void OnlinePlanExpansionExecution::OnGoalNodeSucceeded(_In_ IOlcbpPlan::NodeID nodeId)
{
GoalEx* pGoal = (GoalEx*)m_pOlcbpPlan->GetNode(nodeId);
_ASSERTE(pGoal->State() == ESTATE_Succeeded);
if (GetNodeData(nodeId).BelongingCase != nullptr)
{
LogInfo("Goal=%s succeeded, revising its case and retaining it", pGoal->ToString().c_str());
CaseEx* currentCase = GetLastCaseForGoalNode(nodeId);
m_pCbReasoner->Reviser()->Revise(currentCase, true);
//UpdateHistory(currentCase);
m_succeededSnippets.insert(nodeId);
}
else
{
LogInfo("Goal=%s succeeded without expansion, no case to revise", pGoal->ToString().c_str());
}
UpdateBelongingSubplanChildrenWithParentReadiness(nodeId);
OnNodeDone(nodeId);
if (m_planRootNodeId == nodeId)
{
g_MessagePump->Send(new Message(0, MSG_PlanComplete));
}
}
void OnlinePlanExpansionExecution::OnGoalNodeFailed(_In_ IOlcbpPlan::NodeID nodeId)
{
GoalEx* pGoal = (GoalEx*)m_pOlcbpPlan->GetNode(nodeId);
_ASSERTE(pGoal->State() == ESTATE_Failed);
if (GetNodeData(nodeId).BelongingCase != nullptr)
{
LogInfo("Goal=%s failed, revising and retaining it", pGoal->ToString().c_str());
CaseEx* currentCase = GetLastCaseForGoalNode(nodeId);
m_pCbReasoner->Reviser()->Revise(currentCase, false);
//UpdateHistory(currentCase);
}
OnNodeDone(nodeId);
}
