public Dictionary <int, List <Formula> > ScanEffects(Dictionary <int, List <Formula> > CollectedEffects)
{
if (Action != null)
{
int time = Action.GetTime();
Formula currEffects = Action.Effects;
if (!CollectedEffects.ContainsKey(time))
{
CollectedEffects.Add(time, new List <Formula>());
}
CollectedEffects[time].Add(currEffects);
}
if (SingleChild != null)
{
SingleChild.ScanEffects(CollectedEffects);
}
if (FalseObservationChild != null)
{
FalseObservationChild.ScanEffects(CollectedEffects);
}
if (TrueObservationChild != null)
{
TrueObservationChild.ScanEffects(CollectedEffects);
}
return(CollectedEffects);
}
public bool ValidatePlan(PartiallySpecifiedState pssCurrent)
{
if (pssCurrent == null)
{
return(false);
}
if (pssCurrent.IsGoalState())
{
return(true);
}
if (Action == null)
{
return(false);
}
Formula fObserved = null;
PartiallySpecifiedState psTrueState, psFalseState;
pssCurrent.ApplyOffline(Action, out fObserved, out psTrueState, out psFalseState);
if (Action.Observe == null)
{
return(SingleChild.ValidatePlan(psTrueState));
}
bool bTrueOk = TrueObservationChild.ValidatePlan(psTrueState);
bool bFalseOk = FalseObservationChild.ValidatePlan(psFalseState);
return(bTrueOk && bFalseOk);
}
private List <IMAP.Action> ScanEffectsForConst(Predicate goal)
{
List <IMAP.Action> ans = new List <IMAP.Action>();
if (Action != null)
{
string actionName = Action.Name.Split('_')[0];
if (!actionName.StartsWith("wait-goal"))
{
if (Action.Effects != null)
{
Formula fEffects = Action.Effects;
if (fEffects is CompoundFormula)
{
CompoundFormula cf = (CompoundFormula)fEffects;
foreach (Formula formula in cf.Operands)
{
if (formula is PredicateFormula)
{
PredicateFormula pf = (PredicateFormula)formula;
if (pf.Predicate.ToString() == goal.ToString())
{
ans.Add(Action);
}
}
}
}
else if (fEffects is PredicateFormula)
{
PredicateFormula pf = (PredicateFormula)fEffects;
if (pf.Predicate.ToString() == goal.ToString())
{
ans.Add(Action);
}
}
else
{
throw new Exception();
}
}
}
}
if (SingleChild != null)
{
ans.AddRange(SingleChild.ScanEffectsForConst(goal));
}
if (FalseObservationChild != null)
{
ans.AddRange(FalseObservationChild.ScanEffectsForConst(goal));
}
if (TrueObservationChild != null)
{
ans.AddRange(TrueObservationChild.ScanEffectsForConst(goal));
}
return(ans);
}
public void GetActionUsed(ref List <Action> usedActions)
{
if (Action != null)
{
usedActions.Add(Action);
}
if (SingleChild != null)
{
SingleChild.GetActionUsed(ref usedActions);
}
if (FalseObservationChild != null)
{
FalseObservationChild.GetActionUsed(ref usedActions);
}
if (TrueObservationChild != null)
{
TrueObservationChild.GetActionUsed(ref usedActions);
}
}
private string ToString(string sIndent)
{
if (Action == null)
{
return("");
}
string s = sIndent + ID + ") " + Action.Name + "\n";
if (SingleChild != null)
{
s += SingleChild.ToString(sIndent);
}
else
{
s += FalseObservationChild.ToString(sIndent + "\t");
s += "\n";
s += TrueObservationChild.ToString(sIndent + "\t");
}
return(s);
}
private string ToString(string sIndent, HashSet <int> lHistory)
{
if (lHistory.Contains(ID))
{
return(")connect to " + ID);
}
//HashSet<int> lNewHistory = new HashSet<int>(lHistory);
lHistory.Add(ID);
if (Action == null)
{
return(")goal");
}
string s = sIndent + ID + ") " + Action.Name + "\n";
if (SingleChild != null)
{
s += SingleChild.ToString(sIndent, lHistory);
}
else
{
s += "branching...\n";
if (FalseObservationChild != null)
{
s += FalseObservationChild.ToString(sIndent + "\t", lHistory);
}
else
{
s += "Can't be false";
}
s += "\n";
if (TrueObservationChild != null)
{
s += TrueObservationChild.ToString(sIndent + "\t", lHistory);
}
else
{
s += "Can't be true";
}
}
return(s);
}
public int MaxOperatingTime()
{
int maxTime = 0;
if (Action != null)
{
int time = Action.GetTime();
if (maxTime < time)
{
maxTime = time;
}
}
if (SingleChild != null)
{
int time = SingleChild.MaxOperatingTime();
if (maxTime < time)
{
maxTime = time;
}
}
if (FalseObservationChild != null)
{
int time = FalseObservationChild.MaxOperatingTime();
if (maxTime < time)
{
maxTime = time;
}
}
if (TrueObservationChild != null)
{
int time = TrueObservationChild.MaxOperatingTime();
if (maxTime < time)
{
maxTime = time;
}
}
return(maxTime);
}
public void ScanLeafDepth(ref List <int> leafsDepth)
{
if (SingleChild != null)
{
if (SingleChild.Action == null)
{
leafsDepth.Add(Action.GetTime());
}
else
{
SingleChild.ScanLeafDepth(ref leafsDepth);
}
}
if (FalseObservationChild != null)
{
if (FalseObservationChild.Action == null)
{
leafsDepth.Add(Action.GetTime());
}
else
{
FalseObservationChild.ScanLeafDepth(ref leafsDepth);
}
}
if (TrueObservationChild != null)
{
if (TrueObservationChild.Action == null)
{
leafsDepth.Add(Action.GetTime());
}
else
{
TrueObservationChild.ScanLeafDepth(ref leafsDepth);
}
}
}
private Dictionary <Action, int> CollectJointActionsWithTime(List <string> jointActions)
{
Dictionary <Action, int> ans = new Dictionary <Action, int>();
if (Action != null)
{
foreach (var action in jointActions)
{
if (Action.Name.StartsWith(action))
{
if (!ans.ContainsKey(Action))
{
ans.Add(Action, Action.GetTime());
}
if (ans[Action] > Action.GetTime())
{
ans[Action] = Action.GetTime();
}
}
}
}
if (SingleChild != null)
{
foreach (var item in SingleChild.CollectJointActionsWithTime(jointActions))
{
if (!ans.ContainsKey(item.Key))
{
ans.Add(item.Key, item.Value);
}
if (ans[item.Key] > item.Value)
{
ans[item.Key] = item.Value;
}
}
}
if (FalseObservationChild != null)
{
foreach (var item in FalseObservationChild.CollectJointActionsWithTime(jointActions))
{
if (!ans.ContainsKey(item.Key))
{
ans.Add(item.Key, item.Value);
}
if (ans[item.Key] > item.Value)
{
ans[item.Key] = item.Value;
}
}
}
if (TrueObservationChild != null)
{
foreach (var item in TrueObservationChild.CollectJointActionsWithTime(jointActions))
{
if (!ans.ContainsKey(item.Key))
{
ans.Add(item.Key, item.Value);
}
if (ans[item.Key] > item.Value)
{
ans[item.Key] = item.Value;
}
}
}
return(ans);
}
