/**
* Execute an action from the contingency plan
*
* @param percept a percept.
* @return an action from the contingency plan.
*/
public override IAction Execute(IPercept percept)
{
// check if goal state
VacuumEnvironmentState state = (VacuumEnvironmentState)this
.getPerceptToStateFunction()(percept);
if (state.getLocationState(VacuumEnvironment.LOCATION_A) == VacuumEnvironment.LocationState.Clean &&
state.getLocationState(VacuumEnvironment.LOCATION_B) == VacuumEnvironment.LocationState.Clean)
{
return(DynamicAction.NO_OP);
}
// check stack size
if (this.stack.Size() < 1)
{
if (this.contingencyPlan.Size() < 1)
{
return(DynamicAction.NO_OP);
}
else
{
this.stack.Add(this.getContingencyPlan().Pop());
}
}
// pop...
object currentStep = this.stack.Peek();
// push...
if (currentStep is IAction)
{
return((IAction)this.stack.Pop());
} // case: next step is a plan
else if (currentStep is Plan)
{
Plan newPlan = (Plan)currentStep;
if (newPlan.Size() > 0)
{
this.stack.Add(newPlan.Pop());
}
else
{
this.stack.Pop();
}
return(this.Execute(percept));
} // case: next step is an if-then
else if (currentStep is IfStateThenPlan)
{
IfStateThenPlan conditional = (IfStateThenPlan)this.stack.Pop();
this.stack.Add(conditional.ifStateMatches(percept));
return(this.Execute(percept));
} // case: ignore next step if null
else if (currentStep == null)
{
this.stack.Pop();
return(this.Execute(percept));
}
else
{
throw new RuntimeException("Unrecognized contingency plan step.");
}
}
public static bool testGoal(VacuumEnvironmentState state)
{
return(state.getLocationState(VacuumEnvironment.LOCATION_A) == VacuumEnvironment.LocationState.Clean &&
state.getLocationState(VacuumEnvironment.LOCATION_B) == VacuumEnvironment.LocationState.Clean);
}
public LocationState getLocationState(string location)
{
return(envState.getLocationState(location));
}
