public override bool ConsistentWith(Predicate p)
{
if (Name != p.Name)
{
return(true); //irrelvant predicate - no contradiction
}
if (p is ParametrizedPredicate)
{
//TODO
throw new NotImplementedException();
}
GroundedPredicate gp = (GroundedPredicate)p;
if (((List <Constant>)Constants).Count != ((List <Constant>)gp.Constants).Count)
{
return(true);
}
for (int i = 0; i < Constants.Count; i++)
{
if (!gp.Constants[i].Equals(Constants[i]))
{
return(true);//irrelvant predicate - no contradiction
}
}
return(Negation == p.Negation);
}
/**
* TODO: Not clear what this does. It looks like there's a bug here.
**/
private static void ShareGoals(List <Agent> agents)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
}
public override Predicate GenerateKnowGiven(string sTag, bool bKnowWhether)
{
GroundedPredicate pKGiven = null;
if (bKnowWhether)
{
pKGiven = new GroundedPredicate("KWGiven" + Name);
}
else
{
pKGiven = new GroundedPredicate("KGiven" + Name);
}
foreach (Constant c in Constants)
{
pKGiven.AddConstant(c);
}
pKGiven.AddConstant(new Constant(Domain.TAG, sTag));
if (!bKnowWhether)
{
if (Negation)
{
pKGiven.AddConstant(new Constant(Domain.VALUE, Domain.FALSE_VALUE));
}
else
{
pKGiven.AddConstant(new Constant(Domain.VALUE, Domain.TRUE_VALUE));
}
}
return(pKGiven);
}
public override int Similarity(Predicate p)
{
if (Negation != p.Negation)
{
//if (Name != p.Name || Negation != p.Negation)
return(0);
}
if (p is GroundedPredicate)
{
GroundedPredicate gpGrounded = (GroundedPredicate)p;
int iSimilarity = 0;
if (Name == p.Name)
{
for (int i = 0; i < Constants.Count; i++)
{
if (Constants[i].Equals(gpGrounded.Constants[i]))
{
iSimilarity++;
}
}
}
else
{
foreach (Constant c in Constants)
{
if (gpGrounded.Constants.Contains(c))
{
iSimilarity++;
}
}
}
return(iSimilarity);
}
return(0);
}
public GroundedPredicate Ground(Dictionary <string, Constant> dBindings)
{
GroundedPredicate gp = new GroundedPredicate("K" + Knowledge.Name);
if (Knowledge is ParametrizedPredicate)
{
foreach (Argument a in ((ParametrizedPredicate)Knowledge).Parameters)
{
if (a is Parameter)
{
if (dBindings.ContainsKey(a.Name))
{
gp.AddConstant(dBindings[a.Name]);
}
else
{
throw new NotImplementedException();
}
}
else
{
gp.AddConstant((Constant)a);
}
}
}
else
{
foreach (Constant c in ((GroundedPredicate)Knowledge).Constants)
{
gp.AddConstant(c);
}
}
return(gp);
}
public GroundedPredicate(string sName)
: base(sName)
{
//if (sName == Domain.FALSE_PREDICATE)
// Debug.WriteLine("Initialized a false predicate");
m_gpNegation = null;
Constants = new List <Constant>();
}
public Block(Block b)
{
observePredicate = b.observePredicate;
effect = b.effect;
canGet = new List <Formula>();
canGet.AddRange(b.canGet);
grade = b.grade;
}
public Block(GroundedPredicate observePredicate)
{
grade = 0;
canGet = new List <Formula>();
this.observePredicate = observePredicate;
//canGet = new CompoundFormula();
effect = new List <Action>();
}
public override Predicate Negate()
{
if (m_gpNegation == null)
{
m_gpNegation = new GroundedPredicate(this);
m_gpNegation.Negation = !Negation;
m_gpNegation.m_gpNegation = this;
}
return(m_gpNegation);
}
public RegressedPredicate(GroundedPredicate pCurrent, Predicate pNext, int iChoice)
: base(pCurrent)
{
Choice = iChoice;
if (pNext is RegressedPredicate)
{
Next = (RegressedPredicate)pNext;
}
else
{
Next = null;
}
}
public Predicate PartiallyGround(Dictionary <string, Constant> dBindings)
{
GroundedPredicate gpred = new GroundedPredicate(Name);
ParametrizedPredicate ppred = new ParametrizedPredicate(Name);
gpred.Negation = Negation;
ppred.Negation = Negation;
bool bAllGrounded = true;
foreach (Argument a in Parameters)
{
if (a is Parameter)
{
if (!dBindings.ContainsKey(a.Name))
{
ppred.AddParameter(a);
bAllGrounded = false;
}
else
{
ppred.AddParameter(dBindings[a.Name]);
gpred.AddConstant(dBindings[a.Name]);
}
}
else
{
gpred.AddConstant((Constant)a);
ppred.AddParameter(a);
}
}
if (bAllGrounded)
{
if (gpred.Name == "=")
{
bool bSame = gpred.Constants[0].Equals(gpred.Constants[1]);
if (bSame && !Negation || !bSame && Negation)
{
return(new GroundedPredicate(Domain.TRUE_PREDICATE));
}
else
{
return(new GroundedPredicate(Domain.FALSE_PREDICATE));
}
}
return(gpred);
}
else
{
return(ppred);
}
}
public override bool IsTrue(IEnumerable <Predicate> lKnown, bool bContainsNegations)
{
if (Predicate.Name == Domain.TRUE_PREDICATE)
{
return(true);
}
if (Predicate.Name == Domain.FALSE_PREDICATE)
{
return(false);
}
if (Predicate.Name == "=" && Predicate is GroundedPredicate)
{
GroundedPredicate gp = (GroundedPredicate)Predicate;
bool bIsSame = gp.Constants[0].Equals(gp.Constants[1]);
if (gp.Negation)
{
return(!bIsSame);
}
return(bIsSame);
}
if (lKnown != null)
{
if (bContainsNegations)
{
return(lKnown.Contains(Predicate));
}
else
{
Predicate pCheck = Predicate;
if (Predicate.Negation)
{
pCheck = Predicate.Negate();
}
bool bContained = lKnown.Contains(pCheck);
if (!bContained && Predicate.Negation)
{
return(true);
}
if (bContained && !Predicate.Negation)
{
return(true);
}
return(false);
}
}
return(false);
}
public override Formula Reduce(IEnumerable <Predicate> lKnown)
{
Predicate pReduced = Predicate;
if (lKnown.Contains(Predicate))
{
pReduced = new GroundedPredicate(Domain.TRUE_PREDICATE);
}
if (lKnown.Contains(Predicate.Negate()))
{
pReduced = new GroundedPredicate(Domain.FALSE_PREDICATE);
}
return(new PredicateFormula(pReduced));
}
public override Predicate GenerateGiven(string sTag)
{
GroundedPredicate pGiven = new GroundedPredicate("Given" + Name);
foreach (Constant c in Constants)
{
pGiven.AddConstant(c);
}
pGiven.AddConstant(new Constant(Domain.TAG, sTag));
if (Negation)
{
return(pGiven.Negate());
}
return(pGiven);
}
private GroundedPredicate ReadGroundedPredicate(CompoundExpression exp, Domain d)
{
GroundedPredicate gp = new GroundedPredicate(exp.Type);
int iExpression = 0;
Constant c = null;
string sName = "";
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
c = d.GetConstant(sName);
gp.AddConstant(c);
}
return(gp);
}
private Formula ReadPredicate(CompoundExpression exp, Dictionary <string, string> dParameterNameToType, bool bParametrized, Domain d)
{
Predicate p = null;
int iExpression = 0;
string sName = "";
if (bParametrized)
{
p = new ParametrizedPredicate(exp.Type);
}
else
{
p = new GroundedPredicate(exp.Type);
}
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
if (bParametrized)
{
Argument a = null;
if (sName.StartsWith("?"))
{
a = new Parameter(dParameterNameToType[sName], sName);
}
else
{
a = new Constant(d.ConstantNameToType[sName], sName);
}
((ParametrizedPredicate)p).AddParameter(a);
}
else
{
Constant c = new Constant(d.ConstantNameToType[sName], sName);
((GroundedPredicate)p).AddConstant(c);
}
}
if (bParametrized)
{
if (!MatchParametersToPredicateDeclaration((ParametrizedPredicate)p, d))
{
throw new NotImplementedException();
}
}
PredicateFormula vf = new PredicateFormula(p);
return(vf);
}
public override Predicate ToTag()
{
GroundedPredicate gpNew = new GroundedPredicate(this);
if (Negation)
{
gpNew.Name = gpNew.Name + "-Remove";
}
else
{
gpNew.Name = gpNew.Name + "-Add";
}
gpNew.Negation = false;
return(gpNew);
}
public void AddPrivatePredicate(GroundedPredicate gp, string name)
{
isPublic = false;
if (EncryptedLandmark[name] == null)
{
EncryptedLandmark[name] = new Landmark("Disjunctive", false);
EncryptedLandmark[name].AddFact(gp, "first_round");
EncryptedLandmark[name].index = index;
}
else
{
if (!EncryptedLandmark[name].facts.ContainsKey(gp))
{
EncryptedLandmark[name].AddFact(gp, "first_round");
}
}
}
//for MPSR
public static Predicate GenerateKNot(Constant cTag1, Constant cTag2)
{
GroundedPredicate gp = new GroundedPredicate("KNot");
int iTag1 = int.Parse(cTag1.Name.Substring(3));
int iTag2 = int.Parse(cTag2.Name.Substring(3));
if (iTag1 < iTag2)
{
gp.AddConstant(cTag1);
gp.AddConstant(cTag2);
}
else
{
gp.AddConstant(cTag2);
gp.AddConstant(cTag1);
}
return(gp);
}
private Predicate DisplayPredicate(Predicate p, Agent agent)
{
bool negation = false;
GroundedPredicate curr = (GroundedPredicate)p;
if (p.Negation)
{
negation = true;
curr = (GroundedPredicate)p.Negate();
}
Predicate display = agent.ArtificialToPrivate[curr];
if (negation)
{
display = display.Negate();
}
return(display);
}
public Dictionary <string, Constant> Match(GroundedPredicate pOther, Dictionary <string, Constant> dBindings)
{
if (pOther.Name != Name)
{
return(null);
}
if (pOther.Negation != Negation)
{
return(null);
}
if (pOther.Constants.Count != m_lParameters.Count)
{
return(null);
}
int i = 0;
Dictionary <string, Constant> dNewBindings = new Dictionary <string, Constant>();
for (i = 0; i < pOther.Constants.Count; i++)
{
Argument a = m_lParameters[i];
if (a is Constant)
{
if (pOther.Constants[i].Name != a.Name)
{
return(null);
}
}
else if (a is Parameter)
{
if (dBindings.ContainsKey(a.Name))
{
if (!pOther.Constants[i].Equals(dBindings[a.Name]))
{
return(null);
}
}
else
{
dNewBindings[a.Name] = pOther.Constants[i];
}
}
}
return(dNewBindings);
}
public void AddPublicPredicate(GroundedPredicate gp)
{
foreach (string ag in m_agents)
{
if (EncryptedLandmark[ag] == null)
{
EncryptedLandmark[ag] = new Landmark("Disjunctive", false);
EncryptedLandmark[ag].AddFact(gp, "first_round");
EncryptedLandmark[ag].index = index;
}
else
{
if (!EncryptedLandmark[ag].facts.ContainsKey(gp))
{
EncryptedLandmark[ag].AddFact(gp, "first_round");
}
}
}
}
public void AddPublicFact(GroundedPredicate gp, string s)
{
if (facts.Count == 0)
{
isPublic = true;
mix = false;
}
else
{
if (!isPublic)
{
mix = true;
}
}
if (!facts.ContainsKey(gp))
{
facts.Add(gp, s);
}
}
public override Formula Ground(Dictionary <string, Constant> dBindings)
{
if (Predicate is ParametrizedPredicate)
{
ParametrizedPredicate ppred = (ParametrizedPredicate)Predicate;
GroundedPredicate gpred = ppred.Ground(dBindings);
return(new PredicateFormula(gpred));
}
if (Predicate is KnowPredicate)
{
KnowPredicate kp = (KnowPredicate)Predicate;
GroundedPredicate gpred = kp.Ground(dBindings);
return(new PredicateFormula(gpred));
}
if (Predicate is KnowGivenPredicate)
{
throw new NotImplementedException();
}
return(this);
}
public KnowGivenPredicate(GroundedPredicate p, bool bValue, string sTag, bool bKnowWhether)
: base((bKnowWhether ? "KWGiven" : "KGiven") + p.Name)
{
KnowWhether = bKnowWhether;
Predicate = p;
Tag = sTag;
Value = bValue;
Constants = new List <Constant>(p.Constants);
Constants.Add(new Constant(Domain.TAG, Tag));
if (!bKnowWhether)
{
if (Value)
{
Constants.Add(new Constant(Domain.VALUE, Domain.TRUE_VALUE));
}
else
{
Constants.Add(new Constant(Domain.VALUE, Domain.FALSE_VALUE));
}
}
}
public override bool SameInvariant(Predicate p, Argument aInvariant)
{
if (Name != p.Name)
{
return(false);
}
if (p is GroundedPredicate)
{
GroundedPredicate gpGrounded = (GroundedPredicate)p;
for (int i = 0; i < Constants.Count; i++)
{
if (Constants[i].Equals(aInvariant) &&
!gpGrounded.Constants[i].Equals(aInvariant))
{
return(false);
}
}
return(true);
}
return(false);
}
private string GenerateKnowGivenLine(GroundedPredicate gp, string sTag, bool bKnowWhether)
{
string sKP = "";
if (bKnowWhether)
{
sKP = "(KWGiven" + gp.Name;
}
else
{
if (SDRPlanner.Translation == SDRPlanner.Translations.SDR)
{
sKP = "(KGiven" + gp.Name;
}
else
{
sKP = "(Given" + gp.Name;
}
}
foreach (Constant c in gp.Constants)
{
sKP += " " + c.Name;
}
sKP += " " + sTag;
if (SDRPlanner.Translation == SDRPlanner.Translations.SDR)
{
if (gp.Negation)
{
sKP += " " + Domain.FALSE_VALUE;
}
else
{
sKP += " " + Domain.TRUE_VALUE;
}
}
return(sKP + ")");
}
public virtual GroundedPredicate Ground(Dictionary <string, Constant> dBindings)
{
GroundedPredicate gpred = new GroundedPredicate(Name);
gpred.Negation = Negation;
foreach (Argument a in Parameters)
{
if (a is Parameter)
{
if (!dBindings.ContainsKey(a.Name))
{
return(null);
}
gpred.AddConstant(dBindings[a.Name]);
}
else
{
gpred.AddConstant((Constant)a);
}
}
return(gpred);
}
public static List <string> SolveFactored(List <Domain> lDomains, List <Problem> lProblems, ref List <Agent> m_agents, Domain joinDomain)
{
if (Program.highLevelPlanerType != Program.HighLevelPlanerType.ProjectionMafs)
{
Program.projectionVersion = Program.ProjectionVersion.NULL;
}
Program.Start = DateTime.Now;
pdbCreationTime = 0;
var lGroundedProblems = GroundProblems(lDomains, lProblems);
Program.internalPlaner = Program.PlanerType.ff_toActions;
BuildAgents_II buildAgents = new BuildAgents_II(lDomains, lGroundedProblems, lProblems);
List <Agent> agents = buildAgents.ReturnAgents();
GetPublicPredicates(agents);
List <string> lPlan = null;
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Projection)
{
Console.WriteLine("Planning");
ShareGoals(agents);
AdvancedLandmarkProjectionPlaner planner = new AdvancedLandmarkProjectionPlaner();
lPlan = planner.Plan(agents, lDomains, lProblems, joinDomain);
}
else
{
try
{
Program.StartHighLevelPlanning = DateTime.Now;
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Landmark)
{
Console.WriteLine("Identifying landmarks");
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
Planer_I Planner = new Planer_I(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.PDB)
{
DateTime startPdbCreation = DateTime.Now;
PdbPlaner.pdb = new PatternDatabase(lDomains, lProblems, agents, pdbPath);
pdbCreationTime = DateTime.Now.Subtract(startPdbCreation).TotalSeconds;
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
List <Landmark> PublicAndArtificialGoals = FindPublicAndArtificialGoals(agents);
PdbPlaner Planner = new PdbPlaner(agents, PublicAndArtificialGoals, PdbPlaner.pdb);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.ForwardHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
PlanerHsp Planner = new PlanerHsp(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.BackwardHsp)
{
bool stop = false;
List <GroundedPredicate> publishPublic = new List <GroundedPredicate>();
List <GroundedPredicate> nextPublishPublic = new List <GroundedPredicate>();
foreach (Agent a in agents)
{
publishPublic.AddRange(a.InitBackwardHspGraph());
}
bool outFlag = false;
while (!stop)
{
stop = true;
outFlag = false;
foreach (Agent agent in agents)
{
nextPublishPublic.AddRange(agent.UpdateBackwardHspGraph(publishPublic, out outFlag));
if (outFlag)
{
stop = false;
}
}
publishPublic = nextPublishPublic;
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
// agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents);
PlanerHspII Planner = new PlanerHspII(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.LandmarkAndHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerHspAndLandmarks Planner = new PlanerHspAndLandmarks(agents);
Console.WriteLine("Planning..");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.WeightedLandmarkAndHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerWeightedLandmarkAndHsp Planner = new PlanerWeightedLandmarkAndHsp(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.SophisticatedProjection)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
// agents = AdvancedLandmarkProjectionAgents.CreateProjAgents(agents, lDomains, lProblems);
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerHspAndLandmarks Planner = new PlanerHspAndLandmarks(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.PDBMafs)
{
MapsVertex.pdb = new PatternDatabase(lDomains, lProblems, agents, pdbPath);
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.Plan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.MafsLandmark)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.Plan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Mafsff)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.PreferableFFPlan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.ProjectionMafs)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.PreferablePlan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.DistrebutedProjectionMafs)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.DistrebutedPreferablePlan();
}
else
{
Console.WriteLine("highLevelPlanerType did not selected");
}
}
}
}
}
}
}
}
}
}
catch (Exception ex)
{
RunUtils.KillPlanners();
return(null);
}
}
Program.End = DateTime.Now;
RunUtils.KillPlanners();
m_agents = agents;
return(lPlan);
}
public void AddFact(GroundedPredicate gp, string s)
{
facts[gp] = s;
}