public IList <QueryResponse> FindModels()
{
Stack <ModelState> stack = new Stack <ModelState>();
var initialFluentValues = FluentsHelper.InitializeFluents(_extractionResult.Fluents.Count).ToList();
initialFluentValues.RemoveAll(
x => !ObservationHelper.ValidateModelWithObservation(x, 0, _extractionResult, _scenarioId));
_queryExecutors = QueriesHelper.CreateQueryExecutors(_queries, initialFluentValues, _scenarioId);
foreach (var fluents in initialFluentValues)
{
ProcessModel(new ModelState
{
Time = 0,
Fluents = fluents,
Action = null,
OcclussionFluents = null
}, stack);
stack.Clear();
}
return(_queryExecutors.Select(x => x.GetResponse()).ToList());
}
private bool ProcessModel(ModelState state, Stack <ModelState> stack)
{
//Validate model with observations from scenario
if (!ObservationHelper.ValidateModelWithObservation(state.Fluents, state.Time, _extractionResult, _scenarioId))
{
return(false);
}
List <int> occlussionInNextMoment = new List <int>();
//Check actions
if (state.Action != null) //action is invoking
{
//Find all matching action results
var results = state.Action.Results.Where(r => r.Delay + state.Action.StartTime == state.Time);
foreach (var actionResult in results.ToList())
{
//check if result is satisfied
if (!ExpressionHelper.IsExpressionTrue(actionResult.Result, state.Fluents))
{
return(false);
}
state.Action.Results.Remove(actionResult);
}
if (!state.Action.Results.Any()) //all results have been applied -> action finish
{
state.Action = null;
}
else
{
occlussionInNextMoment = FluentsHelper.GetFluentsInOcclusion(state.Action); //set occlusion
}
}
//there is a method ActionHelper.GetActionToBePerformed. Use it!
var actionId = ActionHelper.GetActionToStart(_extractionResult, _scenarioId, state.Time, state.Fluents, _invokedActions);
if (!actionId.HasValue || (actionId >= 0 && state.Action != null))
{
return(false); //error - multiple action to invoke
}
if (actionId.Value >= 0) //start new action
{
var results = ActionHelper.CanActionBePerformed(_extractionResult.Sentences, actionId.Value,
state.Fluents, state.Time, _endTime);
if (results.Item1)
{
state.Action = results.Item2; //start action
occlussionInNextMoment = FluentsHelper.GetFluentsInOcclusion(state.Action);
var actionDuration = results.Item2.Results.Max(x => x.Delay);
var invoked = ActionHelper.FindInvokedActions(_extractionResult, actionId.Value, actionDuration,
state.Fluents, state.Time);
foreach (var i in invoked)
{
if (!_invokedActions.TryGetValue(i.Item2, out int a))
{
_invokedActions.Add(i.Item2, i.Item1);
}
else
{
if (a != i.Item1)
{
return(false); //error - to many invokes
}
}
}
}
else
{
return(false); //powinniśmy wykonać akcję, ale nie udało się
}
}
stack.Push(state);
//Generate children - only fluents in occlusion can differ!
if (state.Time < _endTime)
{
//if occlusion is empty - nothing changes it is only one child
if (!occlussionInNextMoment.Any())
{
var r = ProcessModel(new ModelState()
{
Fluents = state.Fluents,
OcclussionFluents = occlussionInNextMoment,
Time = state.Time + 1,
Action = state.Action?.Clone()
}, stack);
if (r)
{
stack.Pop();
}
return(r);
}
foreach (var fluents in FluentsHelper.InitializeFluentsWithOcclusion(state.Fluents, occlussionInNextMoment))
{
var r = ProcessModel(new ModelState()
{
Fluents = fluents,
Time = state.Time + 1,
OcclussionFluents = occlussionInNextMoment,
Action = state.Action?.Clone()
}, stack);
if (r)
{
stack.Pop();
}
}
return(true);
}
else
{
var modelStack = new Stack <ModelState>(stack.ToArray());
ValidModel model = new ValidModel(modelStack, _extractionResult.Fluents.Count);
foreach (var queryExecutor in _queryExecutors)
{
queryExecutor.CheckModel(model);
}
_modelSaver?.SaveModel(model);
return(true);
}
}