bool resolveConflicts(CausalLink cl, Affordance act)
{
foreach (Condition effect in act.getEffects())
{
if (!(cl.act1.getActionInstance().Equals(act.getActionInstance())) &&
!(cl.act2.getActionInstance().Equals(act.getActionInstance())) &&
(effect.negation(cl.p)))
{
Debug.Log("resolveConflicts : ");
act.disp();
cl.disp();
if (cl.act2.isGoal())
{
constraints.Add(Tuple.New(act, cl.act1));
addToOrderingConstraints(act, cl.act1);
}
else if (!cl.act1.isStart())
{
constraints.Add(Tuple.New(cl.act2, act));
addToOrderingConstraints(cl.act2, act);
}
}
}
return(true);
}
bool checkActionsForPrecondition(Tuple <Condition, Affordance> g, out Affordance satAct)
{
satAct = null;
//g.First.disp ();
foreach (Affordance act in allPossibleActions)
{
List <Condition> actEffects = act.getEffects();
foreach (Condition effect in actEffects)
{
//Debug.Log ("allPossibleActions - " + effect.condition);
//effect.disp();
if (effect.Equals(g.First))
{
//Debug.LogError ("true that -- " + effect.condition);
//effect.disp();
satAct = act;
allPossibleActions.Remove(act);
return(true);
}
}
}
return(false);
}
void instantiatePlan(Affordance start, Affordance goal)
{
constraints.Add(Tuple.New(start, goal));
addToOrderingConstraints(start, goal);
actions.Add(start);
actions.Add(goal);
foreach (Condition p in goal.getPreconditions())
{
agenda.Push(Tuple.New(p, goal));
}
createAllPossibleActions();
}
public bool computePlan(Affordance start, Affordance goal)
{
instantiatePlan(start, goal);
do
{
Tuple <Condition, Affordance> subG = agenda.Pop();
Affordance act;
if (!preConditionAlreadySatisfied(subG, out act))
{
if (checkActionsForPrecondition(subG, out act))
{
actions.Add(act);
constraints.Add(Tuple.New(start, act));
addToOrderingConstraints(start, act);
foreach (CausalLink cl in causalLinks)
{
resolveConflicts(cl, act);
}
foreach (Condition p in act.getPreconditions())
{
agenda.Push(Tuple.New(p, act));
}
}
else
{
Debug.LogError("Plan Failed for condition - ");
subG.First.disp();
showActions();
return(false);
}
}
constraints.Add(Tuple.New(act, subG.Second));
addToOrderingConstraints(act, subG.Second);
CausalLink cLink = new CausalLink(act, subG.First, subG.Second);
causalLinks.Add(cLink);
foreach (Affordance a in actions)
{
if (!a.isStart())
{
resolveConflicts(cLink, a);
}
}
//Debug.Log("In While loop!!");
} while (agenda.Count() != 0);
constraints = Utils.Utils.removeDuplicateConstraints(constraints);
Debug.LogError("Goal Reached!!");
return(true);
}
public void addToOrderingConstraints(Affordance key, Affordance value)
{
if (orderingConsts.ContainsKey(key))
{
if (!orderingConsts[key].Contains(value))
{
orderingConsts[key].Add(value);
}
}
else
{
List <Affordance> listActions = new List <Affordance> ();
listActions.Add(value);
orderingConsts.Add(key, listActions);
}
}
bool preConditionAlreadySatisfied(Tuple <Condition, Affordance> g, out Affordance satAct)
{
satAct = null;
foreach (Affordance act in actions)
{
List <Condition> actEffects = act.getEffects();
foreach (Condition effect in actEffects)
{
if (effect.Equals(g.First))
{
satAct = act;
return(true);
}
}
}
return(false);
}
public bool Equals(Affordance act)
{
return(getActionInstance().Equals(act.getActionInstance()));
}
