public void PlayMove()
{
while (finalPlan.Count > 0)
{
PrimitiveTask nextAction = finalPlan.Pop();
if (nextAction.PrimitiveConditionsMet(game.GetCurrentState()))
{
nextAction.executeTask(this);
}
else
{
plan(game.GetCurrentState());
break;
}
}
plan(game.GetCurrentState());
}
public void plan(GameController.WorldState currentWorldState)
{
finalPlan = new Stack <PrimitiveTask>();
Stack <PlannerState> decompHistory = new Stack <PlannerState>();
GameController.WorldState WorkingWS = currentWorldState.Copy();
tasksToProcess.Push(new PlayGame());
while (tasksToProcess.Count > 0)
{
Task CurrentTask = tasksToProcess.Pop();
if (CurrentTask.GetType().IsSubclassOf(typeof(CompoundTask)))
{
CompoundTask CurrentCompoundTask = (CompoundTask)CurrentTask;
Method SatisfiedMethod = CurrentCompoundTask.FindSatisfiedMethod(WorkingWS);
if (SatisfiedMethod != null)
{
//PlannerState currentState = new PlannerState(CurrentCompoundTask, finalPlan, tasksToProcess, SatisfiedMethod);
// decompHistory.Push(currentState);
SatisfiedMethod.subTasks.Reverse();
foreach (Task t in SatisfiedMethod.subTasks)
{
tasksToProcess.Push(t);
}
SatisfiedMethod.subTasks.Reverse();
}
else if (decompHistory.Count > 0)
{
//RestoreToLastDecomposedTask():
PlannerState lastState = decompHistory.Pop();
CompoundTask lastCompoundTask = lastState.currentTask;
finalPlan = lastState.finalPlan;
tasksToProcess = lastState.tasksToProcess;
// Remove the failed method and return CompoundTask to the stack. On the next iteration, it will be checked again for a valid method.
lastCompoundTask.InvalidateMethod(lastState.currentMethod);
tasksToProcess.Push(lastCompoundTask);
}
}
else//Primitive Task
{
PrimitiveTask CurrentPrimitiveTask = (PrimitiveTask)CurrentTask;
if (CurrentPrimitiveTask.PrimitiveConditionsMet(WorkingWS))
{
// CurrentPrimitiveTask.ApplyEffects(this, WorkingWS);
// Add this PrimitiveTask to the bottom of the finalPlan
Stack <PrimitiveTask> temp = new Stack <PrimitiveTask>();
for (int i = 0; i < finalPlan.Count; i++)
{
PrimitiveTask nextTask = finalPlan.Pop();
temp.Push(nextTask);
}
temp.Push(CurrentPrimitiveTask);
finalPlan = new Stack <PrimitiveTask>();
for (int i = 0; i < temp.Count; i++)
{
PrimitiveTask nextTask = temp.Pop();
finalPlan.Push(nextTask);
}
}
else if (decompHistory.Count > 0)
{
//RestoreToLastDecomposedTask();
PlannerState lastState = decompHistory.Pop();
CompoundTask lastCompoundTask = lastState.currentTask;
finalPlan = lastState.finalPlan;
tasksToProcess = lastState.tasksToProcess;
// Remove the failed method and return CompoundTask to the stack. On the next iteration, it will be checked again for a valid method.
lastCompoundTask.InvalidateMethod(lastState.currentMethod);
tasksToProcess.Push(lastCompoundTask);
}
}
}
}
