private bool DeduceFollowingStates(
IEnumerable<HTNTaskSet> refinedHTNTaskSetList,
HTNState currentState,
HTNState targetState,
SpecificationKnowledge specificationKnowledge)
{
List<HTNState> newlyDeducedHTNStateList = new List<HTNState>();
newlyDeducedHTNStateList.Add(currentState);
HTNState localCurrentHTNState = new HTNState(currentState);
List<List<HTNEffect>> htnEffectList = new List<List<HTNEffect>>();
foreach (HTNTaskSet htnTaskSet in refinedHTNTaskSetList)
{
List<HTNEffect> postEffects = new List<HTNEffect>();
foreach (string taskID in htnTaskSet.TaskIDList)
{
HTNTask htnTask = specificationKnowledge.GetHTNTask(taskID);
postEffects.AddRange(htnTask.PostConditions);
}
htnEffectList.Add(postEffects);
}
HTNState nextHTNState = null;
foreach (List<HTNEffect> htnEffects in htnEffectList)
{
nextHTNState = new HTNState(localCurrentHTNState.DeduceNextStateBasedOnEffects(htnEffects));
newlyDeducedHTNStateList.Add(nextHTNState);
}
if (nextHTNState != null && nextHTNState.IsEqualTo(targetState))
{
newlyDeducedHTNStateList.Remove(nextHTNState);
RefinedStateList = newlyDeducedHTNStateList;
return true;
}
return false;
}
public override List<HTNTaskSet> GeneratePlan()
{
// Select a task network for the workitem
HTNMethod htnMethod = SelectAMethodForThisWorkitem(WorkitemID, InitialState);
if (htnMethod == null) {
Console.WriteLine("Method undefined. Unable to generate a plan.");
return null;
}
string taskNetworkID = htnMethod.TaskNetworkID;
HTNTaskNetwork htnTaskNetwork = SpecificationKnowledge.GetTaskNetwork(taskNetworkID);
HTNTaskNetworkConstraints constraint = htnTaskNetwork.Constraints[FirstConstraint];
TaskSets = constraint.HTNTaskConstraints;
for (int i = 1; i < constraint.StateConstraints.Count - 1; i++)
{
StateConstraints.Insert(i, constraint.StateConstraints[i]);
}
// Perform Decomposition
bool allPrimitive = false;
bool allScheduled = false;
while (!allPrimitive && !allScheduled)
{
// extend the current task network, assign some tasks to resources, generate more states
List<HTNTaskSet> newHTNTaskSetList = new List<HTNTaskSet>();
for (int i = 0; i < TaskSets.Count; i++)
{
HTNTaskSet htnTaskSet = TaskSets[i];
List<HTNTaskSet> newHTNSetFragment = htnTaskSet.
AssignAndRefineTaskSet(
ResourceProfileSet,
StateConstraints[i],
StateConstraints[i + 1],
SpecificationKnowledge
);
foreach (HTNTaskSet newHTNTaskSet in newHTNSetFragment)
{
newHTNTaskSetList.Add(newHTNTaskSet);
}
}
TaskSets = newHTNTaskSetList;
List<HTNState> newHTNStateList = new List<HTNState>();
newHTNStateList.Add(InitialState);
newHTNStateList.Add(TargetState);
HTNState localHTNState = new HTNState(InitialState);
for (int i = 0; i < TaskSets.Count - 1; i++)
{
HTNState deducedState = localHTNState.DeduceNextStateBasedOnEffects(
TaskSets[i].GetAllPostEffects(SpecificationKnowledge));
localHTNState = new HTNState(deducedState);
newHTNStateList.Insert(i + 1, deducedState);
}
StateConstraints = newHTNStateList;
// Attempt to decompose
List<HTNTaskSet> newlyDecomposedHTNTaskSetList = new List<HTNTaskSet>();
for (int i = 0; i < TaskSets.Count; i++)
{
HTNTaskSet htnTaskSet = TaskSets[i];
List<HTNTaskSet> partialDecomposedHTNTaskSetList
=
htnTaskSet.DecomposeTaskSet(
ResourceProfileSet,
SpecificationKnowledge,
this,
StateConstraints[i],
StateConstraints[i + 1]
);
foreach (HTNTaskSet taskSet in partialDecomposedHTNTaskSetList)
{
newlyDecomposedHTNTaskSetList.Add(taskSet);
}
}
allScheduled = true;
TaskSets = newlyDecomposedHTNTaskSetList;
// TODO: Hope this doesn't break. Dammit..
allPrimitive = AreAllTasksPrimitive(TaskSets);
//foreach (HTNTaskSet htnTaskSet in TaskSets)
//{
// foreach (string taskID in htnTaskSet.TaskIDList)
// {
// if (!SpecificationKnowledge.IsTaskAPrimitive(taskID))
// {
// allPrimitive = false;
// }
// }
// if (!allPrimitive)
// {
// break;
// }
//}
if (!allPrimitive && allScheduled)
{
newHTNStateList.Clear();
newHTNStateList.Add(InitialState);
newHTNStateList.Add(TargetState);
localHTNState = new HTNState(InitialState);
for (int i = 0; i < TaskSets.Count - 1; i++)
{
HTNState deduced_state = localHTNState.DeduceNextStateBasedOnEffects(TaskSets[i].GetAllPostEffects(SpecificationKnowledge));
localHTNState = new HTNState(deduced_state);
newHTNStateList.Insert(i + 1, deduced_state);
}
this.StateConstraints = newHTNStateList;
allPrimitive = false;
}
allScheduled = true;
foreach (HTNTaskSet htnTaskSet in TaskSets)
{
if (!htnTaskSet.IsScheduled())
{
allScheduled = false;
}
}
}
int stateSize = StateConstraints.Count;
for (int i = 0; i < StateConstraints.Count; i++)
{
HTNState htnState = new HTNState(StateConstraints[i]);
foreach (KeyValuePair<string, string> kvp1 in htnState.States)
{
Console.ForegroundColor = ConsoleColor.Green;
Console.Write("state_name: " + kvp1.Key);
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine(" state_value: " + kvp1.Value);
}
if (i < stateSize - 1)
{
Console.ForegroundColor = ConsoleColor.Yellow;
HTNTaskSet htnTaskSet = new HTNTaskSet(TaskSets[i]);
foreach (KeyValuePair<string, string> kvp2 in htnTaskSet.TaskExecutors)
{
Console.WriteLine("task_id: " + kvp2.Key + " " + "executor: " + kvp2.Value);
}
}
}
return TaskSets;
}
