public void Run()
{
reason = true;
IMapper sensorMapper = mapper.getMapper(typeof(AdvancedSensor));
while (reason)
{
if (!brain.executeReasonerOn.Equals("When Sensors are ready"))
{
lock (brain.toLock)
{
MyDebugger.MyDebug("going to wait for pulse by brain");
brain.solverWaiting = true;
Monitor.Wait(brain.toLock);
}
}
try
{
factsPath = Path.GetTempFileName();
using (StreamWriter fs = new StreamWriter(factsPath, true))
{
string toAppend = SensorsManager.GetSensorsMapping(brain);
if (!reason)
{
return;
}
fs.Write(toAppend);
fs.Close();
}
}
catch (Exception e)
{
MyDebugger.MyDebug("CAUGHT EXECPTION!!!!");
MyDebugger.MyDebug(e.Message);
MyDebugger.MyDebug(e.StackTrace);
}
Handler handler = new DesktopHandler(new DLV2DesktopService(@".\lib\dlv2.exe"));
//With DLV2DesktopService I get a Error during parsing: --> Invalid #show directive: setOnActuator/1--competition-output.
//With DLVDesktopService the AS, obviously, are wrongly parsed
InputProgram encoding = new ASPInputProgram();
MyDebugger.MyDebug("adding encoding");
encoding.AddFilesPath(Path.GetFullPath(brain.ASPFilePath));
InputProgram facts = new ASPInputProgram();
MyDebugger.MyDebug("adding facts");
facts.AddFilesPath(factsPath);
handler.AddProgram(encoding);
handler.AddProgram(facts);
handler.AddOption(new OptionDescriptor("--filter=setOnActuator/1 "));
stopwatch.Restart();
MyDebugger.MyDebug("starting sync");
Output o = handler.StartSync();
if (!o.ErrorsString.Equals(""))
{
MyDebugger.MyDebug(o.ErrorsString + " " + o.OutputString);
}
AnswerSets answers = (AnswerSets)o;
stopwatch.Stop();
brain.asSteps++;
brain.asTotalMS += stopwatch.ElapsedMilliseconds;
MyDebugger.MyDebug("num of AS " + answers.Answersets.Count);
if (answers.Answersets.Count > 0)
{
lock (brain.toLock)
{
foreach (SimpleActuator actuator in brain.getActuators())
{
actuator.parse(answers.Answersets[0]);
}
brain.setActuatorsReady(true);
}
}
if (!brain.maintainFactFile)
{
File.Delete(factsPath);
}
}
}
public void Run()
{
reason = true;
IMapper sensorMapper = mapper.getMapper(typeof(AdvancedSensor));
//Debug.Log("mapper " + sensorMapper);
while (reason)
{
//Thread.Sleep(1000);
//Debug.Log("executing thread");
lock (brain.toLock)
{
brain.solverWaiting = true;
Monitor.Wait(brain.toLock);
try
{
stopwatch.Restart();
factsPath = Path.GetTempFileName();
using (StreamWriter fs = new StreamWriter(factsPath, true))
{
//Debug.Log("creating file "+ factsPath);
string toAppend = "";
foreach (AdvancedSensor sensor in brain.getSensors())
{
//Stopwatch temp = new Stopwatch();
//temp.Start();
toAppend += sensor.Map();
//temp.Stop();
//Debug.Log(toAppend);
//Debug.Log(toAppend);
}
//Debug.Lof(fs.)
fs.Write(toAppend);
fs.Close();
//Debug.Log("closing stream");
}
stopwatch.Stop();
factsSteps++;
factsAvgTime += stopwatch.ElapsedMilliseconds;
}
catch (Exception e)
{
UnityEngine.Debug.LogError(e.Message);
UnityEngine.Debug.LogError(e.StackTrace);
}
}
//Debug.Log(Path.GetFullPath(@".\lib\dlv.exe"));
Handler handler = new DesktopHandler(new DLVDesktopService(@".\lib\dlv2.exe"));
InputProgram encoding = new ASPInputProgram();
encoding.AddFilesPath(Path.GetFullPath(brain.ASPFilePath));
InputProgram facts = new ASPInputProgram();
facts.AddFilesPath(factsPath);
handler.AddProgram(encoding);
handler.AddProgram(facts);
handler.AddOption(new OptionDescriptor("--filter=setOnActuator/1"));
stopwatch.Restart();
//Debug.Log("reasoning");
Output o = handler.StartSync();
if (!o.ErrorsString.Equals(""))
{
Debug.Log(o.ErrorsString + " " + o.OutputString);
}
AnswerSets answers = (AnswerSets)o;
stopwatch.Stop();
asSteps++;
asAvgTime += stopwatch.ElapsedMilliseconds;
//Debug.Log("debugging answer set");
//Debug.Log("there are "+answers.Answersets.Count);
//Debug.Log("error: " + answers.ErrorsString);
if (answers.Answersets.Count > 0)
{
/*string asPath = Path.GetTempFileName();
* using (StreamWriter fs = new StreamWriter(asPath, true))
* {
* fs.Write(o.OutputString);
* fs.Close();
* }*/
lock (brain.toLock)
{
foreach (SimpleActuator actuator in brain.getActuators())
{
Debug.Log("input fact " + factsPath);
Debug.Log("parsing " + actuator.actuatorName);
if (answers.Answersets[0].GetAnswerSet().Count > 0)
{
Debug.Log(answers.Answersets[0].GetAnswerSet()[0]);
}
actuator.parse(answers.Answersets[0]);
}
brain.setActuatorsReady(true);
}
}
if (!brain.maintainFactFile)
{
File.Delete(factsPath);
}
}
}