/**
* Spawns the child task.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(Context);
}
/**
* Spawns the only child.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
/* Just spawn the only child. */
child = ((ModelInverter) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(Context);
}
/**
* Spawns the first child of the sequence.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
_activeChildIndex = 0;
_children = ModelTask.Children;
_activeChild = _children[0].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
}
/**
* Spawns the child task. This method creates a new HierarchicalContext,
* sets its parent to the context of the ExecutionHierarchicalContextManager, and spawns
* the child task using this HierarchicalContext.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
var newContext = new HierarchicalContext();
newContext.SetParent(Context);
_child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
_child.AddTaskListener(this);
_child.Spawn(newContext);
}
/**
* Spawns the child task. This method creates a new SafeOutputContext, and
* spawns the child task using this SafeContext. The input context of the
* SafeOutputContext is that of this ExecutionSafeOutputContextManager task.
* The list of output variables of the SafeOutputContext is retrieved from
* the ModelSafeOutputContextManager associated to this task.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
var newContext = new SafeOutputContext(Context,
((ModelSafeOutputContextManager) ModelTask).getOutputVariables());
child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(newContext);
}
/**
* Spawns the first task (randomly selected).
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
_children = ModelTask.Children;
/*
* First we initialize the list with the order in which the list of
* children will be evaluated.
*/
_order = new List<int>();
for (int i = 0; i < _children.Count; i++)
{
_order.Add(i);
}
_random = _random ?? new Random();
_order = _order.OrderBy(i => _random.Next()).ToList();
/*
* Then we spawn the first child.
*/
_activeChildIndex = 0;
_activeChild = _children[_order[_activeChildIndex]].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
}
/**
* Checks the status of the currently active child. If it is running,
* {@link Status#RUNNING} is returned. If it has finished in failure,
* {@link Status#FAILURE} is returned. If it has finished successfully, it
* tries to spawn the next child (and returns {@link Status#RUNNING}). If it
* was the last child of the sequence, returns {@link Status#SUCCESS}.
*
* @see jbt.execution.core.ExecutionTask#internalTick()
*/
protected override Status InternalTick()
{
Status childStatus = _activeChild.Status;
if (childStatus == Status.Running)
{
return Status.Running;
}
if (childStatus == Status.Success)
{
/* If it was the last child of the sequence, returns success. */
if (_activeChildIndex == _children.Count - 1)
{
return Status.Success;
}
_activeChildIndex++;
_activeChild = _children[_order[_activeChildIndex]].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
return Status.Running;
}
return Status.Failure;
}
/**
* Checks if the currently active child has finished. It it has not, it
* returns {@link Status#RUNNING}. If it has finished successfully, it
* returns {@link Status#SUCCESS}. If it has finished in failure, then:
* <ul>
* <li>If it was the last child of the selector, returns
* {@link Status#FAILURE}.
* <li>Otherwise, it spawns the next child of the selector and returns
* {@link Status#RUNNING}.
* </ul>
*
* @see jbt.execution.core.ExecutionTask#internalTick()
*/
protected override Status InternalTick()
{
Status childStatus = _activeChild.Status;
if (childStatus == Status.Running)
{
return Status.Running;
}
if (childStatus == Status.Success)
{
return Status.Success;
}
/*
* If the current child has failed, and it was the last one, return
* failure.
*/
if (_activeChildIndex == _children.Count - 1)
{
return Status.Failure;
}
/*
* Otherwise, if it was not the last child, spawn the next
* child.
*/
_activeChildIndex++;
_activeChild = _children[_activeChildIndex].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
return Status.Running;
}
/**
* Spawns the first child with active guard. If there is no active guard,
* the spawning process is considered to have failed, so
* {@link #internalTick()} will return {@link Status#FAILURE}. If some
* guards are still running the spawning process is not considered to have
* started yet.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
_children = ModelTask.Children;
/* Initialize guard executors. */
_guardsExecutors = new List<BTExecutor>();
guardsResults = new List<Status>();
foreach (ModelTask child in _children)
{
if (child.Guard != null)
{
_guardsExecutors.Add(new BTExecutor(child.Guard, Context));
guardsResults.Add(Status.Running);
}
else
{
_guardsExecutors.Add(null);
guardsResults.Add(Status.Success);
}
}
/* Evaluate guards. */
resetGuardsEvaluation();
Tuple<Status, int> activeGuard = evaluateGuards();
/*
* Flag that tells if the static priority list must be inserted into the
* list of tickable nodes.
*/
bool insertIntoTickableNodesList = false;
/*
* If all the guards have failed, the spawning process has also failed.
* In such a case, the task must be inserted into the list of tickable
* nodes.
*/
if (activeGuard.Item1 == Status.Failure)
{
spawnFailed = true;
insertIntoTickableNodesList = true;
}
else if (activeGuard.Item1 == Status.Running)
{
/*
* If not all the guards have been evaluated yet, the spawning
* process is not considered to have started. In such a case, the
* task must be inserted into the list of tickable nodes.
*/
stillNotSpawned = true;
insertIntoTickableNodesList = true;
}
else
{
/*
* If all the guards have been evaluated and one succeeded, spawn
* the corresponding child.
*/
spawnFailed = false;
stillNotSpawned = false;
_activeChildIndex = activeGuard.Item2;
_activeChild = _children[_activeChildIndex].CreateExecutor(
Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
}
/* Insert into the list of tickable nodes if required. */
if (insertIntoTickableNodesList)
{
Executor.RequestInsertionIntoList(BTExecutor.BTExecutorList.Tickable, this);
}
}
/**
* If the spawning process has not finished yet (because there are some
* guards running), then this method keeps evaluating the guards, and
* returns {@link Status#RUNNING}. Whenever there is an active child
* (because the spawning process has finished), its status is returned.
* <p>
* If the spawning process failed, this method just returns
* {@link Status#FAILURE}.
*
* @see jbt.execution.core.ExecutionTask#internalTick()
*/
protected override Status InternalTick()
{
/* If the spawning process failed, return failure. */
if (spawnFailed)
{
return Status.Failure;
}
/*
* If no child has been spawned yet (not all the guards had completed in
* the internalSpawn() method)...
*/
if (stillNotSpawned)
{
/* Evaluate guards. */
Tuple<Status, int> activeGuard = evaluateGuards();
/* If all the guards have failed, return failure. */
if (activeGuard.Item1 == Status.Failure)
{
return Status.Failure;
}
if (activeGuard.Item1 == Status.Running)
{
/*
* If not all the guards have finished, do no nothing (return
* RUNNING).
*/
}
else
{
/*
* If all the guards have been evaluated and one succeeded,
* spawn the child. In this case, the static priority list
* must be removed from the list of tickable nodes.
*/
spawnFailed = false;
stillNotSpawned = false;
_activeChildIndex = activeGuard.Item2;
_activeChild = _children[_activeChildIndex].CreateExecutor(
Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
Executor.RequestRemovalFromList(BTExecutor.BTExecutorList.Tickable, this);
}
return Status.Running;
}
/* If this point has been reached, there must be an active child. */
return _activeChild.Status;
}
/**
* Checks if there is an active guard with a priority higher than that of the active child. If
* there is such a task, it terminates the active child and spawns the child of the guard with
* higher priority, and {@link Status#RUNNING} is returned. If there is no such task, then the
* status of the active child is returned.
* <p>
* If the spawning process failed, this method just returns {@link Status#FAILURE}. If the
* spawning process has not finished yet, this method keeps evaluating the guards, and returns
* {@link Status#RUNNING}.
*
* @see jbt.execution.core.ExecutionTask#internalTick()
*/
protected override Status InternalTick()
{
/* If the spawning process failed, return failure. */
if (_spawnFailed)
{
return Status.Failure;
}
/* Evaluate guards. */
Tuple<Status, int> activeGuard = EvaluateGuards();
/*
* If no child has been spawned yet (not all the guards had completed yet in the
* internalSpawn() method)...
*/
if (_stillNotSpawned)
{
/* If all the guards have failed, return failure. */
if (activeGuard.Item1 == Status.Failure)
{
return Status.Failure;
}
if (activeGuard.Item1 == Status.Running)
{
/*
* If not all the guards have finished, do no nothing (return RUNNING).
*/
}
else
{
/*
* If all the guards have been evaluated and one succeeded, spawn the child.
*/
_spawnFailed = false;
_stillNotSpawned = false;
_activeChildIndex = activeGuard.Item2;
_activeChild = _children[_activeChildIndex].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
/* Reset the guards evaluators. */
ResetGuardsEvaluation();
}
return Status.Running;
}
/* If this point has been reached, there must be an active child. */
if (activeGuard.Item1 == Status.Failure)
{
/* If all the guards have failed, return failure. */
return Status.Failure;
}
if (activeGuard.Item1 == Status.Running)
{
/*
* If the guards are being evaluated, return the status of the active child.
*/
return _activeChild.Status;
}
if (activeGuard.Item2 != _activeChildIndex)
{
/*
* If the child with the highest priority guard has changed, terminate the currently
* active child.
*/
if (_activeChild.ModelTask.Interrupter != null)
{
var executor = new BTExecutor(_activeChild.ModelTask.Interrupter, Context);
ExecutionInterrupter.RunInterrupterBranch(executor, 10);
}
_activeChild.Terminate();
_activeChildIndex = activeGuard.Item2;
/*
* Spawn the new child.
*/
_activeChild = _children[_activeChildIndex].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
ResetGuardsEvaluation();
return Status.Running;
}
/*
* If the child with the highest priority guard has not changed, return the status
* of the active child.
*/
ResetGuardsEvaluation();
return _activeChild.Status;
}
///Spawns its child and registers itself into the list of interrupters of
///the BTExecutor.
///
protected override void InternalSpawn()
{
_executionChild = ((ModelInterrupter)ModelTask).getChild().CreateExecutor(Executor, this);
_executionChild.AddTaskListener(this);
//Register the ExecutionInterrupter so that ExecutionPerformInterruption can find it.
Executor.RegisterInterrupter(this);
_executionChild.Spawn(Context);
}
/**
* This method first retrieve from the context the tree (ModelTask) that is
* going to be emulated by this task. Then, it creates its corresponding
* executor and finally spawns it. If the tree cannot be found in the
* context, does nothing.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
/* Retrieve the tree to run from the context. */
treeToRun = Context.GetBT(
((ModelSubtreeLookup)ModelTask).TreeName);
if (treeToRun == null)
{
treeRetrieved = false;
/*
* Must request to be inserted into the list of tickable nodes,
* since no tree has been retrieved and as a result it must be the
* task the one continuin the work.
*/
Executor.RequestInsertionIntoList(BTExecutor.BTExecutorList.Tickable, this);
// System.err.println("Could not retrieve tree "
// + ((ModelSubtreeLookup) this.getModelTask()).getTreeName()
// + " from the context. Check if the context has been properly initialized.");
}
else
{
treeRetrieved = true;
/* Compute positions for the retrieved tree. */
treeToRun.ComputePositions();
executionTree = treeToRun.CreateExecutor(Executor, this);
executionTree.AddTaskListener(this);
executionTree.Spawn(Context);
}
}
/**
* If the child task has finished, it spawns it again. Always returns
* {@link Status#RUNNING}.
*
* @see jbt.execution.core.ExecutionTask#internalTick()
*/
protected override Status InternalTick()
{
Status childStatus = _child.Status;
/*
* If the child has finished, spawn it again
*/
if (childStatus != Status.Running)
{
_child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(Executor, this);
_child.AddTaskListener(this);
_child.Spawn(Context);
}
return Status.Running;
}
/**
* If the child has finished in failure or been terminated, return
* {@link Status#SUCCESS}. Otherwise, {@link Status#RUNNING} is returned. If
* the child has finished successfully, it is spawned again.
*
* @see jbt.execution.core.ExecutionTask#internalTick()
*/
protected override Status InternalTick()
{
Status childStatus = child.Status;
/*
* If the child has finished in failure or been terminated, return
* success.
*/
if (childStatus == Status.Failure || childStatus == Status.Terminated)
{
return Status.Success;
}
/* If the child has finished successfully, spawn it again. */
if (childStatus == Status.Success)
{
child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(Context);
}
/*
* In case the child has not finished in failure, return
* Status.RUNNING.
*/
return Status.Running;
}
/**
* Spawns the child task if it has not been run more than the maximum
* allowed number of times. Otherwise, it requests to be inserted into the
* list of tickable nodes, since the child is not spawned.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
if (_numRunsSoFar < _maxNumTimes)
{
_numRunsSoFar++;
_child = ((ModelLimit) ModelTask).getChild().CreateExecutor(Executor, this);
_child.AddTaskListener(this);
_child.Spawn(Context);
}
else
{
Executor.RequestInsertionIntoList(BTExecutor.BTExecutorList.Tickable, this);
}
}
/**
* Checks if the currently active child has finished. If it has not
* finished, returns {@link Status#SUCCESS}. If it has finished in failure,
* returns {@link Status#FAILURE}. If it has finished successfully, it
* checks if there is any remaining child. If so, it spawns it. Otherwise,
* returns {@link Status#SUCCESS}.
*/
protected override Status InternalTick()
{
Status childStatus = _activeChild.Status;
if (childStatus == Status.Running)
{
return Status.Running;
}
if (childStatus == Status.Failure || childStatus == Status.Terminated)
{
return Status.Failure;
}
if (_activeChildIndex == _children.Count - 1)
{
/*
* If this was the last child, return success.
*/
return Status.Success;
}
/*
* If the current child has finished successfully, but it is not
* the last one, spawn the next child.
*/
_activeChildIndex++;
_activeChild = _children[_activeChildIndex].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
return Status.Running;
}
/**
* Spawns the first child with active guard. It also requests to be inserted into the list of
* tickable nodes of the BTExecutor, since this task has to check its children's guards all the
* time. If there is no active guard, the spawning process is considered to have failed, so
* {@link #internalTick()} will return {@link Status#FAILURE}. If some guards are still running
* the spawning process is not considered to have started yet.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
/*
* The dynamic priority list has to be inserted into the list of tickable nodes because it
* has to check its children's guards all the time.
*/
Executor.RequestInsertionIntoList(BTExecutor.BTExecutorList.Tickable, this);
_children = ModelTask.Children;
/* Initialize guard executors. */
_guardsExecutors = new List<BTExecutor>();
_guardsResults = new List<Status>();
foreach (var child in _children)
{
if (child.Guard != null)
{
_guardsExecutors.Add(new BTExecutor(child.Guard, Context));
_guardsResults.Add(Status.Running);
}
else
{
_guardsExecutors.Add(null);
_guardsResults.Add(Status.Success);
}
}
/* Evaluate guards. */
ResetGuardsEvaluation();
var activeGuard = EvaluateGuards();
/* If all guards have failed, the spawning process has also failed. */
if (activeGuard.Item1 == Status.Failure)
{
_spawnFailed = true;
}
else if (activeGuard.Item1 == Status.Running)
{
/*
* If not all the guards have been evaluated yet, the spawning process is not considered
* to have started.
*/
_stillNotSpawned = true;
}
else
{
// If all the guards have been evaluated and one succeeded, spawn the corresponding
// child.
_spawnFailed = false;
_stillNotSpawned = false;
_activeChildIndex = activeGuard.Item2;
_activeChild = _children[_activeChildIndex].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
/* Reset the guards evaluators. */
ResetGuardsEvaluation();
}
}
