private Planning.HighLevelProgramExecution.Program Trans(Planning.HighLevelProgramExecution.Program program)
{
Planning.HighLevelProgramExecution.Program remainingProgram;
if (program is Planning.HighLevelProgramExecution.Action)
{
remainingProgram = Planning.HighLevelProgramExecution.Program.EmptyProgram;
Planning.HighLevelProgramExecution.Action programAction =
(Planning.HighLevelProgramExecution.Action)program;
Action action = _actionDict[programAction.FullName];
SendMessage(action.FullName);
string responseName = ReceiveMessage();
Console.WriteLine("Receive response: {0}", responseName);
Response response = action.ResponseDict[responseName];
_mentalAttitude.Update(response);
}
else if (program is SequenceStructure)
{
SequenceStructure seq = ((SequenceStructure)program);
int i;
for (i = 0; i < seq.SubProgramLength - 1; i++)
{
if (!Final(seq.SubPrograms[i]))
{
break;
}
}
Planning.HighLevelProgramExecution.Program[] newRemainingProgramArray =
new Planning.HighLevelProgramExecution.Program[seq.SubProgramLength - i];
newRemainingProgramArray[0] = Trans(seq.SubPrograms[i]);
Parallel.For(1, newRemainingProgramArray.Length,
j => newRemainingProgramArray[j] = seq.SubPrograms[j + i]);
remainingProgram = new SequenceStructure(newRemainingProgramArray);
}
else if (program is ConditionalStructure)
{
ConditionalStructure cond = (ConditionalStructure)program;
remainingProgram = _mentalAttitude.Implies(cond.Condition)
? Trans(cond.SubProgram1)
: Trans(cond.SubProgram2);
}
else if (program is LoopStructure)
{
LoopStructure loop = (LoopStructure)program;
remainingProgram = _mentalAttitude.Implies(loop.Condition)
? new SequenceStructure(new[] { Trans(loop.SubProgram), program })
: null;
}
else
{
throw new PlanningException("Trans an empty program!");
}
return(remainingProgram);
}
public void ReceiveActions()
{
do
{
Client client = SelectAnClient();
if (client == null)
{
if (Completed != null)
{
Completed(this, null);
}
break;
}
Console.WriteLine("Select agent: {0}", client.AgentId);
client.SendMessage("action");
Action action = client.GetAction();
Response response = ObjectBase.GetActualResponse(action);
client.SendMessage(response.FullName);
string message = client.ReceiveMessage();
Console.WriteLine("receive message: {0}", message);
if (message == "quit")
{
Console.WriteLine("Agent {0} is terminated", client.AgentId);
client.IsTerminated = true;
if (AgentTerminated != null)
{
AgentTerminated(this, client.AgentId);
}
}
string agentName = client.AgentId;
Event e = ObjectBase.GetActualEvent(response);
foreach (var otherAgentName in _problem.AgentList)
{
if (otherAgentName != agentName)
{
Agent otherAgent = _problem.AgentDict[otherAgentName];
Client otherClient = _agentClientDict[otherAgentName];
if (!otherClient.IsTerminated)
{
foreach (var observation in otherAgent.ObservationList)
{
if (e.ObservationList.Any(obs => obs == observation))
{
CUDDNode objectBaseNode = ObjectBase.CurrentCuddNode;
CUDD.Ref(objectBaseNode);
CUDDNode obsPreNode = observation.Precondition;
CUDD.Ref(obsPreNode);
CUDDNode impliesNode = CUDD.Function.Implies(objectBaseNode, obsPreNode);
if (impliesNode.Equals(CUDD.ONE))
{
Console.WriteLine("Send observation {0} to agent {1}.", observation,
otherAgentName);
if (NewObservation != null)
{
NewObservation(this,
new Tuple <string, Observation>(otherAgentName, observation));
}
otherClient.SendMessage("observation");
otherClient.SendMessage(observation.FullName);
break;
}
}
}
}
}
}
ObjectBase.Update(e);
if (NewAction != null)
{
NewAction(this,
new Tuple <string, Action, Response, Event, IReadOnlyDictionary <string, bool> >(client.AgentId,
action, response, e, ObjectBase.PredBooleanMap));
//NewAction(this, new Tuple<IReadOnlyDictionary<string, bool>, Event>(ObjectBase.PredBooleanMap, e));
}
} while (true);
}
private void DrawMovingSquirrels(Graphics graphics, IReadOnlyDictionary <string, bool> predBooleanMap, Action action)
{
Image edgyImage = _edgyLastImage;
Image wallyImage = _wallyLastImage;
string actionFullName = action.FullName;
if (actionFullName == "Left(a1)")
{
edgyImage = _edgyLeftImage;
_edgyLastImage = edgyImage;
}
else if (actionFullName == "Right(a1)")
{
edgyImage = _edgyRightImage;
_edgyLastImage = edgyImage;
}
else if (actionFullName == "Left(a2)")
{
wallyImage = _wallyLeftImage;
_wallyLastImage = wallyImage;
}
else if (actionFullName == "Right(a2)")
{
wallyImage = _wallyRightImage;
_wallyLastImage = wallyImage;
}
DrawSquirrels(graphics, edgyImage, wallyImage, predBooleanMap);
}