
_frontBumperWasPressedWME = _agent.CreateStringWME(frontWME, "was-pressed", "false");
Identifier rearWME = _agent.CreateIdWME(bumperWME, "rear");
_rearBumperPressedWME = _agent.CreateStringWME(rearWME, "pressed", "false");
_rearBumperWasPressedWME = _agent.CreateStringWME(rearWME, "was-pressed", "false");
Identifier sickLRFWME = _agent.CreateIdWME(sensorsWME, "sicklrf");
_obstacleWME = _agent.CreateStringWME(sickLRFWME, "obstacle", "false");
// Current time WME
_timeWME = _agent.CreateFloatWME(inputLink, "time", 0);
// Random number WME and supporting state
_randomWME = _agent.CreateFloatWME(inputLink, "random", 0);
if (initialState.HasRandomSeed)
{
_random = new Random(initialState.RandomSeed);
Trace.WriteLine("Seeding Soar's random number generator.");
_agent.ExecuteCommandLine("srand " + initialState.RandomSeed);
if (_agent.HadError())
{
throw new Exception("Failed to seed Soar's random number generator");
}
}
else
{
_random = new Random();
}
// commit input link structure
_agent.Commit();
_updateCall = new sml.Kernel.UpdateEventCallback(UpdateEventCallback);
_kernel.RegisterForUpdateEvent(sml.smlUpdateEventId.smlEVENT_AFTER_ALL_OUTPUT_PHASES, _updateCall, null);
// spawn debugger
if (initialState.SpawnDebugger)
{
SpawnDebugger();
}
_simulationStart = DateTime.Now;
OnLog("Soar initialized.");
}