public static List <Landmark> DetectNewLandmarks(List <Action> PossibleBefore, HashSet <GroundedPredicate> usedFacts)
{
int indexProp = 1;
List <Landmark> newsPPLandmarks = new List <Landmark>();
bool flag2 = false;
if (PossibleBefore.Count > 0)
{
HashSet <GroundedPredicate> oldFacts = new HashSet <GroundedPredicate>();
Action firstAction = PossibleBefore[0];
foreach (GroundedPredicate prop in firstAction.HashPrecondition)
{
if (usedFacts.Contains(prop))
{
continue;
}
bool flag = true;
foreach (Action act in PossibleBefore)
{
if (!act.HashPrecondition.Contains(prop))
{
flag = false;
break;
}
}
if (flag)
{
Landmark newLandmark = new Landmark("fact", false);
newLandmark.AddFact(prop, "first_round");
indexProp++;
newsPPLandmarks.Add(newLandmark);
oldFacts.Add(prop);
usedFacts.Add(prop);
}
}
if (PossibleBefore.Count > 1)
{
firstAction = PossibleBefore[0];
}
PossibleBefore.RemoveAt(0);
foreach (GroundedPredicate prop in firstAction.HashPrecondition)
{
string type = prop.Name;
// if (!oldFacts.Contains(prop) && !usedFacts.Contains(prop))
{
int counter = 0;;
Landmark newLandmark = new Landmark("Disjunctive", false);
//newLandmark.worth = exploreLandmarks.worth - 10;
if (oldFacts.Contains(prop))
{
continue;
}
if (!usedFacts.Contains(prop))
{
newLandmark.AddFact(prop, "first_round");
}
foreach (Action act in PossibleBefore)
{
bool f = false;
foreach (GroundedPredicate prop2 in act.HashPrecondition)
{
if (prop2.Name == prop.Name)
{
if (!newLandmark.facts.ContainsKey(prop2) && !usedFacts.Contains(prop2))
{
newLandmark.AddFact(prop2, "first_round");
}
counter++;
f = true;
break;
}
}
}
if (counter == PossibleBefore.Count && newLandmark.facts.Count > 0)
{
newsPPLandmarks.Add(newLandmark);
foreach (GroundedPredicate gp in newLandmark.facts.Keys)
{
usedFacts.Add(gp);
}
}
}
}
}
return(newsPPLandmarks);
}
public static HashSet <Action> GetPublicActionsLandmarks2(GroundedPredicate goalFact, Agent courentAgent, out int dept, bool pos)
{
dept = 0;
string gpName = goalFact.Name + " " + goalFact.Constants[0];
List <Landmark> lowLayerLandmarks = new List <Landmark>();
if (courentAgent.PublicPredicates.Contains(goalFact))
{
throw new Exception();
}
Landmark firstLandmark = new Landmark("firstFact", false);
firstLandmark.lAchievers = new List <Action>();
firstLandmark.facts.Add(goalFact, "fact");
Queue <Landmark> queue = new Queue <Landmark>();
queue.Enqueue(firstLandmark);
HashSet <GroundedPredicate> usedFacts = new HashSet <GroundedPredicate>();
usedFacts.Add(goalFact);
while (queue.Count > 0)
{
Landmark courrentLandmark = queue.Dequeue();
HashSet <Action> CanAchiveList = CanAchive(courrentLandmark, courentAgent);
List <Action> privateSet = new List <Action>();
List <Action> PublicSet = new List <Action>();
foreach (Action act in CanAchiveList)
{
if (act.isPublic)
{
PublicSet.Add(act);
}
else
{
privateSet.Add(act);
}
}
courrentLandmark.lAchievers.AddRange(PublicSet);
//privateSet = courentAgent.GetUnPosibalePrivateAction(privateSet);
List <Landmark> newsPPLandmarks = DetectNewLandmarks(privateSet, usedFacts);
List <Landmark> tmp = new List <Landmark>();
foreach (Landmark l in newsPPLandmarks)
{
Landmark newLand = new Landmark(l.type, l.GoalLandmark);
foreach (var itemFact in l.facts)
{
string factName = itemFact.Key.Name + " " + itemFact.Key.Constants[0];
if (factName.Equals(gpName))
{
newLand.AddFact(itemFact.Key, itemFact.Value);
}
}
if (newLand.facts.Count > 0)
{
tmp.Add(newLand);
}
}
newsPPLandmarks = tmp;
if (newsPPLandmarks.Count > 0)
{
foreach (Landmark l in newsPPLandmarks)
{
l.lAchievers = new List <Action>();
l.lAchievers.AddRange(courrentLandmark.lAchievers);
queue.Enqueue(l);
}
}
else
{
lowLayerLandmarks.Add(courrentLandmark);
}
}
// List<List<Action>> achievers = new List<List<Action>>();
//achievers.Add(new List<Action>());
HashSet <Action> achievers = new HashSet <Action>();
foreach (Landmark l in lowLayerLandmarks)
{
foreach (Action act in l.lAchievers)
{
achievers.Add(act);
}
/* if(l.lAchievers.Count>0)
* {
* if(achievers.Count==0)
* {
* foreach (Action act in l.lAchievers)
* {
* achievers.Add(act);
* }
* }
* else
* {
* HashSet<Action> tmp = new HashSet<Action>();
* foreach(Action act in l.lAchievers)
* {
* if (achievers.Contains(act))
* tmp.Add(act);
* }
* achievers = tmp;
* }
* }*/
}
return(achievers);
}
