public void Add(ICompoundTask parent, Slot slot)
{
if (parent == slot)
{
throw new Exception("Parent-task and Sub-task can't be the same instance!");
}
if (_slots != null)
{
if (_slots.ContainsKey(slot.SlotId))
{
throw new Exception("This slot id already exist in the domain definition!");
}
}
parent.AddSubtask(slot);
slot.Parent = parent;
if (_slots == null)
{
_slots = new Dictionary <int, Slot>();
}
_slots.Add(slot.SlotId, slot);
}
// ========================================================= HIERARCHY HANDLING
public void Add(ICompoundTask<StateType> parent, ITask<StateType> subtask)
{
if (parent == subtask)
throw new Exception("Parent-task and Sub-task can't be the same instance!");
parent.AddSubtask(subtask);
subtask.Parent = parent;
}
// ========================================================= SET / REMOVE
public bool Set(ICompoundTask subtask)
{
if (Subtask != null)
{
return(false);
}
Subtask = subtask;
return(true);
}
public SimulationCompoundsSelectionPresenter(ISimulationCompoundsSelectionView view, IBuildingBlockRepository buildingBlockRepository,
IBuildingBlockInSimulationManager buildingBlockInSimulationManager, ICompoundTask compoundTask, IBuildingBlockSelectionDisplayer buildingBlockSelectionDisplayer)
: base(view)
{
_buildingBlockRepository = buildingBlockRepository;
_buildingBlockInSimulationManager = buildingBlockInSimulationManager;
_compoundTask = compoundTask;
_buildingBlockSelectionDisplayer = buildingBlockSelectionDisplayer;
_compoundSelectionDTOs = new NotifyList <CompoundSelectionDTO>();
_view.BindTo(_compoundSelectionDTOs);
_compoundSelectionDTOs.CollectionChanged += onCollectionChanged;
}
protected override DecompositionStatus OnDecomposeCompoundTask(IContext ctx, ICompoundTask task, int taskIndex,
int[] oldStackDepth, out Queue <ITask> result)
{
// We need to record the task index before we decompose the task,
// so that the traversal record is set up in the right order.
ctx.MethodTraversalRecord.Add(taskIndex);
if (ctx.DebugMTR)
{
ctx.MTRDebug.Add(task.Name);
}
var status = task.Decompose(ctx, 0, out var subPlan);
// If status is rejected, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
// Remove the taskIndex if it failed to decompose.
ctx.MethodTraversalRecord.RemoveAt(ctx.MethodTraversalRecord.Count - 1);
if (ctx.DebugMTR)
{
ctx.MTRDebug.RemoveAt(ctx.MTRDebug.Count - 1);
}
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
Plan.Enqueue(subPlan.Dequeue());
}
if (ctx.HasPausedPartialPlan)
{
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
return(DecompositionStatus.Succeeded);
}
protected override DecompositionStatus OnDecomposeCompoundTask(IContext ctx, ICompoundTask task,
int taskIndex, int[] oldStackDepth, out Queue <ITask> 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)
{
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
Plan.Enqueue(subPlan.Dequeue());
}
if (ctx.HasPausedPartialPlan)
{
if (taskIndex < Subtasks.Count - 1)
{
ctx.PartialPlanQueue.Enqueue(new PartialPlanEntry()
{
Task = this,
TaskIndex = taskIndex + 1,
});
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
return(DecompositionStatus.Succeeded);
}
protected override void Context()
{
_compoundTask = A.Fake <ICompoundTask>();
_view = A.Fake <ISimulationCompoundsSelectionView>();
_buildingBlockRepository = A.Fake <IBuildingBlockRepository>();
_buildingBlockInSimulationManager = A.Fake <IBuildingBlockInSimulationManager>();
_buildingBlockSelectionDisplayer = A.Fake <IBuildingBlockSelectionDisplayer>();
A.CallTo(() => _buildingBlockRepository.All <Compound>()).Returns(_allCompoundTemplates);
A.CallTo(() => _view.BindTo(A <NotifyList <CompoundSelectionDTO> > ._))
.Invokes(x => _compoundDTOList = x.GetArgument <NotifyList <CompoundSelectionDTO> >(0));
sut = new SimulationCompoundsSelectionPresenter(_view, _buildingBlockRepository, _buildingBlockInSimulationManager, _compoundTask, _buildingBlockSelectionDisplayer);
sut.Initialize();
CompoundSelectionDTOFor(_compound1).Selected = true;
}
protected override DecompositionStatus OnDecomposeCompoundTask(IContext ctx, ICompoundTask task, int taskIndex,
int[] oldStackDepth, out Queue <ITask> result)
{
// We need to record the task index before we decompose the task,
// so that the traversal record is set up in the right order.
ctx.MethodTraversalRecord.Add(taskIndex);
if (ctx.DebugMTR)
{
ctx.MTRDebug.Add(task.Name);
}
var status = task.Decompose(ctx, 0, out var subPlan);
// If status is rejected, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeCompoundTask:{status}: Decomposing {task.Name} was rejected.", ConsoleColor.Red);
}
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
// Remove the taskIndex if it failed to decompose.
ctx.MethodTraversalRecord.RemoveAt(ctx.MethodTraversalRecord.Count - 1);
if (ctx.DebugMTR)
{
ctx.MTRDebug.RemoveAt(ctx.MTRDebug.Count - 1);
}
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeCompoundTask:{status}: Decomposing {task.Name} failed.", ConsoleColor.Red);
}
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
var p = subPlan.Dequeue();
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeCompoundTask:Decomposing {task.Name}:Pushed {p.Name} to plan!", ConsoleColor.Blue);
}
Plan.Enqueue(p);
}
if (ctx.HasPausedPartialPlan)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeCompoundTask:Return partial plan at index {taskIndex}!", ConsoleColor.DarkBlue);
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
var s = result.Count == 0 ? DecompositionStatus.Failed : DecompositionStatus.Succeeded;
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeCompoundTask:{s}!", s == DecompositionStatus.Succeeded ? ConsoleColor.Green : ConsoleColor.Red);
}
return(s);
}
protected override DecompositionStatus OnDecomposeCompoundTask(IContext ctx, ICompoundTask task,
int taskIndex, int[] oldStackDepth, out Queue <ITask> 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.OnDecomposeCompoundTask:{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.OnDecomposeCompoundTask:{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.OnDecomposeCompoundTask:Decomposing {task.Name}:Pushed {p.Name} to plan!", ConsoleColor.Blue);
}
Plan.Enqueue(p);
}
if (ctx.HasPausedPartialPlan)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeCompoundTask:Return partial plan at index {taskIndex}!", ConsoleColor.DarkBlue);
}
if (taskIndex < Subtasks.Count - 1)
{
ctx.PartialPlanQueue.Enqueue(new PartialPlanEntry()
{
Task = this,
TaskIndex = taskIndex + 1,
});
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeCompoundTask:Succeeded!", ConsoleColor.Green);
}
return(DecompositionStatus.Succeeded);
}
public void Clear()
{
Subtask = null;
}
protected abstract DecompositionStatus OnDecomposeCompoundTask(IContext ctx, ICompoundTask task, int taskIndex, int[] oldStackDepth, out Queue <ITask> result);
