private void ReadParameters(CompoundExpression exp, ParametrizedAction pa)
{
int iExpression = 0;
//unfortunately, expressions have a weird non standard structure with no type - (?i - pos ?j - pos )
//so we must have a special case for the first parameter
if (exp.SubExpressions.Count == 0 || exp.SubExpressions[0].ToString()[0] == '?')//no types
{
string sName = exp.Type;
pa.AddParameter(new Parameter("OBJ", sName));
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
sName = exp.SubExpressions[iExpression].ToString();
pa.AddParameter(new Parameter("OBJ", sName));
}
}
else//types for expressions
{
string sName = exp.Type, sType = exp.SubExpressions[1].ToString();
pa.AddParameter(new Parameter(sType, sName));
for (iExpression = 2; iExpression < exp.SubExpressions.Count; iExpression += 3)
{
sName = exp.SubExpressions[iExpression].ToString();
sType = exp.SubExpressions[iExpression + 2].ToString();
if (exp.SubExpressions[iExpression + 1].ToString() != "-")
{
throw new InvalidDataException("Expression " + exp + " has the wrong format");
}
pa.AddParameter(new Parameter(sType, sName));
}
}
}
private Action ReadAction(CompoundExpression exp, Domain d)
{
string sName = exp.SubExpressions[0].ToString();
Action pa = null;
int iExpression = 0;
for (iExpression = 1; iExpression < exp.SubExpressions.Count; iExpression++)
{
if (exp.SubExpressions[iExpression].ToString() == ":parameters")
{
CompoundExpression ceParams = (CompoundExpression)exp.SubExpressions[iExpression + 1];
if (ceParams.Type != "N/A")
{
pa = new ParametrizedAction(sName);
ReadParameters((CompoundExpression)exp.SubExpressions[iExpression + 1], (ParametrizedAction)pa);
}
iExpression++;
}
else if (exp.SubExpressions[iExpression].ToString() == ":effect")
{
if (pa == null)
{
pa = new Action(sName);
}
ReadEffect((CompoundExpression)exp.SubExpressions[iExpression + 1], pa, d, pa is ParametrizedAction);
iExpression++;
}
else if (exp.SubExpressions[iExpression].ToString() == ":precondition")
{
if (pa == null)
{
pa = new Action(sName);
}
ReadPrecondition((CompoundExpression)exp.SubExpressions[iExpression + 1], pa, d, pa is ParametrizedAction);
iExpression++;
}
else if (exp.SubExpressions[iExpression].ToString() == ":observe")
{
if (pa == null)
{
pa = new Action(sName);
}
ReadObserve((CompoundExpression)exp.SubExpressions[iExpression + 1], pa, d, pa is ParametrizedAction);
iExpression++;
}
}
return(pa);
}
public override Action Clone()
{
ParametrizedAction aNew = new ParametrizedAction(Name);
aNew.Parameters = Parameters;
if (Preconditions != null)
{
aNew.Preconditions = Preconditions.Clone();
}
if (Effects != null)
{
aNew.SetEffects(Effects.Clone());
}
if (Observe != null)
{
aNew.Observe = Observe.Clone();
}
aNew.HasConditionalEffects = HasConditionalEffects;
aNew.ContainsNonDeterministicEffect = ContainsNonDeterministicEffect;
return(aNew);
}