private void UpdateConfiguration()
{
var isReconfPossible = IsReconfPossible(Agents.OfType <RobotAgent>(), Tasks);
var lines = File.ReadAllLines(ConfigurationFile);
if (lines[0].Contains("UNSATISFIABLE"))
{
ReconfigurationState = ReconfStates.Failed;
if (isReconfPossible)
{
throw new Exception("Reconfiguration failed even though there is a solution.");
}
return;
}
ReconfigurationState = ReconfStates.Succedded;
if (!isReconfPossible)
{
throw new Exception("Reconfiguration successful even though there is no valid configuration.");
}
var roleAllocations = Parse(lines[0], lines[1]).ToArray();
ApplyConfiguration(roleAllocations);
}
public FastObserverController(IEnumerable <Agent> agents, List <Task> tasks)
: base(agents, tasks)
{
_availableRobots = Agents.OfType <RobotAgent>().ToArray();
}