public void commitSolution(GoapState cState, string solutionMt, string nowMt, string backgroundMt)
{
prologEngine.markKBScratchpad(solutionMt);
planNode = cState;
// Modules/Actions are in reverse order from now to goal so flip them
cState.modList.Reverse();
// Make final connections
if (backgroundMt != null)
{
prologEngine.connectMT(solutionMt, backgroundMt);
}
foreach (string moduleMt in cState.modList)
{
prologEngine.connectMT(solutionMt, moduleMt);
}
// Post stats and planner state
string postScript = "";
postScript += String.Format("g({0}).\n", cState.costSoFar());
postScript += String.Format("h({0}).\n", cState.distToGoal());
postScript += String.Format("f({0}).\n", cState.costSoFar() + cState.distToGoal() * problemWorstCost);
postScript += String.Format("worst({0}).\n", problemWorstCost);
postScript += String.Format("openedNodes({0}).\n", openSet.Count);
postScript += String.Format("closedNodes({0}).\n", closedSet.Count);
postScript += String.Format("totalNodes({0}).\n", openSet.Count + closedSet.Count);
if (cState.distToGoal() == 0)
{
postScript += "planstate(solved).\n";
}
else
{
postScript += "planstate(unsolved).\n";
}
prologEngine.appendKB(postScript, solutionMt);
// post the modules used
string modString = "";
if (cState.modList.Count > 0)
{
foreach (string m in cState.modList)
{
modString += m + " ";
}
prologEngine.appendListPredToMt("modlist", modString, solutionMt);
}
else
{
prologEngine.appendKB("modlist([]).\n", solutionMt);
}
string planSequence = "";
int planCount = 0;
if (cState.modList.Count > 0)
{
foreach (string m in cState.modList)
{
planSequence += String.Format("planraw({0}).\n", m);
}
foreach (string m in cState.modList)
{
planSequence += String.Format("planseq({0},{1}).\n", planCount, m);
planCount++;
}
prologEngine.appendKB(planSequence, solutionMt);
}
else
{
prologEngine.appendKB("planraw(nop).\n planseq(0,nop).\n", solutionMt);
}
//post anything missing.
if (cState.missingList.Count > 0)
{
string missingString = "";
foreach (string m in cState.missingList)
{
missingString += " " + m;
}
prologEngine.appendListPredToMt("missing", missingString, solutionMt);
}
else
{
prologEngine.appendKB("missing([]).\n", solutionMt);
}
tickEnd = Environment.TickCount;
int elapsed = tickEnd - tickBegin;
int totalNodes = openSet.Count + closedSet.Count;
SIProlog.ConsoleWriteLine("Planning time = {0}", elapsed);
SIProlog.ConsoleWriteLine("Planning list = '{0}'", modString);
SIProlog.ConsoleWriteLine("Planning tials = {0}", trials);
SIProlog.ConsoleWriteLine("TotalNodes = {0}", totalNodes);
if (trials > 0)
{
SIProlog.ConsoleWriteLine("Planning ms/trials = {0}", ((double)elapsed / (double)trials));
}
if (totalNodes > 0)
{
double mspn = ((double)elapsed / (double)totalNodes);
SIProlog.ConsoleWriteLine("Planning ms/nodes = {0}", mspn);
if (mspn > 0)
{
SIProlog.ConsoleWriteLine("Planning @ nodes/sec = {0}", 1000 / mspn);
}
}
if (elapsed > 0)
{
SIProlog.ConsoleWriteLine("Planning trials/ms = {0}", ((double)trials / (double)elapsed));
SIProlog.ConsoleWriteLine("Planning nodes/ms = {0}", ((double)totalNodes / (double)elapsed));
}
SIProlog.ConsoleWriteLine(postScript);
prologEngine.markKBNonScratchPad(solutionMt);
}
public void commitSolution(CemaState cState, string solutionMt, string problemMt)
{
planNode = cState;
// Post stats and planner state
string postScript = "";
postScript += String.Format("g({0}).\n", cState.costSoFar());
postScript += String.Format("h({0}).\n", cState.distToGoal());
postScript += String.Format("f({0}).\n", cState.costSoFar() + cState.distToGoal() * problemWorstCost);
postScript += String.Format("worst({0}).\n", problemWorstCost);
postScript += String.Format("openedNodes({0}).\n", openSet.Count);
postScript += String.Format("closedNodes({0}).\n", closedSet.Count);
postScript += String.Format("totalNodes({0}).\n", openSet.Count + closedSet.Count);
if (cState.distToGoal() == 0)
{
postScript += "planstate(solved).\n";
}
else
{
postScript += "planstate(unsolved).\n";
}
prologEngine.appendKB(postScript, solutionMt);
// post the modules used
string modString = "";
if (cState.modList.Count > 0)
{
foreach (string m in cState.modList)
{
modString += " " + m;
}
prologEngine.appendListPredToMt("modlist", modString, solutionMt);
}
else
{
prologEngine.appendKB("modlist([]).\n", solutionMt);
}
//post anything missing.
if (cState.missingList.Count > 0)
{
string missingString = "";
foreach (string m in cState.missingList)
{
missingString += " " + m;
}
prologEngine.appendListPredToMt("missing", missingString, solutionMt);
}
else
{
prologEngine.appendKB("missing([]).\n", solutionMt);
}
tickEnd = Environment.TickCount;
int elapsed = tickEnd - tickBegin;
int totalNodes = openSet.Count + closedSet.Count;
SIProlog.ConsoleWriteLine("Inventing time = {0}", elapsed);
SIProlog.ConsoleWriteLine("Inventing list = {0}", modString);
SIProlog.ConsoleWriteLine("Inventing tials = {0}", trials);
SIProlog.ConsoleWriteLine("TotalNodes = {0}", totalNodes);
if (trials > 0)
{
SIProlog.ConsoleWriteLine("Inventing ms/trials = {0}", ((double)elapsed / (double)trials));
}
if (totalNodes > 0)
{
double mspn = ((double)elapsed / (double)totalNodes);
SIProlog.ConsoleWriteLine("Inventing ms/nodes = {0}", mspn);
if (mspn > 0)
{
SIProlog.ConsoleWriteLine("Inventing @ nodes/sec = {0}", 1000 / mspn);
}
}
if (elapsed > 0)
{
SIProlog.ConsoleWriteLine("Inventing trials/ms = {0}", ((double)trials / (double)elapsed));
SIProlog.ConsoleWriteLine("Inventing nodes/ms = {0}", ((double)totalNodes / (double)elapsed));
}
SIProlog.ConsoleWriteLine(postScript);
}
