void Graphics::pushState(State &state) {
compareState(mState.top(), state);
mState.push(state);
}
void Graphics::popState() {
State &prev_state = mState.top();
mState.pop();
compareState(prev_state, mState.top());
}
bool PlannerThread::planning_cycle()
{
checkPause();
if (!updateState())
{
return false;
}
checkPause();
if (!completePlannerState())
{
return false;
}
checkPause();
if (!loadState())
{
return false;
}
checkPause();
if (compareState())
{
checkPause();
if (!adaptRules())
{
return false;
}
checkPause();
}
checkPause();
if (!goalUpdate())
{
return false;
}
checkPause();
if (!loadGoal())
{
return false;
}
checkPause();
if (!planCompletion())
{
return true;
}
checkPause();
if (!checkHoldingSymbols())
{
checkPause();
jumpBack();
checkPause();
if (!resetConfig())
{
return false;
}
checkPause();
}
else
{
checkPause();
if (checkGoalCompletion())
{
checkPause();
if (!resetRules())
{
return false;
}
checkPause();
if (!resetConfig())
{
return false;
}
checkPause();
if (!loadRules())
{
return false;
}
checkPause();
if (!jumpForward())
{
return false;
}
checkPause();
return true;
}
checkPause();
int flag_prada = PRADA();
checkPause();
if (flag_prada == 0)
{
return false;
}
else if (flag_prada == 2)
{
if (!increaseHorizon())
{
return false;
}
checkPause();
return true;
}
if (!loadUsedObjs())
{
return false;
}
checkPause();
if (!codeAction())
{
return false;
}
checkPause();
if (!execAction())
{
return false;
}
checkPause();
if (!preserveState())
{
return false;
}
checkPause();
if (!checkFailure())
{
return false;
}
checkPause();
}
checkPause();
return true;
}