private static void processPlanning(string msg)
{
string[] tokens = null;
if (MessageHandler.StartsWith(msg, "[plan_begin]", ref tokens))
{
//[plan_begin]CleaningRobot::RobotController#Controller CleanRooms.xml->Task[0]
if (tokens.Length == 3)
{
FrameStatePool.PlanBegin(tokens[0], tokens[1], tokens[2]);
_ms_planning = true;
}
}
else if (FrameStatePool.PlanningProcess._planning != null)
{
if (MessageHandler.StartsWith(msg, "[plan_end]", ref tokens))
{
//[plan_end]CleaningRobot::RobotController#Controller CleanRooms.xml->Task[0]
if (tokens.Length == 2)
{
FrameStatePool.PlanEnd(tokens[0], tokens[1]);
_ms_planning = false;
}
}
else if (MessageHandler.StartsWith(msg, "[plan_method_begin]", ref tokens))
{
//[plan_method_begin]CleanRooms.xml->Method[13]
if (tokens.Length == 1)
{
FrameStatePool.PlanningMethodBegin(tokens[0]);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_method_end]", ref tokens))
{
//[plan_method_end]CleanRooms.xml->Method[13] success
if (tokens.Length == 2)
{
FrameStatePool.PlanningMethodEnd(tokens[0], tokens[1]);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_node_begin]", ref tokens))
{
//[plan_node_begin]CleanRooms.xml->Method[8]
if (tokens.Length == 1)
{
FrameStatePool.PlanningNodeBegin(tokens[0]);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_node_pre_failed]", ref tokens))
{
//[plan_node_pre_failed]CleanRooms.xml->Method[1]
if (tokens.Length == 1)
{
FrameStatePool.PlanningNodePreFailed(tokens[0]);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_node_end]", ref tokens))
{
//[plan_node_end]CleanRooms.xml->Method[1] failure
if (tokens.Length == 2)
{
FrameStatePool.PlanningNodeEnd(tokens[0], tokens[1]);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_referencetree_enter]", ref tokens))
{
//[plan_referencetree_enter]CleanRooms.xml->ReferencedBehavior[10] MoveToRoom.xml
if (tokens.Length == 2)
{
string fullId = tokens[0];
string behaviorFilename = tokens[1];
FrameStatePool.PlanningReferencedEnter(fullId, behaviorFilename);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_referencetree_exit]", ref tokens))
{
//[plan_referencetree_exit]CleanRooms.xml->ReferencedBehavior[10] MoveToRoom.xml
if (tokens.Length == 2)
{
string fullId = tokens[0];
string behaviorFilename = tokens[1];
FrameStatePool.PlanningReferencedExit(fullId, behaviorFilename);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_foreach_begin]", ref tokens))
{
//[plan_foreach_begin]MoveToRoom.xml->DecoratorIterator[5] 0 2
if (tokens.Length == 3)
{
string indexStr = tokens[1];
string countStr = tokens[2];
FrameStatePool.PlanningForEachBegin(tokens[0], indexStr, countStr);
}
}
else if (MessageHandler.StartsWith(msg, "[plan_foreach_end]", ref tokens))
{
//[plan_foreach_end]MoveToRoom.xml->DecoratorIterator[5] 0 2 success
if (tokens.Length == 4)
{
string indexStr = tokens[1];
string countStr = tokens[2];
string result = tokens[3];
FrameStatePool.PlanningForEachEnd(tokens[0], indexStr, countStr, result);
}
}
else
{
Debug.Check(false);
}
}
}
