/// <summary>
/// Initialises the competence element.
///
/// The log domain is set to [AgentName].CE.[element_name].
/// </summary>
/// <param name="agent">The competence element's agent.</param>
/// <param name="elementName">The name of the competence element.</param>
/// <param name="trigger">The element's trigger</param>
/// <param name="element">The element to fire (Action,Competence or ActionPattern).</param>
/// <param name="maxRetries">The maximum number of retires. If this is set
/// to a negative number, it is ignored.</param>
public CompetenceElement(Agent agent, string elementName, Trigger trigger, CopiableElement element, int maxRetries)
: base(string.Format("CE.{0}", elementName), agent)
{
this.name = elementName;
this.trigger = trigger;
this.element = element;
this.maxRetries = maxRetries;
this.retries = 0;
log.Debug("Created");
}
/// <summary>
/// Initialises the result of firing an element.
///
/// For a more detailed description of the arguments, read the
/// class documentation.
/// </summary>
/// <param name="continueExecution">If we want to continue executing the current
/// part of the plan.</param>
/// <param name="nextElement">The next plan element to fire.</param>
public FireResult(bool continueExecution, CopiableElement nextElement)
{
continueExecuting = continueExecution;
if (continueExecution && nextElement is CopiableElement)
{
// copy the next element, if there is one
next = (ElementCollection)nextElement.copy();
}
else
{
next = null;
}
// FIX: @swen: here must be an error in the original implementation I just uncommented the next line because it seemed wrong
// next = nextElement;
}
/// <summary>
/// Fires the action pattern.
///
/// This method fires the current action / sense / sense-act or
/// competence of the pattern. In case of firing an action / sense
/// / sense-act, the method points to the next element in the
/// pattern and returns FireResult(True, None) if the current
/// action / sense / sense-act was successful (i.e. evaluated to
/// True) and not the last action in the sequence, in which case
/// it returns FireResult(False, None) and resets the action
/// pattern.
///
/// If the current element is a competence, then competence is
/// returned as the next element by returning
/// FireResult(True, competence), and the action pattern is
/// reset.
/// </summary>
/// <returns>The result of firing the action pattern.</returns>
public override FireResult fire()
{
log.Debug("Fired");
CopiableElement element = elements[elementIdx];
if (element is POSHAction || element is POSHSense)
{
bool result;
if (element is POSHAction)
{
result = ((POSHAction)element).fire();
}
else
{
result = ((POSHSense)element).fire();
}
if (!result)
{
log.Debug(string.Format("Action/Sense {0} failed", element.getName()));
elementIdx = 0;
return(new FireResult(false, null));
}
// check if we've just fired the last action
elementIdx += 1;
if (elementIdx >= elements.Count)
{
elementIdx = 0;
return(new FireResult(false, null));
}
return(new FireResult(true, null));
}
else if (elements[elementIdx] is Competence)
{
// we have a competence
elementIdx = 0;
return(new FireResult(true, element));
}
return(null);
}
/// <summary>
/// Fires the drive element.
///
/// This method fires the current drive element and always
/// returns None. It uses the slip-stack architecture to determine
/// the element to fire in the next step.
/// </summary>
/// <returns>The result returned is null.</returns>
public override FireResult fire()
{
FireResult result;
log.Debug("Fired");
// if our element is an action, we just fire it and do
// nothing afterwards. That's because we can only have an action
// as an element, if it is the drive element's root element.
// Hence, we didn't descend in the plan tree and can keep
// the same element.
if (element is POSHAction || element.GetType().IsSubclassOf(typeof(POSHAction)))
{
((POSHAction)element).fire();
element = root;
return(null);
}
// the element is a competence or an action pattern
result = ((ElementCollection)element).fire();
if (result.continueExecution())
{
// if we have a new next element, store it as the next
// element to execute
CopiableElement next = result.nextElement();
if (next is CopiableElement)
{
element = next;
}
}
else
{
// we were told not to continue the execution -> back to root
// We must not call reset() here, as that would also reset
// the firing frequency of the element.
element = root;
}
return(null);
}
