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* wip: overgave aan Thijs * feat: implement GoalStructure * chore: fix .editorconfig * feat: add interfaces for easy testing * feat: simplify goal structure * feat: make Goal and Goalstructure inherit from interfaces. * feat: change implementation of goal structures. The goal structures have been altered so that they now first update the state, and then choose a goal. They also have a mechanism for interrupting and reinstating them. * test: test the goal structures, and rework some of the tests to work with moq * chore: conform to sonar * fix: conform to Jens * test: fix tests * feat: make goal structure type contravariant * feat: remove interruptable * docs: fix the wording of CompletionStatus.cs * chore: conform to sonar * fix: improve GoalStructure tests * refactor: rename State to Status * fix: conform to tboefijn Co-authored-by: Thijs Boerefijn <[email protected]> * fix: conform to tboefijn, again Co-authored-by: Thijs Boerefijn <[email protected]> --------- Co-authored-by: Joachim Dekker <[email protected]> Co-authored-by: Jens Steenmetz <[email protected]> Co-authored-by: Thijs Boerefijn <[email protected]>
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| namespace Aplib.Core | ||
| { | ||
| /// <summary> | ||
| /// Represents the state of a completable object. | ||
| /// </summary> | ||
| public enum CompletionStatus | ||
| { | ||
| /// <summary> | ||
| /// Represents the status of a completable object that is not yet completed. | ||
| /// </summary> | ||
| Unfinished, | ||
|
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||
| /// <summary> | ||
| /// Represents the status of a completable object that has been successfully completed. | ||
| /// </summary> | ||
| Success, | ||
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| /// <summary> | ||
| /// Represents the status of a completable object that has failed to complete. | ||
| /// </summary> | ||
| Failure | ||
| } | ||
| } |
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| using Aplib.Core.Belief; | ||
| using Aplib.Core.Desire.Goals; | ||
| using System; | ||
| using System.Collections.Generic; | ||
|
|
||
| namespace Aplib.Core.Desire | ||
| { | ||
| /// <summary> | ||
| /// Represents a goal structure that will complete if any of its children complete. | ||
| /// </summary> | ||
| /// <remarks> | ||
| /// The children of this goal structure will be executed in the order they are given. | ||
| /// </remarks> | ||
| /// <typeparam name="TBeliefSet">The beliefset of the agent.</typeparam> | ||
| public class FirstOfGoalStructure<TBeliefSet> : GoalStructure<TBeliefSet>, IDisposable | ||
| where TBeliefSet : IBeliefSet | ||
| { | ||
| private IEnumerator<IGoalStructure<TBeliefSet>> _childrenEnumerator { get; } | ||
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| /// <summary> | ||
| /// Initializes a new instance of the <see cref="FirstOfGoalStructure{TBeliefSet}" /> class. | ||
| /// </summary> | ||
| /// <param name="children">The children of the goal structure.</param> | ||
| public FirstOfGoalStructure(IList<IGoalStructure<TBeliefSet>> children) : base(children) | ||
| { | ||
| _childrenEnumerator = children.GetEnumerator(); | ||
| _childrenEnumerator.MoveNext(); | ||
| _currentGoalStructure = _childrenEnumerator.Current; | ||
| } | ||
|
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| /// <inheritdoc /> | ||
| public override IGoal GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.GetCurrentGoal(beliefSet); | ||
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| /// <inheritdoc /> | ||
| public override void UpdateStatus(TBeliefSet beliefSet) | ||
| { | ||
| // Loop through all the children until one of them is unfinished or successful. | ||
| // This loop is here to prevent tail recursion. | ||
| while (true) | ||
| { | ||
| if (Status == CompletionStatus.Success) return; | ||
| _currentGoalStructure!.UpdateStatus(beliefSet); | ||
|
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| switch (_currentGoalStructure.Status) | ||
| { | ||
| case CompletionStatus.Unfinished: | ||
| return; | ||
| case CompletionStatus.Success: | ||
| Status = CompletionStatus.Success; | ||
| return; | ||
| } | ||
|
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| if (_childrenEnumerator.MoveNext()) | ||
| { | ||
| _currentGoalStructure = _childrenEnumerator.Current; | ||
| Status = CompletionStatus.Unfinished; | ||
|
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| // Update the Status of the new goal structure | ||
| continue; | ||
| } | ||
|
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| Status = CompletionStatus.Failure; | ||
| return; | ||
| } | ||
| } | ||
|
|
||
| /// <inheritdoc /> | ||
| public void Dispose() | ||
| { | ||
| Dispose(true); | ||
| GC.SuppressFinalize(this); | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Disposes of the goal structure. | ||
| /// </summary> | ||
| /// <param name="disposing">Whether we are actually disposing.</param> | ||
| protected virtual void Dispose(bool disposing) => _childrenEnumerator.Dispose(); | ||
| } | ||
| } |
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| using Aplib.Core.Belief; | ||
| using Aplib.Core.Desire.Goals; | ||
| using System.Collections.Generic; | ||
|
|
||
| namespace Aplib.Core.Desire | ||
| { | ||
| /// <summary> | ||
| /// Describes a structure of goals that need to be fulfilled. | ||
| /// </summary> | ||
| public abstract class GoalStructure<TBeliefSet> : IGoalStructure<TBeliefSet> where TBeliefSet : IBeliefSet | ||
| { | ||
| /// <inheritdoc /> | ||
| public CompletionStatus Status { get; protected set; } | ||
|
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| /// <summary> | ||
| /// The children of the goal structure. | ||
| /// </summary> | ||
| protected readonly IEnumerable<IGoalStructure<TBeliefSet>> _children; | ||
|
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| /// <summary> | ||
| /// The goal structure that is currently being fulfilled. | ||
| /// </summary> | ||
| protected IGoalStructure<TBeliefSet>? _currentGoalStructure; | ||
|
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| /// <summary> | ||
| /// Initializes a new instance of the <see cref="GoalStructure{TBeliefSet}" /> class. | ||
| /// </summary> | ||
| /// <param name="children">The children of the goal structure.</param> | ||
| protected GoalStructure(IEnumerable<IGoalStructure<TBeliefSet>> children) => _children = children; | ||
|
|
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| /// <summary> | ||
| /// Gets the current goal using the given <see cref="IBeliefSet" />. | ||
| /// </summary> | ||
| /// <param name="beliefSet">The belief set of the agent.</param> | ||
| /// <returns>The current goal to be fulfilled.</returns> | ||
| public abstract IGoal GetCurrentGoal(TBeliefSet beliefSet); | ||
|
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| /// <summary> | ||
| /// Updates the state of the goal structure. | ||
| /// </summary> | ||
| /// <param name="beliefSet">The belief set of the agent.</param> | ||
| public abstract void UpdateStatus(TBeliefSet beliefSet); | ||
| } | ||
| } |
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