void
TransDispatcher::processCleanup()
{
if ( m_tickCleanup.Elapsed() < 1000 ) // every second
{
return;
}
m_tickCleanup.Reset();
ActionMap::iterator i( m_actions.begin() );
for ( ; i != m_actions.end(); ++i )
{
ActionList& lst = i->second;
ActionList::iterator ai( lst.begin() );
for ( ; ai != lst.end(); )
{
ActionPtr action = *ai;
if ( action->IsFinished() )
{
ai = lst.erase( ai );
}
else
{
++ai;
}
}
// keep empty list. not a big deal.
}
}
TEST(TaskTest, ConditionalTaskExecute)
{
ITaskSystemPtr pTaskSystem (new TaskSystem());
Ts::ITaskManagerPtr pTaskMgr = pTaskSystem->GetTaskManager();
EXPECT_EQ(true, pTaskMgr != NULL);
{
BehaviorManager* pBehaviorManager = pTaskSystem->GetBehaviorManager();
WString actionName = _T("demoAction");
ActionPtr pNewAction = Action::Create(_T("EmptyAction"), pBehaviorManager);
pNewAction->GetParameterTable().AddParameter(Parameter(OBJECT_ID, actionName.data()));
WString conditionName (_T("TrueCondition"));
ConditionPtr pNewCondtion = Condition::Create(_T("TrueCondition"), pBehaviorManager);
pNewCondtion->GetParameterTable().AddParameter(Parameter(OBJECT_ID, conditionName.data()));
ImmediateTask::pointer pImmeTask (ImmediateTask::Create(_T("basicTask")));
pImmeTask->AppendAction(actionName);
pTaskMgr->RegisterTask(pImmeTask);
ConditionalTask::pointer pTask (ConditionalTask::Create(_T("conditionTask"), conditionName, pImmeTask->GetObjectId()));
const bool ok = pTask->Execute(pTaskSystem.get());
EXPECT_EQ(true, ok);
}
}
ActionPlan Planner::Plan2(){
ActionPlan result;
auto curr = preConds;
auto goal = postConds;
ActionPtr nullAction = Action::ActionFactory("NULL",{},{},0,0);
ActionCondition start = {curr, nullAction};
PriorityQueue<ActionNodePtr> acs;
auto curr_ac = std::make_shared<ActionNode>();
curr_ac->action = nullAction;
curr_ac->conds = curr;
curr_ac->cost_so_far = 0;
curr_ac->parent = nullptr;
acs.put(curr_ac,0);
bool success = false;
while(!acs.empty()){
curr_ac = acs.get();
if(!satisfies(curr_ac->conds, goal)){
for(auto& ac : findActions(actions, curr_ac->conds)){
bool skip = false;
auto temp_ac = curr_ac;
while(temp_ac->action->getName() != nullAction->getName()){
temp_ac = temp_ac->parent;
if(ac.first == temp_ac->conds){
skip=true;
break;
}
}
if(skip)
continue;
auto node = std::make_shared<ActionNode>();
node->action = ac.second;
node->conds = ac.first;
node->cost_so_far = ac.second->getCost()+curr_ac->cost_so_far;
node->parent = curr_ac;
acs.put(node,node->cost_so_far);
}
}
else{
success=true;
break;
}
}
std::cout <<"PLANNED " << std::boolalpha << success << "\n";
if(!success)
return result;
while(curr_ac != nullptr){
result.push_back(curr_ac->action);
//std::cout << curr_ac->action << " ";
curr_ac = curr_ac->parent;
}
std::reverse(result.begin(), result.end());
return result;
}
void ScriptNode::addAction( ActionPtr action )
{
action->doAction();
if( m_actionAccumulator && m_undoStateStack.top() == UndoContext::Enabled )
{
m_actionAccumulator->addAction( action );
actionSignal()( this, action.get(), Action::Do );
}
}
void ServerModel::QueueAction(ActionPtr spAction)
{
// resolve argument
ObjectRef& ref = spAction->ArgumentRef();
if (ref.m_sp == NULL)
ref.m_sp = m_objectMap.FindObject(ref.m_id).m_sp;
spAction->Do(*this);
}
///**********************************************************************///
/// class implement end ///
///**********************************************************************///
///**********************************************************************///
/// class implement begin ///
///**********************************************************************///
void Robot::RunOnce()
{
ActionQueue::iterator iter = m_actionQueue.begin();
ActionQueue::iterator end = m_actionQueue.end();
for (; iter != end; iter++) {
ActionPtr act = *iter;
act->Do();
CommandProc();
}
CommandProc();
}
/// executes action
void Execute(ActionPtr spAction)
{
ObjectRef& arg = spAction->ArgumentRef();
ATLASSERT(arg.m_sp != NULL);
{
// lock argument ref
Lockable::LockType lock = arg.m_sp->Lock();
spAction->Do(m_model);
}
}
void Action::enact( ActionPtr action )
{
ScriptNode *s = IECore::runTimeCast<ScriptNode>( action->subject() );
if( !s )
{
s = action->subject()->ancestor<ScriptNode>();
}
if( s )
{
s->addAction( action );
}
else
{
action->doAction();
}
}
void
TransDispatcher::Fini()
{
ActionMap::iterator i( m_actions.begin() );
for ( ; i != m_actions.end(); ++i )
{
ActionList& lst = i->second;
ActionList::iterator ai( lst.begin() );
for ( ; ai != lst.end(); ++ai )
{
ActionPtr action = *ai;
action->Fini();
}
lst.clear();
}
m_actions.clear();
}
void
TransDispatcher::Dispatch( Transaction* trans )
{
ActionMap::iterator i( m_actions.find( trans->GetType() ) );
if ( i != m_actions.end() )
{
ActionList& lst = i->second;
ActionList::iterator ai( lst.begin() );
for ( ; ai != lst.end(); ++ai )
{
ActionPtr action = *ai;
K_ASSERT( action.Get() != 0 );
if ( !action->IsFinished() )
{
action->Completed( trans );
}
}
}
}
void
TransDispatcher::Subscribe( ushort type, ActionPtr action )
{
K_ASSERT( type > 0 );
K_ASSERT( action.Get() != 0 );
ActionMap::iterator i( m_actions.find( type ) );
if ( i == m_actions.end() )
{
ActionList lst;
lst.push_back( action );
m_actions.insert( ActionMap::value_type( type, lst ) );
}
else
{
ActionList& lst = i->second;
lst.push_back( action );
}
}
TEST(SaveLoadTest, SaveLoadLatestVersion)
{
// Use the temp application.
TaskSystem *pTempApp1 = new TaskSystem();
TaskSystem* pPreviousApp = SetWorkingBrain(pTempApp1);
{
Parameter para(_T("OS"), _T("Windows7"));
para.SetComments(_T("global"));
GetWorkingBrain()->GetVariableManager()->AddUserParameter(para);
}
CString conditionId = _T("DoesRegExist");
{
ConditionPtr pRegCondition = Condition::Create(_T("RegisterKeyExistsCondition"), GetWorkingBrain()->GetBehaviorManager());
Parameter objectId(OBJECT_ID, conditionId);
Parameter para1(_T("RootKey"), _T("HKEY_LOCAL_MACHINE"));
Parameter para2(_T("SubKey"), _T("Software\\Microsoft"));
pRegCondition->GetParameterTable().AddParameter(objectId);
pRegCondition->GetParameterTable().AddParameter(para1);
pRegCondition->GetParameterTable().AddParameter(para2);
//GetWorkingBrain()->GetBehaviorManager()->RegisterCondition(pRegCondition);
}
CString actionId = _T("DemoToRunSysCmd");
{
ActionPtr pNewAction = Action::Create(_T("RunSystemCommandAction"), GetWorkingBrain()->GetBehaviorManager());
Parameter objectId(OBJECT_ID, actionId);
objectId.SetComments(_T("Object Id is used to reference this object everywhere."));
Parameter objectType;
pNewAction->GetParameterTable().GetParameter(OBJECT_TYPE, objectType);
objectType.SetComments(_T("Object type indicates which behavior body will this action invokes."));
Parameter cmd(APPLICATION_NAME, _T("regedit.exe"));
cmd.SetComments(_T("Indicate which command will be run"));
pNewAction->GetParameterTable().AddParameter(objectId);
pNewAction->GetParameterTable().AddParameter(objectType);
pNewAction->GetParameterTable().AddParameter(cmd);
//GetWorkingBrain()->GetBehaviorManager()->RegisterAction(pNewAction);
GetWorkingBrain()->GetBehaviorManager()->AddActionTask(pNewAction);
}
CString fileName(_T("C:\\braintest.xml"));
// Save
bool ret = GetWorkingBrain()->XmlOut(fileName);
EXPECT_EQ(true, ret);
// Load
TaskSystem *pTempApp2 = new TaskSystem();
SetWorkingBrain(pTempApp2);
ret = GetWorkingBrain()->XmlIn(fileName);
EXPECT_EQ(true, ret);
{
ActionPtr pAction = GetWorkingBrain()->GetBehaviorManager()->GetActionById(actionId);
EXPECT_EQ(true, (pAction != NULL));
}
{
ConditionPtr pCondition = GetWorkingBrain()->GetBehaviorManager()->GetConditionById(conditionId);
EXPECT_EQ(true, (pCondition != NULL));
}
// Recover
SetWorkingBrain(pPreviousApp);
}
void Behaviour::StartAction(ActionPtr action)
{
mActiveActions.push_back(action);
action->OnStart(shared_from_this());
}
void Robot::DoAction() {
ActionPtr act = GetCurrnetAction();
if (act.get()) act->Do();
Next();
CommandProc();
}
