private void btnRunSingleAgentPlan_Click(object sender, EventArgs e)
{
// Active agent
Constant activeAgent = (Constant)cbActiveAgents.SelectedItem;
// Active goals
List <Predicate> activeGoals = new List <Predicate>();
for (int i = 0; i < clbActiveGoals.Items.Count; i++)
{
if (clbActiveGoals.GetItemChecked(i))
{
activeGoals.Add((Predicate)clbActiveGoals.Items[i]);
}
}
// Required Actions to be preformed
List <Action> reqCollabActions = new List <Action>();
for (int i = 0; i < clbActiveJointActions.Items.Count; i++)
{
if (clbActiveJointActions.GetItemChecked(i))
{
reqCollabActions.Add((Action)clbActiveJointActions.Items[i]);
}
}
// Active Prev achieved goals
List <KeyValuePair <Predicate, int> > prevAchievedGoals = new List <KeyValuePair <Predicate, int> >();
for (int i = 0; i < clbPrevGoalTime.Items.Count; i++)
{
if (clbPrevGoalTime.GetItemChecked(i))
{
prevAchievedGoals.Add((KeyValuePair <Predicate, int>)clbPrevGoalTime.Items[i]);
}
}
Domain reducedDomain = Parser.ParseDomain(m_DomainPath, m_AgentCallsign);
Problem reducedProblem = Parser.ParseProblem(m_ProblemPath, reducedDomain);
string sPath = Directory.GetParent(reducedDomain.Path).FullName + "\\";
SingleAgentSDRPlanner m_saSDRPlanner = new SingleAgentSDRPlanner(reducedDomain,
reducedProblem,
(SDRPlanner.Planners)cbPlanner.SelectedItem);
PlanResult planResult = m_saSDRPlanner.Plan(activeAgent, activeGoals, prevAchievedGoals, reqCollabActions);
ConditionalPlanTreeNode root = planResult.Plan;
PlanDetails pd = root.ScanDetails(reducedDomain, reducedProblem);
pd.PlanningTime = planResult.PlanningTime;
pd.Valid = planResult.Valid;
pd.ActiveAgent = activeAgent;
AddResult(pd);
}
public PlanResult Plan(Constant activeAgent, List <Predicate> activeGoals,
List <KeyValuePair <Predicate, int> > goalsCompletionTime,
List <Action> reqActions)
{
m_AgentDomain = Parser.ParseDomain(m_GeneralDomain.FilePath, m_GeneralDomain.AgentCallsign);
m_AgentProblem = Parser.ParseProblem(m_GeneralProblem.FilePath, m_AgentDomain);
m_ActiveAgent = activeAgent;
m_ActiveGoals = m_AgentProblem.GetGoals();
m_GoalsCompletionTime = goalsCompletionTime;
m_ReqCollabActions = reqActions;
DateTime start = DateTime.Now;
AddNoopAction();
AddTimeConstraints();
List <Action> extractedActions;
AddCollabActionReq(out extractedActions);
ConvertToSingleAgentProblem();
AddPrevCompletionOfGoals();
SetGoals();
//Reasoning not working for button pushing domain
AddReasoningActions();
//AddCosts();
SDRPlanner sdrPlanner = new SDRPlanner(m_AgentDomain, m_AgentProblem, m_planner);
string s1 = m_AgentDomain.ToString();
string s2 = m_AgentProblem.ToString();
ConditionalPlanTreeNode Plan = sdrPlanner.OfflinePlanning();
string s = m_AgentDomain.ToString();
bool Valid = sdrPlanner.Valid;
// Return extracted actions to domain
foreach (var action in extractedActions)
{
m_AgentDomain.Actions.Add(action);
}
TimeSpan PlanningTime = DateTime.Now - start;
PlanResult result = new PlanResult(activeAgent, Plan, PlanningTime, Valid,
goalsCompletionTime, reqActions,
m_AgentDomain, m_AgentProblem,
m_GeneralDomain, m_GeneralProblem);
// Write plan to file
string path = Path.GetDirectoryName(m_AgentDomain.FilePath) + "\\plan_" + m_ActiveAgent.Name + ".txt";
File.WriteAllText(path, PlanTreePrinter.Print(result.Plan));
return(result);
}
private void AddResult(Constant agent, ConditionalPlanTreeNode plan, PlanDetails pd, TimeSpan planningTime, Boolean valid)
{
string planAsText = PlanTreePrinter.Print(plan);
ucExecuteResults er = new ucExecuteResults(agent, planAsText, pd, planningTime, valid);
er.SelectedGoalAchievementTime += Er_SelectedGoalAchievementTime;
er.CloseTab += Er_CloseTab;
er.AddtoFinal += Er_AddtoFinal;
TabPage tp = new TabPage();
tp.Text = "agent " + agent.ToString();
tp.Controls.Add(er);
tcResults.TabPages.Add(tp);
}
public PlanResult(Constant agent, ConditionalPlanTreeNode plan, TimeSpan planningTime, bool valid,
List <KeyValuePair <Predicate, int> > goalsCompletionTime, List <Action> reqActions, Domain d, Problem p,
Domain general_d, Problem general_p)
{
m_planningAgent = agent;
Plan = plan;
PlanningTime = planningTime;
Valid = valid;
m_agentDomain = d;
m_agentProblem = p;
m_generalDomain = general_d;
m_generalProblem = general_p;
// The plan generated under the following variables..
this.goalsCompletionTime = goalsCompletionTime;
this.reqActions = reqActions;
}
public void TestPrint2()
{
ConditionalPlanTreeNode cptn1 = new ConditionalPlanTreeNode();
Assert.AreEqual(PlanTreePrinter.Print(cptn1), "");
}