public bool RemoveAgent(Guid agentId)
{
if (Agents.All(r => r.Id != agentId))
{
return(false);
}
Agents.RemoveAll(r => r.Id == agentId);
return(true);
}
protected override void Reconfigure()
{
var isReconfPossible = IsReconfPossible(_availableRobots, Tasks);
if (!isReconfPossible)
{
OracleState = ReconfStates.Failed;
}
else if (OracleState != ReconfStates.Failed)
{
OracleState = ReconfStates.Succedded;
}
// find optimal path that satisfies the required capabilities
CalculateShortestPaths();
var path = FindPath(Tasks[0]);
var roles = path == null ? null : Convert(Tasks[0], path).ToArray();
#if ENABLE_F5
var length = roles?.Sum(role => Math.Max(role.Item2.Length, 1));
if (roles == null || length > 2 * Tasks[0].Capabilities.Length)
#else
if (roles == null)
#endif
{
if (isReconfPossible)
{
throw new Exception("Reconfiguration failed even though there is a solution.");
}
ReconfigurationState = ReconfStates.Failed;
}
else
{
ApplyConfiguration(roles);
if (!isReconfPossible)
{
throw new Exception("Reconfiguration successful even though there is no valid configuration.");
}
if (ReconfigurationState != ReconfStates.Failed)
{
ReconfigurationState = ReconfStates.Succedded;
}
}
// validate invariant
if (!Agents.All(agent => agent.ValidateConstraints()))
{
throw new Exception("Reconfiguration violated constraints");
}
}
