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);
}
private bool Final(Planning.HighLevelProgramExecution.Program program)
{
bool result;
if (program is EmptyProgram)
{
result = true;
}
else if (program is SequenceStructure)
{
SequenceStructure seq = ((SequenceStructure)program);
result = true;
foreach (var subProgram in seq.SubPrograms)
{
if (!Final(subProgram))
{
result = false;
break;
}
}
}
else if (program is ConditionalStructure)
{
ConditionalStructure cond = ((ConditionalStructure)program);
return(_mentalAttitude.Implies(cond.Condition) ? Final(cond.SubProgram1) : Final(cond.SubProgram2));
}
else if (program is LoopStructure)
{
LoopStructure loop = ((LoopStructure)program);
result = true;
if (_mentalAttitude.Implies(loop.Condition))
{
result = Final(loop.SubProgram);
}
}
else
{
result = false;
}
return(result);
}
private void Interpret(Planning.HighLevelProgramExecution.Program program)
{
if (!Final(program))
{
do
{
//Console.WriteLine(program.GetType());
string message = ReceiveMessage();
Console.WriteLine("Receive message: {0}", message);
if (message == "observation")
{
string observationName = ReceiveMessage();
Console.WriteLine("Receive observation: {0}", observationName);
Observation observation = _observationDict[observationName];
_mentalAttitude.Update(observation);
int memory = CUDD.ReadMemoryInUse();
Console.WriteLine("Used memory: {0}MB", memory >> 20);
}
else
{
//Console.WriteLine(program);
program = Trans(program);
int memory = CUDD.ReadMemoryInUse();
Console.WriteLine("Used memory: {0}MB", memory >> 20);
if (!Final(program))
{
SendMessage("remain");
}
else
{
SendMessage("quit");
break;
}
}
} while (true);
}
}
