public void SetWaypointBelief(soa.Belief_WaypointPath belief)
{
lock (waypoints)
{
if (belief != lastBelief && belief != null)
{
this.waypoints.Clear();
foreach (soa.Waypoint waypoint in belief.getWaypoints())
{
Vector3 location = new Vector3(waypoint.x * SimControl.KmToUnity,
waypoint.y * SimControl.KmToUnity,
waypoint.z * SimControl.KmToUnity);
waypoints.Add(new Waypoint(location, waypoint.speed));
}
this.waypointIndex = 0;
lastBelief = belief;
UpdateDisplay();
}
}
}
// Serialize a Belief object into a byte array using Google Protobuf + 1 header byte
public override byte[] serializeBelief(Belief belief)
{
// Variables to hold serialized message
byte header;
byte[] body, message;
// Initialize based on type of belief
switch (belief.getBeliefType())
{
case Belief.BeliefType.ACTOR:
{ // Actor
Gpb_Actor.Builder proto = Gpb_Actor.CreateBuilder();
Belief_Actor b = (Belief_Actor)belief;
proto.SetUniqueId(b.getUnique_id());
proto.SetAffiliation(b.getAffiliation());
proto.SetType(b.getType());
proto.SetIsAlive(b.getIsAlive());
proto.SetNumStorageSlots(b.getNumStorageSlots());
proto.SetNumCasualtiesStored(b.getNumCasualtiesStored());
proto.SetNumSuppliesStored(b.getNumSuppliesStored());
proto.SetNumCiviliansStored(b.getNumCiviliansStored());
proto.SetIsWeaponized(b.getIsWeaponized());
proto.SetHasJammer(b.getHasJammer());
proto.SetFuelRemaining(b.getFuelRemaining());
proto.SetPosX(b.getPos_x());
proto.SetPosY(b.getPos_y());
proto.SetPosZ(b.getPos_z());
// Optional fields
if (b.getVelocity_x_valid())
{
proto.SetVelocityX(b.getVelocity_x());
}
if (b.getVelocity_y_valid())
{
proto.SetVelocityY(b.getVelocity_y());
}
if (b.getVelocity_z_valid())
{
proto.SetVelocityZ(b.getVelocity_z());
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.ACTOR;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.BASE:
{ // Base
Gpb_Base.Builder proto = Gpb_Base.CreateBuilder();
Belief_Base b = (Belief_Base)belief;
proto.SetId(b.getId());
proto.SetSupplies(b.getSupplies());
// Copy contents of cell list
List <GridCell> cells = b.getCells();
for (int i = 0; i < cells.Count; i++)
{
Gpb_GridCell.Builder g = Gpb_GridCell.CreateBuilder();
g.SetRow(cells[i].getRow());
g.SetCol(cells[i].getCol());
proto.AddCells(g.Build());
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.BASE;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.CASUALTY_DELIVERY:
{ // Casualty Delivery
Gpb_CasualtyDelivery.Builder proto = Gpb_CasualtyDelivery.CreateBuilder();
Belief_Casualty_Delivery b = (Belief_Casualty_Delivery)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetGreedy(b.getGreedy());
proto.SetMultiplicity(b.getMultiplicity());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.CASUALTY_DELIVERY;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.CASUALTY_PICKUP:
{ // Casualty Pickup
Gpb_CasualtyPickup.Builder proto = Gpb_CasualtyPickup.CreateBuilder();
Belief_Casualty_Pickup b = (Belief_Casualty_Pickup)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetGreedy(b.getGreedy());
// Copy contents of id list
int[] ids = b.getIds();
for (int i = 0; i < ids.Length; i++)
{
proto.AddIds(ids[i]);
}
// Copy contents of multiplicity list
int[] multiplicity = b.getMultiplicity();
for (int i = 0; i < multiplicity.Length; i++)
{
proto.AddMultiplicity(multiplicity[i]);
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.CASUALTY_PICKUP;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.GRIDSPEC:
{ // Grid Specification
Gpb_GridSpec.Builder proto = Gpb_GridSpec.CreateBuilder();
Belief_GridSpec b = (Belief_GridSpec)belief;
proto.SetWidth(b.getWidth());
proto.SetHeight(b.getHeight());
proto.SetGridOriginX(b.getGridOrigin_x());
proto.SetGridOriginZ(b.getGridOrigin_z());
proto.SetGridToWorldScale(b.getGridToWorldScale());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.GRIDSPEC;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.MODE_COMMAND:
{ // Mode Command
Gpb_Mode_Command.Builder proto = Gpb_Mode_Command.CreateBuilder();
Belief_Mode_Command b = (Belief_Mode_Command)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetModeId(b.getMode_id());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.MODE_COMMAND;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.NGOSITE:
{ // NGO Site
Gpb_NGOSite.Builder proto = Gpb_NGOSite.CreateBuilder();
Belief_NGOSite b = (Belief_NGOSite)belief;
proto.SetId(b.getId());
proto.SetSupplies(b.getSupplies());
proto.SetCasualties(b.getCasualties());
proto.SetCivilians(b.getCivilians());
// Copy contents of cell list
List <GridCell> cells = b.getCells();
for (int i = 0; i < cells.Count; i++)
{
Gpb_GridCell.Builder g = Gpb_GridCell.CreateBuilder();
g.SetRow(cells[i].getRow());
g.SetCol(cells[i].getCol());
proto.AddCells(g.Build());
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.NGOSITE;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.ROADCELL:
{ // Road Cell
Gpb_RoadCell.Builder proto = Gpb_RoadCell.CreateBuilder();
Belief_RoadCell b = (Belief_RoadCell)belief;
proto.SetIsRoadEnd(b.getIsRoadEnd());
// Copy contents of cell
GridCell cell = b.getCell();
Gpb_GridCell.Builder g = Gpb_GridCell.CreateBuilder();
g.SetRow(cell.getRow());
g.SetCol(cell.getCol());
proto.SetCell(g.Build());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.ROADCELL;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.SPOI:
{ // SPOI
Gpb_SPOI.Builder proto = Gpb_SPOI.CreateBuilder();
Belief_SPOI b = (Belief_SPOI)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetPosX(b.getPos_x());
proto.SetPosY(b.getPos_y());
proto.SetPosZ(b.getPos_z());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.SPOI;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.SUPPLY_DELIVERY:
{ // Supply Delivery
Gpb_SupplyDelivery.Builder proto = Gpb_SupplyDelivery.CreateBuilder();
Belief_Supply_Delivery b = (Belief_Supply_Delivery)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetGreedy(b.getGreedy());
// Copy contents of id list
int[] ids = b.getIds();
for (int i = 0; i < ids.Length; i++)
{
proto.AddIds(ids[i]);
}
// Copy contents of multiplicity list
int[] multiplicity = b.getMultiplicity();
for (int i = 0; i < multiplicity.Length; i++)
{
proto.AddMultiplicity(multiplicity[i]);
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.SUPPLY_DELIVERY;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.SUPPLY_PICKUP:
{ // Supply Pickup
Gpb_SupplyPickup.Builder proto = Gpb_SupplyPickup.CreateBuilder();
Belief_Supply_Pickup b = (Belief_Supply_Pickup)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetGreedy(b.getGreedy());
proto.SetMultiplicity(b.getMultiplicity());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.SUPPLY_PICKUP;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.TERRAIN:
{ // Terrain
Gpb_Terrain.Builder proto = Gpb_Terrain.CreateBuilder();
Belief_Terrain b = (Belief_Terrain)belief;
proto.SetType(b.getType());
// Copy contents of cell list
List <GridCell> cells = b.getCells();
for (int i = 0; i < cells.Count; i++)
{
Gpb_GridCell.Builder g = Gpb_GridCell.CreateBuilder();
g.SetRow(cells[i].getRow());
g.SetCol(cells[i].getCol());
proto.AddCells(g.Build());
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.TERRAIN;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.TIME:
{ // Time
Gpb_Time.Builder proto = Gpb_Time.CreateBuilder();
Belief_Time b = (Belief_Time)belief;
proto.SetTime(b.getTime());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.TIME;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.VILLAGE:
{ // Village
Gpb_Village.Builder proto = Gpb_Village.CreateBuilder();
Belief_Village b = (Belief_Village)belief;
proto.SetId(b.getId());
proto.SetSupplies(b.getSupplies());
proto.SetCasualties(b.getCasualties());
// Copy contents of cell list
List <GridCell> cells = b.getCells();
for (int i = 0; i < cells.Count; i++)
{
Gpb_GridCell.Builder g = Gpb_GridCell.CreateBuilder();
g.SetRow(cells[i].getRow());
g.SetCol(cells[i].getCol());
proto.AddCells(g.Build());
}
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.VILLAGE;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.WAYPOINT:
{ // Waypoint
Gpb_Waypoint.Builder proto = Gpb_Waypoint.CreateBuilder();
Belief_Waypoint b = (Belief_Waypoint)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetPosX(b.getPos_x());
proto.SetPosY(b.getPos_y());
proto.SetPosZ(b.getPos_z());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.WAYPOINT;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.WAYPOINT_OVERRIDE:
{ // Waypoint Override
Gpb_Waypoint_Override.Builder proto = Gpb_Waypoint_Override.CreateBuilder();
Belief_Waypoint_Override b = (Belief_Waypoint_Override)belief;
proto.SetRequestTime(b.getRequest_time());
proto.SetActorId(b.getActor_id());
proto.SetPosX(b.getPos_x());
proto.SetPosY(b.getPos_y());
proto.SetPosZ(b.getPos_z());
// Add on belief time
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.WAYPOINT_OVERRIDE;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.WAYPOINT_PATH:
{
Gpb_WaypointPath.Builder proto = Gpb_WaypointPath.CreateBuilder();
Belief_WaypointPath b = (Belief_WaypointPath)belief;
proto.SetActorId(b.getId());
proto.SetBeliefTime(b.getBeliefTime());
proto.SetRequestTime(b.getRequestTime());
foreach (Waypoint point in b.getWaypoints())
{
Gpb_SingleWaypoint.Builder pointBuilder = Gpb_SingleWaypoint.CreateBuilder();
pointBuilder.SetX(point.x);
pointBuilder.SetY(point.y);
pointBuilder.SetZ(point.z);
pointBuilder.SetHeading(point.heading);
pointBuilder.SetVisited(point.visited);
proto.AddWaypoints(pointBuilder.Build());
}
header = (byte)MessageType.WAYPOINT_PATH;
body = proto.Build().ToByteArray();
break;
}
case Belief.BeliefType.CUSTOM:
{ // Custom
Gpb_Custom.Builder proto = Gpb_Custom.CreateBuilder();
Belief_Custom b = (Belief_Custom)belief;
proto.SetData(Google.ProtocolBuffers.ByteString.CopyFrom(b.getData()));
// Add on belief time
proto.SetCustomType(b.getCustomType());
proto.SetActorId(b.getId());
proto.SetBeliefTime(b.getBeliefTime());
// Form header + serialized message
header = (byte)MessageType.CUSTOM;
body = proto.Build().ToByteArray();
break;
}
default:
// Unrecognized type, return empty array
Log.debug("ProtobufSerializer.serializeBelief(): Unrecognized Belief type");
return(new byte[0]);
}
// Return serialized message (header + body)
message = new Byte[body.Length + 1];
message[0] = header;
System.Buffer.BlockCopy(body, 0, message, 1, body.Length);
return(message);
}
// Deserialize
public override Belief generateBelief(byte[] serial)
{
// New belief that we will return
Belief b;
// Log.debug("Received a message with " + serial.Length + " bytes");
// Break string into header and body
MessageType headerType = (MessageType)serial[0];
Byte[] body = new Byte[serial.Length - 1];
System.Buffer.BlockCopy(serial, 1, body, 0, serial.Length - 1);
// Initialize based on type of belief
switch (headerType)
{
case MessageType.ACTOR:
{ // Actor
Gpb_Actor proto = Gpb_Actor.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Actor(
proto.UniqueId,
proto.Affiliation,
proto.Type,
proto.IsAlive,
proto.NumStorageSlots,
proto.NumCasualtiesStored,
proto.NumSuppliesStored,
proto.NumCiviliansStored,
proto.IsWeaponized,
proto.HasJammer,
proto.FuelRemaining,
proto.PosX,
proto.PosY,
proto.PosZ,
proto.HasVelocityX,
proto.VelocityX,
proto.HasVelocityY,
proto.VelocityY,
proto.HasVelocityZ,
proto.VelocityZ);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.BASE:
{ // Base
Gpb_Base proto = Gpb_Base.CreateBuilder().MergeFrom(body).Build();
List <GridCell> cells = new List <GridCell>(proto.CellsCount);
for (int i = 0; i < proto.CellsCount; i++)
{
cells.Add(new GridCell(proto.CellsList[i].Row, proto.CellsList[i].Col));
}
b = new Belief_Base(
proto.Id,
cells,
proto.Supplies);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.CASUALTY_DELIVERY:
{ // Casualty delivery
Gpb_CasualtyDelivery proto = Gpb_CasualtyDelivery.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Casualty_Delivery(
proto.RequestTime,
proto.ActorId,
proto.Greedy,
proto.Multiplicity);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.CASUALTY_PICKUP:
{ // Casualty pickup
Gpb_CasualtyPickup proto = Gpb_CasualtyPickup.CreateBuilder().MergeFrom(body).Build();
int[] ids = new int[proto.IdsCount];
for (int i = 0; i < proto.IdsCount; i++)
{
ids[i] = proto.IdsList[i];
}
int[] multiplicity = new int[proto.MultiplicityCount];
for (int i = 0; i < proto.MultiplicityCount; i++)
{
multiplicity[i] = proto.MultiplicityList[i];
}
b = new Belief_Casualty_Pickup(
proto.RequestTime,
proto.ActorId,
proto.Greedy,
ids,
multiplicity);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.GRIDSPEC:
{ // Grid Specification
Gpb_GridSpec proto = Gpb_GridSpec.CreateBuilder().MergeFrom(body).Build();
b = new Belief_GridSpec(
proto.Width,
proto.Height,
proto.GridOriginX,
proto.GridOriginZ,
proto.GridToWorldScale);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.MODE_COMMAND:
{ // Mode Command
Gpb_Mode_Command proto = Gpb_Mode_Command.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Mode_Command(
proto.RequestTime,
proto.ActorId,
proto.ModeId);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.NGOSITE:
{ // NGO Site
Gpb_NGOSite proto = Gpb_NGOSite.CreateBuilder().MergeFrom(body).Build();
List <GridCell> cells = new List <GridCell>(proto.CellsCount);
for (int i = 0; i < proto.CellsCount; i++)
{
cells.Add(new GridCell(proto.CellsList[i].Row, proto.CellsList[i].Col));
}
b = new Belief_NGOSite(
proto.Id,
cells,
proto.Supplies,
proto.Casualties,
proto.Civilians);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.ROADCELL:
{ // Road Cell
Gpb_RoadCell proto = Gpb_RoadCell.CreateBuilder().MergeFrom(body).Build();
b = new Belief_RoadCell(
proto.IsRoadEnd,
new GridCell(proto.Cell.Row, proto.Cell.Col));
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.SPOI:
{ // SPOI
Gpb_SPOI proto = Gpb_SPOI.CreateBuilder().MergeFrom(body).Build();
b = new Belief_SPOI(
proto.RequestTime,
proto.ActorId,
proto.PosX,
proto.PosY,
proto.PosZ);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.SUPPLY_DELIVERY:
{ // Supply delivery
Gpb_SupplyDelivery proto = Gpb_SupplyDelivery.CreateBuilder().MergeFrom(body).Build();
int[] ids = new int[proto.IdsCount];
for (int i = 0; i < proto.IdsCount; i++)
{
ids[i] = proto.IdsList[i];
}
int[] multiplicity = new int[proto.MultiplicityCount];
for (int i = 0; i < proto.MultiplicityCount; i++)
{
multiplicity[i] = proto.MultiplicityList[i];
}
b = new Belief_Supply_Delivery(
proto.RequestTime,
proto.ActorId,
proto.Greedy,
ids,
multiplicity);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.SUPPLY_PICKUP:
{ // Supply pickup
Gpb_SupplyPickup proto = Gpb_SupplyPickup.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Supply_Pickup(
proto.RequestTime,
proto.ActorId,
proto.Greedy,
proto.Multiplicity);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.TERRAIN:
{ // Terrain
Gpb_Terrain proto = Gpb_Terrain.CreateBuilder().MergeFrom(body).Build();
List <GridCell> cells = new List <GridCell>(proto.CellsCount);
for (int i = 0; i < proto.CellsCount; i++)
{
cells.Add(new GridCell(proto.CellsList[i].Row, proto.CellsList[i].Col));
}
b = new Belief_Terrain(
proto.Type,
cells);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.TIME:
{ // Time
Gpb_Time proto = Gpb_Time.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Time(
proto.Time);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.VILLAGE:
{ // Village
Gpb_Village proto = Gpb_Village.CreateBuilder().MergeFrom(body).Build();
List <GridCell> cells = new List <GridCell>(proto.CellsCount);
for (int i = 0; i < proto.CellsCount; i++)
{
cells.Add(new GridCell(proto.CellsList[i].Row, proto.CellsList[i].Col));
}
b = new Belief_Village(
proto.Id,
cells,
proto.Supplies,
proto.Casualties);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.WAYPOINT:
{ // Waypoint
Gpb_Waypoint proto = Gpb_Waypoint.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Waypoint(
proto.RequestTime,
proto.ActorId,
proto.PosX,
proto.PosY,
proto.PosZ);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.WAYPOINT_OVERRIDE:
{ // Waypoint Override
Gpb_Waypoint_Override proto = Gpb_Waypoint_Override.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Waypoint_Override(
proto.RequestTime,
proto.ActorId,
proto.PosX,
proto.PosY,
proto.PosZ);
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.WAYPOINT_PATH:
{
Gpb_WaypointPath proto = Gpb_WaypointPath.CreateBuilder().MergeFrom(body).Build();
List <Waypoint> waypoints = new List <Waypoint>();
for (int i = 0; i < proto.WaypointsCount; ++i)
{
Gpb_SingleWaypoint protoPoint = proto.WaypointsList[i];
Waypoint waypoint = new Waypoint();
waypoint.x = protoPoint.X;
waypoint.y = protoPoint.Y;
waypoint.z = protoPoint.Z;
waypoint.heading = protoPoint.Heading;
waypoint.visited = protoPoint.Visited;
waypoints.Add(waypoint);
}
b = new Belief_WaypointPath(proto.RequestTime, proto.ActorId, waypoints);
b.setBeliefTime(proto.BeliefTime);
break;
}
case MessageType.CUSTOM:
{ // Time
Gpb_Custom proto = Gpb_Custom.CreateBuilder().MergeFrom(body).Build();
b = new Belief_Custom(
proto.CustomType,
proto.ActorId,
proto.Data.ToByteArray());
// Add on belief time
b.setBeliefTime(proto.BeliefTime);
break;
}
default:
// Unrecognized type
Log.debug("ProtobufSerializer.generateBelief(): Unrecognized header type " + headerType);
// Don't create a new belief object and return to caller
return(null);
}
// Return the created belief object
return(b);
}