/*
* Return the list of beliefs of an agent in an OPC given
* bInput format : getBeliefs real/mental agent
*/
Bottle opcManager::getBeliefs(Bottle bInput)
{
Bottle bOutput;
if (bInput.size() != 3)
{
cout << "Error in opcManager::getBeliefs | wrong size of input" << endl;
bOutput.addString("Error in opcManager::getBeliefs | wrong size of input");
return bOutput;
}
if (bInput.get(1).toString() != "real" && bInput.get(1).toString() != "mental")
{
cout << "Error in opcManager::getBeliefs | unknown OPC (real/mental)" << endl;
bOutput.addString("Error in opcManager::getBeliefs | unknown OPC (real/mental)");
return bOutput;
}
Agent *agent;
if (bInput.get(1).toString() == "real")
{
agent = dynamic_cast<Agent*>(realOPC->getEntity(bInput.get(2).toString().c_str()));
}
else
{
agent = dynamic_cast<Agent*>(mentalOPC->getEntity(bInput.get(2).toString().c_str()));
}
list<Relation> lRelation = agent->beliefs();
cout << endl << agent->name() << " has the following beliefs in the " << bInput.get(1).toString() << " OPC (" << lRelation.size() << ") : " << endl;
for (list<Relation>::iterator it_R = lRelation.begin(); it_R != lRelation.end(); it_R++)
{
Bottle bTemp = it_R->asLightBottle();
cout << bTemp.toString() << endl;
bOutput.addList() = bTemp;
}
cout << endl;
return bOutput;
}
Bottle opcManager::updateBelief(string sOPCname)
{
cout << "Updating the beliefs in OPC ... ";
Bottle bOutput;
// Create the beliefs
bool bReal = sOPCname == s_realOPC;
if (bReal)
{
realOPC->checkout();
realOPC->update();
}
else
{
mentalOPC->checkout();
mentalOPC->update();
}
Bottle bMessenger;
bMessenger.addString("updateObjectLocation");
bMessenger.addString(sOPCname.c_str());
portToAbmReasoning.write(bMessenger, bMessenger);
// Set the Bottles for queryOPC to the
Bottle isRtobject, conditionAgent, conditionRTO;
isRtobject.addString(EFAA_OPC_ENTITY_TAG);
isRtobject.addString("==");
isRtobject.addString(EFAA_OPC_ENTITY_RTOBJECT);
Bottle isAgent;
isAgent.addString(EFAA_OPC_ENTITY_TAG);
isAgent.addString("==");
isAgent.addString(EFAA_OPC_ENTITY_AGENT);
Bottle isPresent;
isPresent.addString(EFAA_OPC_OBJECT_PRESENT_TAG);
isPresent.addString("==");
isPresent.addInt(1);
conditionAgent.addList() = isAgent;
conditionAgent.addString("&&");
conditionAgent.addList() = isPresent;
conditionRTO.addList() = isRtobject;
conditionRTO.addString("&&");
conditionRTO.addList() = isPresent;
list<Entity*> PresentEntities;
list<Relation> listRelations;
// Create the Relations
Adjective* present;
Action* is;
//Action* isDoing;
if (bReal)
{
PresentEntities = realOPC->Entities(conditionAgent);
list<Entity*> tmp = realOPC->Entities(conditionRTO);
PresentEntities.splice(PresentEntities.end(), tmp);
listRelations = realOPC->getRelations();
present = realOPC->addOrRetrieveEntity<Adjective>("isPresent");
present->m_quality = "presence";
is = realOPC->addOrRetrieveEntity<Action>("is");
//isDoing = realOPC->addOrRetrieveEntity<Action>("isDoing");
}
else
{
PresentEntities = mentalOPC->Entities(conditionAgent);
list<Entity*> tmp = mentalOPC->Entities(conditionRTO);
PresentEntities.splice(PresentEntities.end(), tmp);
listRelations = mentalOPC->getRelations();
present = mentalOPC->addOrRetrieveEntity<Adjective>("isPresent");
present->m_quality = "presence";
is = mentalOPC->addOrRetrieveEntity<Action>("is");
//isDoing = mentalOPC->addOrRetrieveEntity<Action>("isDoing");
}
for (list<Entity*>::iterator it_E = PresentEntities.begin(); it_E != PresentEntities.end(); it_E++)
{
if (bReal)
realOPC->addRelation(*it_E, is, present, time_relation);
else
mentalOPC->addRelation(*it_E, is, present, time_relation);
listRelations.push_back(Relation(*it_E, is, present));
}
// get the Agents present
vector<Relation> vRelToAdd,
vRelToRemove;
list<Entity*> PresentAgents;
if (bReal)
PresentAgents = (realOPC->Entities(conditionAgent));
else
PresentAgents = (mentalOPC->Entities(conditionAgent));
for (list<Entity*>::iterator it_E = PresentAgents.begin(); it_E != PresentAgents.end(); it_E++)
{
Agent* TempAgent = dynamic_cast<Agent*>(*it_E);
list<Relation> AgentBeliefs = TempAgent->beliefs();
vRelToAdd.clear();
vRelToRemove.clear();
bool bRelPresent = false;
// Searching the relations to Remove
// for each previous beliefs of an agent
for (list<Relation>::iterator it_RAg = AgentBeliefs.begin(); it_RAg != AgentBeliefs.end(); it_RAg++)
{
// search is the relation is present in the world
bRelPresent = false;
//for each relation in the world
for (list<Relation>::iterator it_RWorl = listRelations.begin(); it_RWorl != listRelations.end(); it_RWorl++)
{
if (!bRelPresent)
{
// is the new relation is already known
if (it_RAg->toString() == it_RWorl->toString())
{
bRelPresent = true;
}
}
}
// if the previous relation is no more present
if (!bRelPresent)
vRelToRemove.push_back(*it_RAg);
}
// Searching the relations to Add
//for each relation in the world
for (list<Relation>::iterator it_RWorl = listRelations.begin(); it_RWorl != listRelations.end(); it_RWorl++)
{
bRelPresent = false;
// for each previous beliefs of an agent
for (list<Relation>::iterator it_RAg = AgentBeliefs.begin(); it_RAg != AgentBeliefs.end(); it_RAg++)
{
// search is the relation has to be added
if (!bRelPresent)
{
// is the new relation is already known
if (it_RAg->toString() == it_RWorl->toString())
bRelPresent = true;
}
}
// if the previous relation is no more present
if (!bRelPresent)
vRelToAdd.push_back(*it_RWorl);
}
// Removing the old relations :
for (vector<Relation>::iterator it_R = vRelToRemove.begin(); it_R != vRelToRemove.end(); it_R++)
{
TempAgent->removeBelief(*it_R);
}
// Adding the new relations :
for (vector<Relation>::iterator it_R = vRelToAdd.begin(); it_R != vRelToAdd.end(); it_R++)
{
TempAgent->addBelief(*it_R);
}
if (bReal)
realOPC->commit(*it_E);
else
mentalOPC->commit(*it_E);
}
if (bReal)
realOPC->commit();
else
mentalOPC->commit();
cout << "done" << endl << endl;
return bOutput;
}
