protected override DevicePlanNode InternalPrepare(Schema.DevicePlan plan, PlanNode planNode)
{
// return a DevicePlanNode appropriate for execution of the given node
TableNode tableNode = planNode as TableNode;
if (tableNode != null)
{
var fhirTableNode = new FHIRDeviceTableNode(tableNode);
fhirTableNode.Prepare(plan);
if (plan.IsSupported)
{
return(fhirTableNode);
}
return(null);
}
CreateTableNode createTableNode = planNode as CreateTableNode;
if (createTableNode != null)
{
var fhirCreateTableNode = new FHIRCreateTableNode(createTableNode);
return(fhirCreateTableNode);
}
DropTableNode dropTableNode = planNode as DropTableNode;
if (dropTableNode != null)
{
var fhirDropTableNode = new FHIRDropTableNode(dropTableNode);
return(fhirDropTableNode);
}
return(null);
}
protected override object InternalExecute(Program program, PlanNode planNode)
{
if (planNode.DeviceNode == null)
{
throw new DeviceException(DeviceException.Codes.UnpreparedDevicePlan, ErrorSeverity.System);
}
var fhirTableNode = planNode.DeviceNode as FHIRDeviceTableNode;
if (fhirTableNode != null)
{
var fhirTable = new FHIRTable(this, program, fhirTableNode);
fhirTable.Open();
return(fhirTable);
}
var fhirCreateTableNode = planNode.DeviceNode as FHIRCreateTableNode;
if (fhirCreateTableNode != null)
{
return(null); // TODO: Throw an error if reconilication is not none...
}
var fhirDropTableNode = planNode.DeviceNode as FHIRDropTableNode;
if (fhirDropTableNode != null)
{
return(null); // TODO: Throw an error if reconciliation is not none...
}
return(base.InternalExecute(program, planNode));
}
// parse expression inside "(...)" or base class for Filter
private PlanNode parseAtom()
{
if (nextTokenIs("("))
{
tokens.Pop();
PlanNode node = parseOr();
if (!nextTokenIs(")"))
{
throw new Exception("Unmatched parenthesis");
}
tokens.Pop();
return(node);
}
if (tokens.Count == 0)
{
throw new Exception("Unexpected end of input stream");
}
if (!tokens.Peek().StartsWith("-"))
{
throw new Exception("Unexpected token " + tokens.Peek());
}
// 这个name就是参数名，例如-type的"type"，-size的"size"
String name = tokens.Pop().Substring(1);
// 在registry中找到与参数名对应的parser
ParserBase parser = optionParserRegistry.GetValueOrDefault(name);
if (parser == null)
{
throw new Exception("Unrecognized option " + name);
}
// Parser各自的parse()方法用于parse参数的arguments
// 例如 -size +1M，那么"size"所对应的parser应当知道如何parse"+1M"
return(parser.parse(tokens));
}
public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
{
JObject Token = JObject.Load(reader);
if (!Token.TryGetValue("@type", StringComparison.OrdinalIgnoreCase, out JToken TypeToken))
{
throw new InvalidOperationException("Invalid presto query plan node object.");
}
Type ActualType = PlanNode.GetType(TypeToken.ToObject <PlanNodeType>(serializer));
if (existingValue == null || existingValue.GetType() != ActualType)
{
// Don't use this approach, since there are no default constructors
// JsonContract Contract = serializer.ContractResolver.ResolveContract(ActualType);
// existingValue = Contract.DefaultCreator();
return(Token.ToObject(ActualType, serializer));
}
else
{
using (JsonReader DerivedTypeReader = Token.CreateReader())
{
serializer.Populate(DerivedTypeReader, existingValue);
}
return(existingValue);
}
}
public override Statement Translate(DevicePlan ADevicePlan, PlanNode APlanNode)
{
SQLDevicePlan LDevicePlan = (SQLDevicePlan)ADevicePlan;
return
(new CaseExpression
(
new CaseItemExpression[]
{
new CaseItemExpression
(
new BinaryExpression
(
new CallExpression("UCase", new Expression[] { LDevicePlan.Device.TranslateExpression(LDevicePlan, APlanNode.Nodes[0], false) }),
"iEqual",
new CallExpression("UCase", new Expression[] { LDevicePlan.Device.TranslateExpression(LDevicePlan, APlanNode.Nodes[1], false) })
),
new ValueExpression(0)
),
new CaseItemExpression
(
new BinaryExpression
(
new CallExpression("UCase", new Expression[] { LDevicePlan.Device.TranslateExpression(LDevicePlan, APlanNode.Nodes[0], false) }),
"iLess",
new CallExpression("UCase", new Expression[] { LDevicePlan.Device.TranslateExpression(LDevicePlan, APlanNode.Nodes[1], false) })
),
new ValueExpression(-1)
)
},
new CaseElseExpression(new ValueExpression(1))
));
}
private bool ShouldBreak(ServerProcess process, PlanNode node)
{
if (_disposed)
{
return(false);
}
if (process.ShouldBreak())
{
return(true);
}
if (_breakpoints.Count > 0)
{
DebugLocator currentLocation = process.ExecutingProgram.GetCurrentLocation();
// Determine whether or not a breakpoint has been hit
for (int index = 0; index < _breakpoints.Count; index++)
{
Breakpoint breakpoint = _breakpoints[index];
if
(
(breakpoint.Locator == currentLocation.Locator) &&
(breakpoint.Line == currentLocation.Line) &&
((breakpoint.LinePos == -1) || (breakpoint.LinePos == currentLocation.LinePos))
)
{
return(true);
}
}
}
return(false);
}
protected override DevicePlanNode InternalPrepare(DevicePlan devicePlan, PlanNode planNode)
{
CatalogDevicePlan localDevicePlan = (CatalogDevicePlan)devicePlan;
localDevicePlan.IsSupported = true;
return(base.InternalPrepare(devicePlan, planNode));
}
//public SQLTimeSpanDays(Operator AOperator, D4.ClassDefinition AClassDefinition) : base(AOperator, AClassDefinition){}
//public SQLTimeSpanDays(Operator AOperator, D4.ClassDefinition AClassDefinition, bool AIsSystem) : base(AOperator, AClassDefinition, AIsSystem){}
public override Statement Translate(DevicePlan devicePlan, PlanNode planNode)
{
SQLDevicePlan localDevicePlan = (SQLDevicePlan)devicePlan;
Expression expression = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[0], false);
return(new BinaryExpression(expression, "iMultiplication", new ValueExpression(864000000000m, TokenType.Decimal)));
}
//public SQLTimeSpanReadSeconds(Operator AOperator, D4.ClassDefinition AClassDefinition) : base(AOperator, AClassDefinition){}
//public SQLTimeSpanReadSeconds(Operator AOperator, D4.ClassDefinition AClassDefinition, bool AIsSystem) : base(AOperator, AClassDefinition, AIsSystem){}
public override Statement Translate(DevicePlan devicePlan, PlanNode planNode)
{
SQLDevicePlan localDevicePlan = (SQLDevicePlan)devicePlan;
Expression expression = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[0], false);
return(new BinaryExpression(expression, "iDivision", new ValueExpression(10000000, TokenType.Integer)));
}
/// <summary>
/// Collects all and or or clauses in the given node.
/// </summary>
/// <param name="node">The node from which the clauses will be collected.</param>
/// <param name="instruction">The instruction, and or or, to be collected.</param>
/// <returns>A list of clauses of the given instruction.</returns>
/// <remarks>
/// If the given node is a binary operator of the given instruction, the left and right operands to
/// the node will be collected, recursively. Otherwise, the node is returned as a clause.
/// </remarks>
public static IEnumerable <PlanNode> CollectClauses(PlanNode node, string instruction)
{
var clauses = new List <PlanNode>();
CollectClauses(node, instruction, clauses);
return(clauses);
}
public PlanFragment(
PlanFragmentId id,
PlanNode root,
IDictionary <string, string> symbols,
PartitioningHandle partitioning,
IEnumerable <PlanNodeId> partitionedSources,
PartitioningScheme partitioningScheme,
PipelineExecutionStrategy pipelineExecutionStrategy
)
{
this.Id = id ?? throw new ArgumentNullException("id");
this.Root = root ?? throw new ArgumentNullException("root");
this.Symbols = symbols ?? throw new ArgumentNullException("symbols");
this.Partitioning = partitioning ?? throw new ArgumentNullException("partitioning");
this.PartitionedSources = partitionedSources ?? throw new ArgumentNullException("partitionedSources");
this.PipelineExecutionStrategy = pipelineExecutionStrategy;
this.PartitioningScheme = partitioningScheme ?? throw new ArgumentNullException("partitioningScheme");
ParameterCheck.Check(this.PartitionedSources.Distinct().Count() == this.PartitionedSources.Count(), "PartitionedSources contains duplicates.");
this.Types = this.PartitioningScheme.OutputLayout.Select(x => x.ToString());
// Materialize this during construction
this.PartionedSourceNodes = new HashSet <PlanNode>(FindSources(this.Root, this.PartitionedSources));
this.RemoteSourceNodes = FindRemoteSourceNodes(this.Root).ToList();
}
//build tree and track the leastcostleaf node;
public bool BuildTree(PlanNode parent, HashSet<Action> actionList, Dictionary<string, object> goalState, PlanNode leastCostLeaf)
{
bool hasPath = false;
foreach (Action a in actionList) {
if (AreConditionsInState (a.preconditions, parent.currentState)) {
Dictionary<string, object> newState = CreateStateWithEffects (a.effects, parent.currentState);
PlanNode newNode = new PlanNode (parent, parent.totalCost + a.cost, newState, a);
if (AreConditionsInState (goalState, newState)) {
if (leastCostLeaf == null) {
leastCostLeaf = newNode;
} else if (newNode.totalCost < leastCostLeaf.totalCost) {
leastCostLeaf = newNode;
}
hasPath = true;
} else {
//remove the current action from list of available actions and build tree based on remaining actions
HashSet<Action> actionsMinusOne = new HashSet<Action> (actionList);
actionsMinusOne.Remove (a);
//if any path was found, set to true
hasPath = hasPath || BuildTree (newNode, actionsMinusOne, goalState, leastCostLeaf);
}
}
}
return hasPath;
}
/// <summary>
/// Used to execute arbitrary plan nodes at compile-time.
/// </summary>
public object ExecuteNode(PlanNode node)
{
var program = new Program(_serverProcess);
program.Code = node;
return(program.Execute(null));
}
//public SASRetrieve(Operator AOperator, D4.ClassDefinition AClassDefinition) : base(AOperator, AClassDefinition){}
//public SASRetrieve(Operator AOperator, D4.ClassDefinition AClassDefinition, bool AIsSystem) : base(AOperator, AClassDefinition, AIsSystem){}
public override Statement Translate(DevicePlan ADevicePlan, PlanNode APlanNode)
{
SQLDevicePlan LDevicePlan = (SQLDevicePlan)ADevicePlan;
TableVar LTableVar = ((TableVarNode)APlanNode).TableVar;
if (LTableVar is BaseTableVar)
{
SQLRangeVar LRangeVar = new SQLRangeVar(LDevicePlan.GetNextTableAlias());
foreach (Schema.TableVarColumn LColumn in LTableVar.Columns)
{
LRangeVar.Columns.Add(new SQLRangeVarColumn(LColumn, LRangeVar.Name, LDevicePlan.Device.ToSQLIdentifier(LColumn), LDevicePlan.Device.ToSQLIdentifier(LColumn.Name)));
}
LDevicePlan.CurrentQueryContext().RangeVars.Add(LRangeVar);
SelectExpression LSelectExpression = new SelectExpression();
LSelectExpression.FromClause = new AlgebraicFromClause(new TableSpecifier(new TableExpression(D4.MetaData.GetTag(LTableVar.MetaData, "Storage.Schema", LDevicePlan.Device.Schema), LDevicePlan.Device.ToSQLIdentifier(LTableVar)), LRangeVar.Name));
//LSelectExpression.FromClause = new CalculusFromClause(new TableSpecifier(new TableExpression(D4.MetaData.GetTag(LTableVar.MetaData, "Storage.Schema", LDevicePlan.Device.Schema), LDevicePlan.Device.ToSQLIdentifier(LTableVar)), LRangeVar.Name));
LSelectExpression.SelectClause = new SelectClause();
foreach (TableVarColumn LColumn in LTableVar.Columns)
{
LSelectExpression.SelectClause.Columns.Add(LDevicePlan.GetRangeVarColumn(LColumn.Name, true).GetColumnExpression());
}
LSelectExpression.SelectClause.Distinct =
(LTableVar.Keys.Count == 1) &&
Convert.ToBoolean(D4.MetaData.GetTag(LTableVar.Keys[0].MetaData, "Storage.IsImposedKey", "false"));
return(LSelectExpression);
}
else
{
return(LDevicePlan.Device.TranslateExpression(LDevicePlan, APlanNode.Nodes[0], false));
}
}
public override Statement Translate(DevicePlan ADevicePlan, PlanNode APlanNode)
{
SQLDevicePlan LDevicePlan = (SQLDevicePlan)ADevicePlan;
return
(new CaseExpression
(
new CaseItemExpression[]
{
new CaseItemExpression
(
new BinaryExpression
(
LDevicePlan.Device.TranslateExpression(LDevicePlan, APlanNode.Nodes[0], false),
"iEqual",
new ValueExpression(0, TokenType.Integer)
),
new ValueExpression("false", TokenType.String)
)
},
new CaseElseExpression
(
new ValueExpression("true", TokenType.String)
)
));
}
//public SQLTimeSpanReadMinutes(Operator AOperator, D4.ClassDefinition AClassDefinition) : base(AOperator, AClassDefinition){}
//public SQLTimeSpanReadMinutes(Operator AOperator, D4.ClassDefinition AClassDefinition, bool AIsSystem) : base(AOperator, AClassDefinition, AIsSystem){}
public override Statement Translate(DevicePlan devicePlan, PlanNode planNode)
{
SQLDevicePlan localDevicePlan = (SQLDevicePlan)devicePlan;
Expression expression = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[0], false);
Expression Minutes = new BinaryExpression(expression, "iDivision", new ValueExpression(600000000m, TokenType.Decimal));
return(Minutes);
}
private static IPlanNode GetNode(IPlanNode old, double fuelOnBoard, double grossWt)
{
var node = PlanNode.Copy(old);
node.FuelOnBoard = fuelOnBoard;
node.GrossWt = grossWt;
return(node);
}
//public SQLTimeSpanAddTicks(Operator AOperator, D4.ClassDefinition AClassDefinition) : base(AOperator, AClassDefinition){}
//public SQLTimeSpanAddTicks(Operator AOperator, D4.ClassDefinition AClassDefinition, bool AIsSystem) : base(AOperator, AClassDefinition, AIsSystem){}
public override Statement Translate(DevicePlan devicePlan, PlanNode planNode)
{
SQLDevicePlan localDevicePlan = (SQLDevicePlan)devicePlan;
Expression expression1 = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[0], false);
Expression expression2 = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[1], false);
return(new BinaryExpression(expression1, "iAddition", expression2));
}
/// <summary>
/// Used to evaluate literal arguments at compile-time. The given node must be literal, or an exception is raised.
/// </summary>
public object EvaluateLiteralArgument(PlanNode node, string argumentName)
{
if (!node.IsLiteral)
{
throw new CompilerException(CompilerException.Codes.LiteralArgumentRequired, CompilerErrorLevel.NonFatal, argumentName);
}
return(ExecuteNode(node));
}
protected int CompareKeyValues(object keyValue1, object keyValue2, PlanNode compareNode)
{
Program.Stack.Push(keyValue1);
Program.Stack.Push(keyValue2);
int result = (int)compareNode.Execute(Program);
Program.Stack.Pop();
Program.Stack.Pop();
return(result);
}
//public SQLTimeSpanTime2Operands(Operator AOperator, D4.ClassDefinition AClassDefinition) : base(AOperator, AClassDefinition){}
//public SQLTimeSpanTime2Operands(Operator AOperator, D4.ClassDefinition AClassDefinition, bool AIsSystem) : base(AOperator, AClassDefinition, AIsSystem){}
public override Statement Translate(DevicePlan devicePlan, PlanNode planNode)
{
SQLDevicePlan localDevicePlan = (SQLDevicePlan)devicePlan;
Expression expression1 = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[0], false);
Expression expression2 = localDevicePlan.Device.TranslateExpression(localDevicePlan, planNode.Nodes[1], false);
Expression First = new BinaryExpression(expression1, "iMultiplication", new ValueExpression(36000000000m, TokenType.Decimal));
Expression Second = new BinaryExpression(expression2, "iMultiplication", new ValueExpression(600000000m, TokenType.Decimal));
return(new BinaryExpression(First, "iAddition", Second));
}
public override void PreOrderVisit(Plan plan, PlanNode node)
{
// If the node is a restriction
// Convert the condition to DNF
// Collect Ors
// If there are any Ors, replace the entire restriction with the Union of each individual Or
// Collect Ands
// If there are any non-sargable conditions
// Add an additional restriction with the non-sargable conditions
}
//private PlanNode chunk;
public override void PreOrderVisit(Plan plan, PlanNode node)
{
//if (chunk == null)
//{
// node.DetermineDevice(plan);
// if (node.DeviceSupported)
// {
// chunk = node;
// }
//}
}
public void SetContext(PlanNode planNode)
{
if (planNode.Line > -1)
{
_line = planNode.Line;
_linePos = planNode.LinePos;
}
else
{
_context = planNode.SafeEmitStatementAsString();
}
}
private void EnsurePrepared(PlanNode planNode)
{
// The determine device visitor clears prepared device nodes to reduce memory footprint
// (The resulting optimization is significant, on the order of 100MB for a large Dataphor application)
// However, since there are cases where subnodes are executed independently (e.g. during a default),
// we need to check that the node to be executed is prepared and prepare it if necessary.
if (planNode.DeviceNode == null)
{
_serverProcess.EnsureDeviceStarted(planNode.Device);
planNode.Device.Prepare(Plan, planNode);
}
}
/// <summary>
/// Converts the given node to an equivalent logical expression in disjunctive normal form.
/// </summary>
/// <param name="node">The input expression.</param>
/// <returns>A plan node representing an equivalent logical expression in disjunctive normal form.</returns>
/// <remarks>
/// <para>
/// NOTE: The runtime of this algorithm is known to be exponential in the number of elementary propositions involved in
/// the input expression. There are known methods for improving this based on the notions of equisatisfiability, rather
/// than pure equivalence, however, these methods would have to be reviewed for applicability to 3VL logic. The methods
/// are described in the following references:
/// </para>
/// <para>
/// Paul Jackson, Daniel Sheridan: Clause Form Conversions for Boolean Circuits. In: Holger H. Hoos, David G. Mitchell (Eds.): Theory and Applications of Satisfiability Testing, 7th International Conference, SAT 2004, Vancouver, BC, Canada, May 10–13, 2004, Revised Selected Papers. Lecture Notes in Computer Science 3542, Springer 2005, pp. 183–198
/// G.S. Tseitin: On the complexity of derivation in propositional calculus. In: Slisenko, A.O. (ed.) Structures in Constructive Mathematics and Mathematical Logic, Part II, Seminars in Mathematics (translated from Russian), pp. 115–125. Steklov Mathematical Institute (1968)
/// </para>
/// </remarks>
public static PlanNode DisjunctiveNormalize(Plan plan, PlanNode node)
{
node = DistributeNot(plan, node);
var instructionNode = node as InstructionNodeBase;
if (instructionNode != null && instructionNode.Operator != null)
{
switch (Schema.Object.Unqualify(instructionNode.Operator.OperatorName))
{
case Instructions.Or:
instructionNode.Nodes[0] = DisjunctiveNormalize(plan, instructionNode.Nodes[0]);
instructionNode.Nodes[1] = DisjunctiveNormalize(plan, instructionNode.Nodes[1]);
return(instructionNode);
case Instructions.And:
var left = DisjunctiveNormalize(plan, instructionNode.Nodes[0]);
var right = DisjunctiveNormalize(plan, instructionNode.Nodes[1]);
var leftClauses = CollectClauses(left, Instructions.Or);
var rightClauses = CollectClauses(right, Instructions.Or);
var clausesUsed = false;
PlanNode result = null;
foreach (var leftClause in leftClauses)
{
foreach (var rightClause in rightClauses)
{
result =
Compiler.AppendNode
(
plan,
result,
Instructions.Or,
Compiler.AppendNode
(
plan,
clausesUsed ? leftClause.Clone() : leftClause,
Instructions.And,
clausesUsed ? rightClause.Clone() : rightClause
)
);
clausesUsed = true;
}
}
return(result);
}
}
return(node);
}
public override PlanningResult GetPlan(DomainState startState, DomainState goalState, ActionSet actions)
{
Plan GetOptions(IPlanNode node) => RegressivePlanner.GetOptions(node, actions, startState);
var start = new PlanNode(goalState, null, null, 0);
var(path, graph) = FindPlan(start, startState.IsSuperstateOf, GetOptions);
return(new PlanningResult
{
Plan = GetActions(path),
SearchTree = graph
});
}
private static void CollectClauses(PlanNode node, string instruction, List <PlanNode> clauses)
{
var instructionNode = node as InstructionNodeBase;
if (instructionNode != null && instructionNode.Operator != null && Schema.Object.Unqualify(instructionNode.Operator.OperatorName) == instruction)
{
CollectClauses(instructionNode.Nodes[0], instruction, clauses);
CollectClauses(instructionNode.Nodes[1], instruction, clauses);
}
else
{
clauses.Add(node);
}
}
private static IEnumerable <RemoteSourceNode> FindRemoteSourceNodes(PlanNode node)
{
foreach (PlanNode Source in node.GetSources())
{
foreach (RemoteSourceNode Item in FindRemoteSourceNodes(Source))
{
yield return(Item);
}
}
if (node is RemoteSourceNode)
{
yield return((RemoteSourceNode)node);
}
}
private IEnumerable <PlanNode> FindSources(PlanNode node, IEnumerable <PlanNodeId> nodeIds)
{
if (nodeIds.Contains(node.Id))
{
yield return(node);
}
foreach (PlanNode Source in node.GetSources())
{
foreach (PlanNode Item in FindSources(Source, nodeIds))
{
yield return(Item);
}
}
}
protected (PlanNode, IDebugGraph) FindPlan(
PlanNode start,
Func <DomainState, bool> isTarget,
Func <PlanNode, IEnumerable <PlanNode> > getOptions)
{
var visitedStates = new HashSet <DomainState>();
var planQueue = new PriorityQueue <PlanNode>();
var debugGraph = _debuggingEnabled
? new DebugGraph()
: null;
planQueue.Enqueue(0, start);
debugGraph?.AddNode(start);
while (!planQueue.IsEmpty)
{
var currentNode = planQueue.Dequeue();
var currentState = currentNode.State;
if (visitedStates.Contains(currentState))
{
continue;
}
if (isTarget(currentState))
{
return(currentNode, debugGraph);
}
visitedStates.Add(currentState);
foreach (var planNode in getOptions(currentNode))
{
planQueue.Enqueue(planNode.TotalCost, planNode);
debugGraph?.AddNode(planNode);
debugGraph?.AddEdge(planNode.Parent, planNode, planNode.SelectedAction);
if (_earlyExit && isTarget(planNode.State))
{
return(planNode, debugGraph);
}
}
}
return(null, debugGraph);
}
public Queue<Action> Plan(HashSet<Action> allActions, Dictionary<string,object> currentState, Dictionary<string,object> goalState)
{
foreach (Action a in allActions) {
a.Reset ();
}
HashSet<Action> availableActions = new HashSet<Action> ();
foreach (Action a in allActions) {
if (a.RequiresInRange ()) {
//if it requires range and is in range
if (a.CheckInRange ()) {
availableActions.Add (a);
}
} else {
availableActions.Add (a);
}
}
//check which actions can or cannot run according to their range
List<PlanNode> leaves = new List<PlanNode> ();
PlanNode leastCostLeaf = null;
PlanNode first = new PlanNode (null, 0f, currentState, null);
bool planAvailable = BuildTree (first, availableActions, goalState, leaves);
foreach (PlanNode leaf in leaves) {
if (leastCostLeaf == null) {
leastCostLeaf = leaf;
} else {
if (leaf.totalCost < leastCostLeaf.totalCost) {
leastCostLeaf = leaf;
}
}
}
if (planAvailable) {
LinkedList<Action> list = new LinkedList<Action> ();
while (leastCostLeaf.action!=null) {
list.AddFirst (leastCostLeaf.action);
leastCostLeaf = leastCostLeaf.parent;
}
return new Queue<Action> (list);
} else {
// Debug.Log ("no plan available currently");
return null;
}
}
//GOALSTATE: zombieAlive, false + dogAlive, true
//pickuphealth, attackzombie
public bool BuildTree(PlanNode parent, HashSet<Action> actionList, Dictionary<string, object> goalState, List<PlanNode> leaves)
{
bool hasPath = false;
foreach (Action a in actionList) {
if (AreConditionsInState (a.preconditions, parent.currentState)) {
//attackzombie effects = dog loses health, zombie loses health
Dictionary<string, object> newState = CreateStateWithEffects (a.effects, parent.currentState);
PlanNode newNode = new PlanNode (parent, parent.totalCost + a.cost, newState, a);
//newState: zombieAlive, false + dogAlive, true
//goalState: zombieAlive, false + dogAlive, true
if (AreConditionsInState (goalState, newState)) {
leaves.Add (newNode);
hasPath = true;
} else {
HashSet<Action> actionsMinusOne = new HashSet<Action> (actionList);
actionsMinusOne.Remove (a); //this list only contains attackZombie now
hasPath = hasPath || BuildTree (newNode, actionsMinusOne, goalState, leaves);
}
}
}
return hasPath;
}
public PlanNode(PlanNode parent, float cost, Dictionary<string, object> state, Action a)
{
this.parent = parent;
totalCost = cost;
currentState = state;
action = a;
}
public UsePlanNode(PlanNode bTree)
{
}
