/// <summary>
/// Initialises behaviour with given actions and senses.
///
/// The actions and senses has to correspond to
/// - the method names that implement those actions/senses
/// - the names used in the plan
///
/// The log domain of a behaviour is set to
/// [AgentId].Behaviour
/// </summary>
/// <param name="agent">The agent that uses the behaviour</param>
/// <param name="actions">The action names to register.</param>
/// <param name="senses">The sense names to register.</param>
/// <param name="attributes">List of attributes to initialise behaviour state.</param>
/// <param name="caller"></param>
public Behaviour(AgentBase agent,string [] actions,string []senses,Dictionary<string,object> a_attributes,Behaviour caller)
: this(agent)
{
Dictionary<string, SortedList<float,POSHPrimitive>> availableActions = new Dictionary<string, SortedList<float,POSHPrimitive>>();
Dictionary<string, SortedList<float,POSHPrimitive>> availableSenses = new Dictionary<string, SortedList<float,POSHPrimitive>>();
if (caller != null)
GetActionsSenses(caller);
else
{
MethodInfo[] methods = this.GetType().GetMethods();
availableActions = ExtractPrimitives(this, true);
availableSenses = ExtractPrimitives(this,false);
// filtering the primitives which sould not be made available for the agent
FilterPrimitives(actions,availableActions);
FilterPrimitives(senses,availableSenses);
this.attributes[ACTIONS] = availableActions;
this.attributes[SENSES] = availableSenses;
}
this.attributes.Add(INSPECTORS,null);
// assign additional attributes
if (a_attributes != null)
AssignAttributes(a_attributes);
}
/// <summary>
/// @deprecated I just copied this method from the python code but is seems to overcomplicated stuff and using methods from other behaviours is hard to communicate to the user
/// </summary>
/// <param name="sourceObj"></param>
private void GetActionsSenses(Behaviour sourceObj)
{
try
{
if (sourceObj.attributes is Dictionary<string, object>)
{
// check if the source object contains more actions and add those to the current attribute dict
if (sourceObj.attributes.ContainsKey(ACTIONS) && attributes.ContainsKey(ACTIONS) && attributes[ACTIONS] is Dictionary<string, Behaviour>)
{
Dictionary<string, Behaviour> a = (Dictionary<string,Behaviour>)sourceObj.attributes[ACTIONS];
foreach (KeyValuePair<string, Behaviour> e in a)
((Dictionary<string, Behaviour>)this.attributes[ACTIONS])[e.Key] = e.Value;
}
// check if the source object contains more senses and add those
if (sourceObj.attributes.ContainsKey(SENSES) && attributes.ContainsKey(SENSES) && attributes[SENSES] is Dictionary<string, Behaviour>)
{
Dictionary<string, Behaviour> s = (Dictionary<string, Behaviour>)sourceObj.attributes[SENSES];
foreach (KeyValuePair<string, Behaviour> e in s)
((Dictionary<string, Behaviour>)this.attributes[SENSES])[e.Key] = e.Value;
}
}
}
catch(ArgumentNullException ){}
}
/// <summary>
/// The method is extracting the primitives based on their string names from a behaviour object.
/// At this point all possible actions/ senses are extracted and their names are returned as a string list.
/// </summary>
/// <param name="source">The behaviour to search for the primitives</param>
/// <param name="acts">True if search for Actions,\n False if searching for Senses</param>
/// <returns>Returns a Dict containing the plan name as key and the correct Attribute defintions
/// all for Actions/Senses inside the given behaviour linked to the specific plan name</returns>
private Dictionary<string, SortedList<float, POSHPrimitive>> ExtractPrimitives(Behaviour source, bool acts)
{
MethodInfo[] methods = source.GetType().GetMethods();
Dictionary<string, SortedList<float, POSHPrimitive>> primitives = new Dictionary<string, SortedList<float, POSHPrimitive>>();
foreach (MethodInfo method in methods)
{
POSHPrimitive prim = null;
// if we want to add actions
if (acts)
{
// include versioning of primitives at some later point
if (method.GetCustomAttributes(typeof(ExecutableAction), true).Length > 0)
prim = method.GetCustomAttributes(typeof(ExecutableAction), true).First() as ExecutableAction;
}
// if we want to add senses
else
if (method.GetCustomAttributes(typeof(ExecutableSense), true).Length > 0)
prim = method.GetCustomAttributes(typeof(ExecutableSense), true).First() as ExecutableSense;
// if there is a primitive we want we store it in a sorted list using the version number as a criteria for later retrieval
if (prim != null)
{
// linking the primitive to the method which it augments
prim.SetLinkedMethod(method.Name);
prim.SetOriginatingBhaviour(this);
if (primitives.ContainsKey(prim.command))
{
primitives[prim.command].Add(prim.version, prim);
}
else
{
SortedList<float, POSHPrimitive> list = new SortedList<float, POSHPrimitive>();
list[prim.version] = prim;
primitives[prim.command] = list;
}
}
}
return primitives;
}
public LatchedBehaviour(AgentBase agent, string[] actions, string[] senses,
Dictionary<string, object> attributes, Behaviour caller)
: base(agent,actions,senses,attributes,caller)
{
}
/// <summary>
/// Initialises behaviour with given actions and senses.
///
/// The actions and senses has to correspond to
/// - the method names that implement those actions/senses
/// - the names used in the plan
///
/// The log domain of a behaviour is set to
/// [AgentId].Behaviour
/// </summary>
/// <param name="agent">The agent that uses the behaviour</param>
/// <param name="actions">The action names to register.</param>
/// <param name="senses">The sense names to register.</param>
/// <param name="attributes">List of attributes to initialise behaviour state.</param>
/// <param name="caller"></param>
public Behaviour(AgentBase agent, string [] actions, string [] senses, Dictionary <string, object> a_attributes, Behaviour caller)
: this(agent)
{
Dictionary <string, SortedList <float, POSHPrimitive> > availableActions = new Dictionary <string, SortedList <float, POSHPrimitive> >();
Dictionary <string, SortedList <float, POSHPrimitive> > availableSenses = new Dictionary <string, SortedList <float, POSHPrimitive> >();
if (caller != null)
{
GetActionsSenses(caller);
}
else
{
MethodInfo[] methods = this.GetType().GetMethods();
availableActions = ExtractPrimitives(this, true);
availableSenses = ExtractPrimitives(this, false);
// filtering the primitives which sould not be made available for the agent
FilterPrimitives(actions, availableActions);
FilterPrimitives(senses, availableSenses);
this.attributes[ACTIONS] = availableActions;
this.attributes[SENSES] = availableSenses;
}
this.attributes.Add(INSPECTORS, null);
// assign additional attributes
if (a_attributes != null)
{
AssignAttributes(a_attributes);
}
}
/// <summary>
/// The method is extracting the primitives based on their string names from a behaviour object.
/// At this point all possible actions/ senses are extracted and their names are returned as a string list.
/// </summary>
/// <param name="source">The behaviour to search for the primitives</param>
/// <param name="acts">True if search for Actions,\n False if searching for Senses</param>
/// <returns>Returns a Dict containing the plan name as key and the correct Attribute defintions
/// all for Actions/Senses inside the given behaviour linked to the specific plan name</returns>
private Dictionary <string, SortedList <float, POSHPrimitive> > ExtractPrimitives(Behaviour source, bool acts)
{
MethodInfo[] methods = source.GetType().GetMethods();
Dictionary <string, SortedList <float, POSHPrimitive> > primitives = new Dictionary <string, SortedList <float, POSHPrimitive> >();
foreach (MethodInfo method in methods)
{
POSHPrimitive prim = null;
// if we want to add actions
if (acts)
{
// include versioning of primitives at some later point
if (method.GetCustomAttributes(typeof(ExecutableAction), true).Length > 0)
{
prim = method.GetCustomAttributes(typeof(ExecutableAction), true).First() as ExecutableAction;
}
}
// if we want to add senses
else
if (method.GetCustomAttributes(typeof(ExecutableSense), true).Length > 0)
{
prim = method.GetCustomAttributes(typeof(ExecutableSense), true).First() as ExecutableSense;
}
// if there is a primitive we want we store it in a sorted list using the version number as a criteria for later retrieval
if (prim != null)
{
// linking the primitive to the method which it augments
prim.SetLinkedMethod(method.Name);
prim.SetOriginatingBhaviour(this);
if (primitives.ContainsKey(prim.command))
{
primitives[prim.command].Add(prim.version, prim);
}
else
{
SortedList <float, POSHPrimitive> list = new SortedList <float, POSHPrimitive>();
list[prim.version] = prim;
primitives[prim.command] = list;
}
}
}
return(primitives);
}
