public void Decide()
{
if (!PlEngine.IsInitialized)
{
string[] param = { "-q" };
PlEngine.Initialize(param);
PlQuery.PlCall("consult('HutBuiAct')");
PlQuery.PlCall("assert(done(" + this.action + "))");
PlQuery.PlCall("assert(in(" + this.InnerPosition.X + "," + this.InnerPosition.Y + "))");
PlQuery.PlCall("assert(facing(" + this.a + "))");
PlQuery.PlCall("assert(timePassed(" + this.timePassed + "))");
PlQuery.PlCall("assert(leftmoves(" + this.leftmoves + "))");
Console.WriteLine("assert(done(" + this.action + "))");
Console.WriteLine("assert(in(" + this.InnerPosition.X + "," + this.InnerPosition.Y + "))");
Console.WriteLine("assert(facing(" + this.a + "))");
Console.WriteLine("assert(timePassed(" + this.timePassed + "))");
Console.WriteLine("assert(leftmoves(" + this.leftmoves + "))");
if (this.isDirty())
{
PlQuery.PlCall("assert(dirty(" + this.InnerPosition.X + "," + this.InnerPosition.Y + "))");
Console.WriteLine("assert(dirty(" + this.InnerPosition.X + "," + this.InnerPosition.Y + "))");
}
for (int i = 0; i < 4; i++)
{
string OsbtacleType = this.TypeOfObstacle(this.upFront());
if (OsbtacleType != null)
{
Point upfront = this.Outer2Inner(this.upFront());
Console.WriteLine("assert(obstacle(" + upfront.X + "," + upfront.Y + ",both))");
Console.WriteLine("assert(obstacle(" + upfront.X + "," + upfront.Y + "," + OsbtacleType + "))");
PlQuery.PlCall("assert(obstacle(" + upfront.X + "," + upfront.Y + ",both))");
PlQuery.PlCall("assert(obstacle(" + upfront.X + "," + upfront.Y + "," + OsbtacleType + "))");
}
this.Turn90();
}
foreach (Point w in this.weight.Keys)
{
if (double.IsPositiveInfinity(this.weight[w]))
{
PlQuery.PlCall("assert(wasweight(" + w.X + "," + w.Y + ",inf))");
Console.WriteLine("assert(wasweight(" + w.X + "," + w.Y + ",inf))");
}
else
{
PlQuery.PlCall("assert(wasweight(" + w.X + "," + w.Y + "," + this.weight[w] + "))");
Console.WriteLine("assert(wasweight(" + w.X + "," + w.Y + "," + this.weight[w] + "))");
}
}
using (var q = new PlQuery("do(A)"))
{
PlQueryVariables v = q.SolutionVariables.ElementAt(0);
this.action = v["A"].ToString();
Console.WriteLine("do(" + this.action + ")");
}
PlEngine.PlCleanup();
}
}
public void UpdateInternalState()
{
if (!PlEngine.IsInitialized)
{
string[] param = { "-q" };
PlEngine.Initialize(param);
PlQuery.PlCall("consult('HutBuiUpdate')");
PlQuery.PlCall("assert(done(" + this.action + "))");
Console.WriteLine("assert(done(" + this.action + "))");
if (this.action != "start")
{
PlQuery.PlCall("assert(wasin(" + this.InnerPosition.X + "," + this.InnerPosition.Y + "))");
PlQuery.PlCall("assert(wasfacing(" + this.a + "))");
PlQuery.PlCall("assert(wastimePassed(" + this.timePassed + "))");
PlQuery.PlCall("assert(wasleftmoves(" + this.leftmoves + "))");
Console.WriteLine("assert(wasin(" + this.InnerPosition.X + "," + this.InnerPosition.Y + "))");
Console.WriteLine("assert(wasfacing(" + this.a + "))");
Console.WriteLine("assert(wastimePassed(" + this.timePassed + "))");
Console.WriteLine("assert(wasleftmoves(" + this.leftmoves + "))");
foreach (Point w in this.weight.Keys)
{
if (double.IsPositiveInfinity(this.weight[w]))
{
PlQuery.PlCall("assert(wasweight(" + w.X + "," + w.Y + ",inf))");
Console.WriteLine("assert(wasweight(" + w.X + "," + w.Y + ",inf))");
}
else
{
PlQuery.PlCall("assert(wasweight(" + w.X + "," + w.Y + "," + this.weight[w] + "))");
Console.WriteLine("assert(wasweight(" + w.X + "," + w.Y + "," + this.weight[w] + "))");
}
}
foreach (Point d in this.discover)
{
PlQuery.PlCall("assert(discovered(" + d.X + "," + d.Y + "))");
Console.WriteLine("assert(discovered(" + d.X + "," + d.Y + "))");
}
}
using (var q = new PlQuery("in(X, Y)"))
{
if (q.Solutions.Count() > 0)
{
PlQueryVariables v = q.SolutionVariables.ElementAt(0);
this.InnerPosition.X = Int32.Parse(v["X"].ToString());
this.InnerPosition.Y = Int32.Parse(v["Y"].ToString());
Console.WriteLine("in(" + this.InnerPosition.X + ", " + this.InnerPosition.Y + ")");
}
}
using (var q = new PlQuery("facing(X)"))
{
if (q.Solutions.Count() > 0)
{
PlQueryVariables v = q.SolutionVariables.ElementAt(0);
this.a = Int32.Parse(v["X"].ToString());
Console.WriteLine("facing(" + this.a + ")");
}
}
for (int i = 0; i < 4; i++)
{
string OsbtacleType = this.TypeOfObstacle(this.upFront());
if (OsbtacleType != null)
{
Point upfront = this.Outer2Inner(this.upFront());
Console.WriteLine("assert(obstacle(" + upfront.X + "," + upfront.Y + ",both))");
Console.WriteLine("assert(obstacle(" + upfront.X + "," + upfront.Y + "," + OsbtacleType + "))");
PlQuery.PlCall("assert(obstacle(" + upfront.X + "," + upfront.Y + ",both))");
PlQuery.PlCall("assert(obstacle(" + upfront.X + "," + upfront.Y + "," + OsbtacleType + "))");
}
this.Turn90();
}
using (var q = new PlQuery("weight(X, Y, W)"))
{
foreach (PlQueryVariables v in q.SolutionVariables)
{
double W = 0;
if (v["W"].ToString() == "inf" || Double.TryParse(v["W"].ToString(), out W))
{
if (v["W"].ToString() == "inf")
{
W = double.PositiveInfinity;
}
this.weight[new Point(Int32.Parse(v["X"].ToString()), Int32.Parse(v["Y"].ToString()))] = W;
Console.WriteLine("weight(" + Int32.Parse(v["X"].ToString()) + ", " + Int32.Parse(v["Y"].ToString()) + ", " + v["W"].ToString() + ")");
}
}
}
using (var q = new PlQuery("discover(X, Y)"))
{
foreach (PlQueryVariables v in q.SolutionVariables)
{
this.discover.Add(new Point(Int32.Parse(v["X"].ToString()), Int32.Parse(v["Y"].ToString())));
Console.WriteLine("discover(" + Int32.Parse(v["X"].ToString()) + ", " + Int32.Parse(v["Y"].ToString()) + ")");
}
}
using (var q = new PlQuery("leftmoves(X)"))
{
foreach (PlQueryVariables v in q.SolutionVariables)
{
this.leftmoves = Int32.Parse(v["X"].ToString());
Console.WriteLine("leftmoves(" + Int32.Parse(v["X"].ToString()) + ")");
}
}
using (var q = new PlQuery("timePassed(X)"))
{
if (q.Solutions.Count() > 0)
{
PlQueryVariables v = q.SolutionVariables.ElementAt(0);
this.timePassed = Int32.Parse(v["X"].ToString());
Console.WriteLine("timePassed(" + Int32.Parse(v["X"].ToString()) + ")");
}
}
PlEngine.PlCleanup();
}
}
