/// <summary>
/// Decomposes and schedules the transition between current state and target state.
/// </summary>
public List<HTNTaskSet> DecomposeTaskSet(
ResourceProfileSet resourceProfileSet,
SpecificationKnowledge specificationKnowledge,
ComplexHTNPlanner htnPlanner,
HTNState currentHTNState,
HTNState targetHTNState)
{
List<List<HTNTaskSet>> allNewDecomposedTaskSetList = new List<List<HTNTaskSet>>();
HTNState currentState = currentHTNState;
int longestSize = 1;
// Start to decompose
foreach (string taskID in TaskIDList)
{
// If the task needs to be decomposed, decompose it
if (!specificationKnowledge.IsTaskAPrimitive(taskID))
{
HTNMethod method = htnPlanner.FindASuitableMethodOrOperator(taskID, currentState);
HTNTaskNetwork decomposedTaskNetwork = specificationKnowledge.GetTaskNetwork(method.TaskNetworkID);
int constraintsCount = decomposedTaskNetwork.Constraints.Count;
Random random = new Random();
int selectedConstraint = random.Next(0, constraintsCount);
HTNTaskNetworkConstraints htnTaskNetworkConstraints
= decomposedTaskNetwork.Constraints.ElementAt(selectedConstraint).Value;
List<HTNTaskSet> decomposedTaskSetList = htnTaskNetworkConstraints.HTNTaskConstraints;
if (decomposedTaskSetList.Count > longestSize)
{
longestSize = decomposedTaskSetList.Count;
}
string resourceID = TaskExecutors[taskID];
foreach (HTNTaskSet decomposedHTNTask in decomposedTaskSetList)
{
foreach (string subTaskID in decomposedHTNTask.TaskIDList)
{
decomposedHTNTask.TaskExecutors.Add(subTaskID, resourceID);
}
}
allNewDecomposedTaskSetList.Add(decomposedTaskSetList);
}
// The task is primitive so does not need to be decomposed further
else
{
List<HTNTaskSet> decomposedTaskSetList = new List<HTNTaskSet>();
HTNTaskSet htnTaskSet = new HTNTaskSet();
string resourceID = TaskExecutors[taskID];
htnTaskSet.TaskExecutors.Add(taskID, resourceID);
htnTaskSet.TaskIDList.Add(taskID);
decomposedTaskSetList.Add(htnTaskSet);
allNewDecomposedTaskSetList.Add(decomposedTaskSetList);
}
}
// end of decomposing
// Schedule all tasks into a single list of task sets
List<HTNTaskSet> mergeredHTNSetList = new List<HTNTaskSet>();
for (int i = 0; i < longestSize; i++)
{
HTNTaskSet newlyMergeredHTNTaskSet = new HTNTaskSet();
foreach (List<HTNTaskSet> htnTaskSetList in allNewDecomposedTaskSetList)
{
if (htnTaskSetList.Count > i)
{
foreach (string taskID in htnTaskSetList[i].TaskIDList)
{
string resourceID = htnTaskSetList[i].TaskExecutors[taskID];
newlyMergeredHTNTaskSet.TaskExecutors.Add(taskID, resourceID);
newlyMergeredHTNTaskSet.AddTaskID(taskID);
}
}
}
mergeredHTNSetList.Add(newlyMergeredHTNTaskSet);
}
return mergeredHTNSetList;
}
