/// <summary>
/// If the planner and action queue are null, find and start a new plan.
/// </summary>
private void FindNewPlan()
{
// ------- CHECK IF THE PLANNER OR ACTION QUEUE ARE NULL --------
if (planner == null || actionQueue == null)
{
// -------------------- CREATE A NEW PLANNER --------------------
planner = new GPlanner();
target = null;
// --------------- SORT GOALS IN DESCENDING ORDER ---------------
var sortedGoals = SortGoals();
// ---------------------- FIND A NEW PLAN -----------------------
foreach (KeyValuePair <SubGoal, int> sg in sortedGoals)
{
actionQueue = planner.Plan(actions, sg.Key.sGoals, beliefs);
if (actionQueue != null)
{
ActionList = new List <GAction>(actionQueue);
}
// ------------------ CHECK IF WE FOUND A PLAN ------------------
if (actionQueue != null)
{
currentGoal = sg.Key; // Set the current goal
break; // Goal is found, break out of the loop
}
}
}
}
/// <summary>
/// Checks if action queue is empty and both: 1) removes sub-goal (if applicable) 2) sets planner to null, so a new plan is created.
/// </summary>
private void CheckForEmptyActionQueue()
{
// ------------- HAS AN EMPTY ACTION QUEUE --------------
if (actionQueue != null && actionQueue.Count == 0)
{
// ----- CHECK IF ACTION IS REMOVABLE AND REMOVE IT -----
if (currentGoal.remove)
{
goals.Remove(currentGoal);
}
// ----------- TRIGGER A NEW PLAN NEXT UPDATE -----------
planner = null;
}
}
/// <summary>
/// Forces a new plan, regardless of the status of the current action.
/// </summary>
public void ForceNewPlan()
{
isRunningAction = false;
actionQueue = null;
planner = null;
}