// Updates the plan that solves the planning problem from the player's current state.
private void UpdatePlayerPlan( )
{
// Cache the old root
StateSpaceNode oldRoot = root;
// Update the root: if we've already computed it, get it, otherwise, expand (i.e. compute it).
if (frontier.ContainsKey(playerActionEdge) && !playerActionEdge.Action.Name.Equals("donothing"))
{
root = frontier[playerActionEdge] as StateSpaceNode;
}
else
{
frontierThread.Abort();
root = StateSpaceMediator.ExpandTree(planner, domain, problem, plan, state, playerActionEdge, 0);
}
// Set the root's parent.
root.parent = oldRoot;
// Cache the new root's properties.
problem = root.problem;
plan = root.plan;
state = root.state;
// Update the player model with the player's action and the resulting state predicates.
playerEnvironmentModel.UpdateModel(playerActionEdge.Action, state.Predicates);
// Let the mediator take its turn.
stateNeedsUpdate = true;
}
private void UpdatePlan()
{
if (frontier.ContainsKey(currentEdge))
{
//Debug.Log ("Cached");
StateSpaceNode oldRoot = root;
root = frontier[currentEdge] as StateSpaceNode;
root.parent = oldRoot;
problem = root.problem;
plan = root.plan;
state = root.state;
}
else
{
//Debug.Log ("Not Cached");
frontierThread.Abort();
StateSpaceNode oldRoot = root;
root = StateSpaceMediator.ExpandTree(domain, problem, plan, state, currentEdge, 0);
root.parent = oldRoot;
problem = root.problem;
plan = root.plan;
state = root.state;
}
needUpdate = true;
}
/// <summary>
/// Moves along the outgoing wait edge from the current node in mediation space.
/// </summary>
public static void Wait()
{
// Provide feedback to the player.
Console.Out.WriteLine();
Console.Out.WriteLine("Time passes...");
// Loop through the outgoing edges...
foreach (StateSpaceEdge edge in root.outgoing)
{
// Identify
if (edge.Action.Name.Equals("do-nothing"))
{
if (frontier.ContainsKey(edge))
{
root = frontier[edge] as StateSpaceNode;
domain = root.domain;
problem = root.problem;
plan = root.plan;
state = root.state;
}
else
{
root = StateSpaceMediator.ExpandTree(planner, domain, problem, plan, state, edge, 0);
domain = root.domain;
problem = root.problem;
plan = root.plan;
state = root.state;
}
}
}
Look();
}
// Expand the frontier.
private void ExpandFrontier( )
{
foreach (StateSpaceEdge edge in root.outgoing)
{
StateSpaceNode newNode = StateSpaceMediator.ExpandTree(planner, domain, problem, plan, state, edge, 0);
frontier.Add(edge, newNode);
}
}
public static void Unknown()
{
StateSpaceEdge matchingEdge = null;
foreach (StateSpaceEdge edge in root.outgoing)
{
if (command.Equals(edge.Action.Name) && arguments.Count == edge.Action.Arity)
{
bool match = true;
for (int i = 0; i < arguments.Count; i++)
{
if (!arguments[i].ToLower().Equals(edge.Action.Predicate.TermAt(i)))
{
if (!arguments[i].ToLower().Equals(edge.Action.TermAt(i)))
{
match = false;
}
}
}
if (match)
{
matchingEdge = edge;
}
}
}
if (matchingEdge != null)
{
root = StateSpaceMediator.ExpandTree(planner, domain, problem, plan, state, matchingEdge, 0);
problem = root.problem;
plan = root.plan;
state = root.state;
Console.Clear();
Look();
}
else
{
frontierThread.Abort();
Console.Out.WriteLine();
Random r = new Random();
Console.Out.WriteLine(responses[r.Next(0, responses.Length)]);
Console.Out.WriteLine("Try typing 'help'.");
}
}
public static void TwoArgs()
{
if (arguments.Count != 2)
{
Unknown();
return;
}
StateSpaceEdge matchingEdge = null;
foreach (StateSpaceEdge edge in root.outgoing)
{
if (edge.Action.Name.Count(x => x == '-') == 2)
{
if (edge.Action.Name.Contains('-'))
{
string[] split = edge.Action.Name.Split('-');
if (command.Equals(split[0]))
{
if (arguments[0].ToLower().Equals(edge.Action.TermAt(1)))
{
if (arguments[1].ToLower().Equals(edge.Action.TermAt(2)))
{
matchingEdge = edge;
}
}
}
}
else if (command.Equals(edge.Action.Name))
{
if (arguments[0].ToLower().Equals(edge.Action.TermAt(1)))
{
if (arguments[1].ToLower().Equals(edge.Action.TermAt(2)))
{
matchingEdge = edge;
}
}
}
}
}
if (matchingEdge != null)
{
if (frontier.ContainsKey(matchingEdge))
{
root = frontier[matchingEdge] as StateSpaceNode;
domain = root.domain;
problem = root.problem;
plan = root.plan;
state = root.state;
}
else
{
frontierThread.Abort();
root = StateSpaceMediator.ExpandTree(planner, domain, problem, plan, state, matchingEdge, 0);
domain = root.domain;
problem = root.problem;
plan = root.plan;
state = root.state;
}
Console.Clear();
Look();
}
else
{
Console.Out.WriteLine();
Random r = new Random();
Console.Out.WriteLine(responses[r.Next(0, responses.Length)]);
Console.Out.WriteLine("Try typing 'help'.");
}
}