protected override DecompositionStatus OnDecomposeSlot(IContext <StateType> ctx, Slot <StateType> task,
int taskIndex, int[] oldStackDepth, out Queue <ITask <StateType> > result)
{
var status = task.Decompose(ctx, 0, out var subPlan);
// If result is null, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:{status}: Decomposing {task.Name} was rejected.", ConsoleColor.Red);
}
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:{status}: Decomposing {task.Name} failed.", ConsoleColor.Red);
}
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
var p = subPlan.Dequeue();
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:Decomposing {task.Name}:Pushed {p.Name} to plan!", ConsoleColor.Blue);
}
Plan.Enqueue(p);
}
if (ctx.HasPausedPartialPlan)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:Return partial plan at index {taskIndex}!", ConsoleColor.DarkBlue);
}
if (taskIndex < Subtasks.Count - 1)
{
ctx.PartialPlanQueue.Enqueue(new PartialPlanEntry <StateType>()
{
Task = this,
TaskIndex = taskIndex + 1,
});
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:Succeeded!", ConsoleColor.Green);
}
return(DecompositionStatus.Succeeded);
}
protected abstract DecompositionStatus OnDecomposeSlot(IContext ctx, Slot task, int taskIndex, int[] oldStackDepth, out Queue <ITask> result);