/// <summary>
/// Algorithm that will execute with open minded commitment to the current selected intention
/// </summary>
/// <param name="obj">The cancellation token for the task</param>
private async Task RunWithOpenMindedCommitment(object obj)
{
var token = (CancellationToken)obj;
//(checked token from time to time for cancelation to gracefully stop thread)
while (!token.IsCancellationRequested)
{
BeliefRevision();
GenerateOptions();
Deliberate();
if (CurrentIntentions.Any())
{
var plan = MakePlan();
while (plan != null && plan.HasSteps() && !IntentionSucceeded() && !IntentionImpossible() && !token.IsCancellationRequested)
{
var step = plan.GetFirstStep();
await Execute(step);
plan.FinishStep(step);
BeliefRevision();
if (NeedsReconsideration())
{
Deliberate();
}
if (plan.HasSteps() && !Sound(plan))
{
plan = MakePlan();
}
}
}
//before looping again, sleep 100ms
Thread.Sleep(100);
}
}
/// <summary>
/// Filter the desires to select a new current intention
/// </summary>
/// <param name="potentialDesires">Potential desires to filter out and use for intentions</param>
private void Filter(IEnumerable <Desire <TAction, TAgent, TEnvironment> > potentialDesires)
{
//choose strongest achievable desire and add it as a base intention
CurrentIntentions.Clear();
potentialDesires = potentialDesires.OrderByDescending(y => y.Strength);
//now add intentions that do not conflict
foreach (var potentialDesire in potentialDesires)
{
if (CurrentIntentions.All(x => x.IsCompatibleWith(potentialDesire)))
{
CurrentIntentions.Add(new Intention <TAction, TAgent, TEnvironment>(potentialDesire));
}
}
}
/// <summary>
/// Initializes the agent
/// </summary>
/// <param name="desires">The initial list of desires of the agent</param>
/// <param name="intentions">The initial current intentions of the agent</param>
/// <returns>A task in which the agent loop is run</returns>
public virtual Task Init(List <Desire <TAction, TAgent, TEnvironment> > desires, List <Intention <TAction, TAgent, TEnvironment> > intentions)
{
if (desires != null)
{
Desires.AddRange(desires);
foreach (var desire in desires)
{
desire.Agent = this;
}
}
if (intentions != null)
{
CurrentIntentions.AddRange(intentions);
}
return(StartRun());
}
/// <summary>
/// Does our current intention needs reconsideration after we updated our beliefs
/// </summary>
/// <returns>True if we need to reconsider the current intention, false otherwise</returns>
protected override bool NeedsReconsideration()
{
var currentStrength = CurrentIntentions.First().GetStrength();
return(Desires.Any(x => x.Strength >= currentStrength * 2));
}
/// <summary> /// Check to see if our current intention impossible? /// </summary> /// <returns>True if our current intention impossible to achieve, false otherwise</returns> private bool IntentionImpossible() => !CurrentIntentions.All(x => x.IsAchievable());
/// <summary> /// Check to see if our current intention has succeeded already /// </summary> /// <returns>True if we succeeded already in our current intention, false otherwise</returns> private bool IntentionSucceeded() => CurrentIntentions.All(x => x.IsFulfilled());
