/// <summary>
/// The equals.
/// </summary>
/// <param name="other"> The other. </param>
/// <returns> The System.Boolean. </returns>
public bool Equals(TaskNode other)
{
if (ReferenceEquals(null, other))
{
return(false);
}
if (ReferenceEquals(this, other))
{
return(true);
}
return(other.Depth == this.Depth && other.Index == this.Index && Equals(other.Parent, this.Parent) &&
ReferenceEquals(other.Task, this.Task));
}
/// <summary>
/// The equals.
/// </summary>
/// <param name="other"> The other. </param>
/// <returns> The System.Boolean. </returns>
public bool Equals(TaskNode other)
{
if (ReferenceEquals(null, other))
{
return false;
}
if (ReferenceEquals(this, other))
{
return true;
}
return other.Depth == this.Depth && other.Index == this.Index && Equals(other.Parent, this.Parent)
&& ReferenceEquals(other.Task, this.Task);
}
/// <summary>
/// Solves all sub tree reference tasks and replaces them by real references to the sub tree.
/// </summary>
/// <param name="tree"> Tree in which to solve references. </param>
/// <returns> Task to use instead of the passed one. </returns>
private ITask SolveReferences(ITask tree)
{
if (tree == null)
{
return tree;
}
// Check if root is reference.
if (tree is SubTreeReference)
{
SubTreeReference subTreeReference = tree as SubTreeReference;
// Resolve reference.
ITask treeReference = this.SolveReference(subTreeReference);
return treeReference;
}
// Find sub tree reference tasks in tree.
ICollection<TaskNode> referenceNodes = new List<TaskNode>();
TaskNode rootNode = new TaskNode { Task = tree };
tree.FindTasks(rootNode, task => task is SubTreeReference, ref referenceNodes);
// Replace tasks in found nodes by referenced tree.
foreach (TaskNode referenceNode in referenceNodes)
{
SubTreeReference subTreeReference = referenceNode.Task as SubTreeReference;
if (subTreeReference == null)
{
throw new Exception(
"Searched for SubTreeReference nodes, but found a task which is no sub tree reference node.");
}
IComposite parentComposite = referenceNode.ParentTask as IComposite;
if (parentComposite == null)
{
throw new Exception("Found task which has no parent composite.");
}
// Resolve reference.
ITask treeReference = this.SolveReference(subTreeReference);
// Remove from parent.
parentComposite.RemoveChild(referenceNode.Task);
// Add tree reference to parent at same position.
parentComposite.InsertChild(referenceNode.Index, treeReference);
}
return tree;
}
/// <summary>
/// Generates a collection of active task nodes under this task. Used for debugging only.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <returns> Collection of active task nodes. </returns>
public ICollection<TaskNode> GetActiveTasks(IAgentData agentData)
{
if (this.root == null || agentData.ExecutionStatus != ExecutionStatus.Running)
{
return null;
}
agentData.CurrentDeciderLevel = 0;
TaskNode taskNode = new TaskNode { Task = this.root };
ICollection<TaskNode> activeTasks = new List<TaskNode> { taskNode };
this.root.GetActiveTasks(agentData, taskNode, ref activeTasks);
return activeTasks;
}
/// <summary>
/// Searches for tasks which forfill the passed predicate.
/// </summary>
/// <param name="taskNode"> Task node of this task. </param>
/// <param name="predicate"> Predicate to forfill. </param>
/// <param name="tasks"> List of tasks which forfill the passed predicate. </param>
public override void FindTasks(TaskNode taskNode, Func<ITask, bool> predicate, ref ICollection<TaskNode> tasks)
{
if (this.Task == null)
{
return;
}
// Check child.
TaskNode childTaskNode = taskNode.CreateChildNode(this.Task, 0);
if (predicate(this.Task))
{
tasks.Add(childTaskNode);
}
// Find tasks in child.
this.Task.FindTasks(childTaskNode, predicate, ref tasks);
}
