/*public void instantiate(double dt)
{
}
public void setValue(double time)
{
}
public string getAsString()
{
return timeExp.ToString();
}*/
public static TimeExpression createTimeOfDay()
{
TimeExpression time = new TimeExpression(2014, 5, 1, 0, 0, 0);
//time.TimeExp = DateTime.Now.ToOADate();
time.TimeExp = DateTime.Now.Ticks / 10000;
return time;
}
public void sendActionRealisationMessage(ActionNode action, ProcedureExecution procInfo)
{
Agent agt = (Agent)(this.Host);
ACLMessage procMsg = new ACLMessage(ACLPerformative.INFORM);
//we inform at wich time the action start
TimeExpression timestamp = action.CurrentExecution.Start;
procMsg.Timestamp = timestamp;
//set ACLMessage content
string content = "((action ";
content += agt.name;
content += " ";
content += "(" + clean(action.name) + ")";
content += "))";
procMsg.Content = content;
//send message to other agents
List <AID> agents = procInfo.getOtherAgents();
for (int iA = 0; iA < agents.Count; iA++)
{
procMsg.Receivers.Add(agents[iA]);
}
agt.send(procMsg);
}
public void sendActionDoneMessage(ActionNode action, ProcedureExecution procInfo)
{
Agent agt = (Agent)(this.Host);
ACLMessage procMsg = new ACLMessage(ACLPerformative.INFORM);
//we inform at wich time the action finished
TimeExpression timestamp = action.CurrentExecution.Finish;
procMsg.Timestamp = timestamp;
//set ACLMessage content
string content = "((done (action ";
content += agt.name;
content += " ";
content += "(" + clean(action.name) + ")";
content += ")))";
procMsg.Content = content;
//MascaretApplication.Instance.VRComponentFactory.Log(content);
//send message to other agents
List <AID> agents = procInfo.getOtherAgents();
for (int iA = 0; iA < agents.Count; iA++)
{
procMsg.Receivers.Add(agents[iA]);
}
agt.send(procMsg);
}
/*public void instantiate(double dt)
* {
*
* }
*
* public void setValue(double time)
* {
*
* }
*
* public string getAsString()
* {
* return timeExp.ToString();
* }*/
public static TimeExpression createTimeOfDay()
{
TimeExpression time = new TimeExpression(2014, 5, 1, 0, 0, 0);
//time.TimeExp = DateTime.Now.ToOADate();
time.TimeExp = DateTime.Now.Ticks / 10000;
return(time);
}
protected void _updateCurrentVirtualTime()
{
TimeExpression currentRealTime = TimeExpression.createTimeOfDay();
//Debug.Log(currentRealTime.TimeExp);
if (!suspended)
{
//currentVirtualTime.TimeExp +=(currentRealTime.TimeExp-lastRealTimeCheck.TimeExp)*virtualTimeSpeedFactor;
currentVirtualTime = currentRealTime;
}
lastRealTimeCheck = currentRealTime;
}
public void Awake()
{
suspended = false;
cycle = 0;
virtualTimeSpeedFactor = 1.0;
totalSuspendedRealTime = 0.00;
TimeExpression currentRealTime = TimeExpression.createTimeOfDay();
startRealTime = currentRealTime;
lastRealTimeCheck = currentRealTime;
startVirtualTime = currentRealTime;
currentVirtualTime = currentRealTime;
}
public void setSuspended(bool val)
{
TimeExpression currentRealTime = TimeExpression.createTimeOfDay();
if (suspended && !val)
{
_updateCurrentVirtualTime();
totalSuspendedRealTime += currentRealTime.TimeExp - startSuspendTime.TimeExp;
suspended = false;
}
else if (suspended && val)
{
_updateCurrentVirtualTime();
startSuspendTime = TimeExpression.createTimeOfDay();
suspended = true;
}
}
public void forceCurrentVirtualTime(TimeExpression exp)
{
long dt = currentVirtualTime.TimeExp - startVirtualTime.TimeExp;
LinkedList <SchedInfo> new_behaviors = new LinkedList <SchedInfo>();
foreach (SchedInfo info in behaviors)
{
dt = info.nextTime.TimeExp - currentVirtualTime.TimeExp;
TimeExpression nextTime = exp;
nextTime.TimeExp += dt;
new_behaviors.AddLast(new SchedInfo(info.be, nextTime));
}
behaviors = new_behaviors;
currentVirtualTime = exp;
exp.TimeExp -= dt;
startVirtualTime = exp;
}
public void sendProcedureDoneMessage(ProcedureExecution procInfo)
{
Agent agt = (Agent)(this.Host);
ACLMessage procMsg = new ACLMessage(ACLPerformative.INFORM);
//we inform at wich time the procedure finish
TimeExpression timestamp = BehaviorScheduler.Instance.getCurrentVirtualTime();
procMsg.Timestamp = timestamp;
string content = "((done (action ";
content += agt.name;
content += " ";
content += "(" + clean(procInfo.procedure.name) + ")";
content += ")))";
procMsg.Content = content;
procMsg.Receivers.Add(MascaretApplication.Instance.Agent.Aid);
agt.send(procMsg);
}
public void _insert(BehaviorExecution be, double dt)
{
if (be == null)
{
return;
}
_updateCurrentVirtualTime();
TimeExpression nextTime = new TimeExpression(2000, 1, 1, 0, 0, 0);
nextTime.TimeExp = currentVirtualTime.TimeExp + (long)(dt * 1000);
foreach (SchedInfo info in behaviors)
{
if (nextTime.TimeExp < info.nextTime.TimeExp)
{
//behaviors.AddBefore(new LinkedListNode<SchedInfo>(info), new SchedInfo(be,nextTime));
behaviors.AddBefore(behaviors.Find(info), new SchedInfo(be, nextTime));
return;
}
}
behaviors.AddLast(new SchedInfo(be, nextTime));
}
public SchedInfo(BehaviorExecution b, TimeExpression time)
{
be = b;
nextTime = time;
}
private BehaviorScheduler()
{
behaviors = new LinkedList <SchedInfo>();
allBehaviors = new List <BehaviorExecution>();
currentVirtualTime = new TimeExpression(2000, 1, 1, 0, 0, 0);
}
public void setSuspended(bool val)
{
TimeExpression currentRealTime = TimeExpression.createTimeOfDay();
if (suspended && !val)
{
_updateCurrentVirtualTime();
totalSuspendedRealTime += currentRealTime.TimeExp - startSuspendTime.TimeExp;
suspended = false;
}
else if (suspended && val)
{
_updateCurrentVirtualTime();
startSuspendTime = TimeExpression.createTimeOfDay();
suspended = true;
}
}
public void _insert(BehaviorExecution be, double dt)
{
if (be == null) return;
_updateCurrentVirtualTime();
TimeExpression nextTime = new TimeExpression(2000, 1, 1, 0, 0, 0);
nextTime.TimeExp = currentVirtualTime.TimeExp + (long)(dt * 1000);
foreach (SchedInfo info in behaviors)
{
if (nextTime.TimeExp < info.nextTime.TimeExp)
{
//behaviors.AddBefore(new LinkedListNode<SchedInfo>(info), new SchedInfo(be,nextTime));
behaviors.AddBefore(behaviors.Find(info), new SchedInfo(be, nextTime));
return;
}
}
behaviors.AddLast(new SchedInfo(be, nextTime));
}
private BehaviorScheduler()
{
behaviors = new LinkedList<SchedInfo>();
allBehaviors = new List<BehaviorExecution>();
currentVirtualTime = new TimeExpression(2000, 1, 1, 0, 0, 0);
}
public double getElapsedRealTime()
{
return(TimeExpression.createTimeOfDay().TimeExp - startRealTime.TimeExp - totalSuspendedRealTime);
}
//anciennement _activate de la classe c++
public void Update()
{
//si on est suspendu on update rien
//Debug.Log(behaviors.Count);
//Debug.Log(allBehaviors.Count);
LinkedList <SchedInfo> behaviorsToAdd = new LinkedList <SchedInfo>();
if (!suspended)
{
_jumpToNext();
_updateCurrentVirtualTime();
//Debug.Log(" ############################################################################ ");
while (behaviors.Count > 0)
{
TimeExpression virtualTime = currentVirtualTime;
SchedInfo si = behaviors.First.Value;
//Debug.Log("Comparing : " + si.nextTime.TimeExp + " : " + virtualTime.TimeExp);
if (si.nextTime.TimeExp > virtualTime.TimeExp)
{
break;
}
else
{
if (si.be.IsSuspended)
{
suspendExecutionBehavior(si.be);
continue;
}
if (si.be.IsFinished)
{
si.be.Finish = virtualTime;
deleteExecutionBehavior(si.be);
continue;
}
double dt = (virtualTime.TimeExp - si.be.LastCalledTime.TimeExp) / 10000;
//Debug.Log(" DT reel d'execution : " + dt);
double next_dt = si.be.execute(dt);
si.be.LastCalledTime = virtualTime;
if (next_dt > 0.00)
{
si.nextTime.TimeExp = (long)(next_dt * 1000);
behaviorsToAdd.AddLast(si);
}
else
{
si.be.stop();
si.be.Finish = virtualTime;
allBehaviors.Remove(si.be);
}
behaviors.RemoveFirst();
}
}
foreach (SchedInfo info in behaviorsToAdd)
{
_insert(info.be, (info.nextTime.TimeExp / 1000));
}
cycle++;
}
}
protected void _updateCurrentVirtualTime()
{
TimeExpression currentRealTime = TimeExpression.createTimeOfDay();
//Debug.Log(currentRealTime.TimeExp);
if (!suspended)
{
//currentVirtualTime.TimeExp +=(currentRealTime.TimeExp-lastRealTimeCheck.TimeExp)*virtualTimeSpeedFactor;
currentVirtualTime = currentRealTime;
}
lastRealTimeCheck = currentRealTime;
}
public void forceCurrentVirtualTime(TimeExpression exp)
{
long dt = currentVirtualTime.TimeExp - startVirtualTime.TimeExp;
LinkedList<SchedInfo> new_behaviors = new LinkedList<SchedInfo>();
foreach (SchedInfo info in behaviors)
{
dt = info.nextTime.TimeExp - currentVirtualTime.TimeExp;
TimeExpression nextTime = exp;
nextTime.TimeExp += dt;
new_behaviors.AddLast(new SchedInfo(info.be, nextTime));
}
behaviors = new_behaviors;
currentVirtualTime = exp;
exp.TimeExp -= dt;
startVirtualTime = exp;
}
public SchedInfo(BehaviorExecution b, TimeExpression time)
{
be = b;
nextTime = time;
}
public void Awake()
{
suspended = false;
cycle = 0;
virtualTimeSpeedFactor = 1.0;
totalSuspendedRealTime = 0.00;
TimeExpression currentRealTime = TimeExpression.createTimeOfDay();
startRealTime = currentRealTime;
lastRealTimeCheck = currentRealTime;
startVirtualTime = currentRealTime;
currentVirtualTime = currentRealTime;
}
