Examples with IfStateThenPlan aima.core.search.nondeterministic.IfStateThenPlan used on opensource projects

Example 1 with IfStateThenPlan

use of aima.core.search.nondeterministic.IfStateThenPlan in project aima-java by aimacode.

the class NondeterministicVacuumAgent method execute.

/**
	 * Execute an action from the contingency plan
	 * 
	 * @param percept a percept.
	 * @return an action from the contingency plan.
	 */
@Override
public Action execute(Percept percept) {
    // check if goal state
    VacuumEnvironmentState state = (VacuumEnvironmentState) this.getPerceptToStateFunction().apply(percept);
    if (state.getLocationState(VacuumEnvironment.LOCATION_A) == VacuumEnvironment.LocationState.Clean && state.getLocationState(VacuumEnvironment.LOCATION_B) == VacuumEnvironment.LocationState.Clean) {
        return NoOpAction.NO_OP;
    }
    // check stack size
    if (this.stack.size() < 1) {
        if (this.contingencyPlan.size() < 1) {
            return NoOpAction.NO_OP;
        } else {
            this.stack.push(this.getContingencyPlan().removeFirst());
        }
    }
    // pop...
    Object currentStep = this.stack.peek();
    // push...
    if (currentStep instanceof Action) {
        return (Action) this.stack.remove();
    } else // case: next step is a plan
    if (currentStep instanceof Plan) {
        Plan newPlan = (Plan) currentStep;
        if (newPlan.size() > 0) {
            this.stack.push(newPlan.removeFirst());
        } else {
            this.stack.remove();
        }
        return this.execute(percept);
    } else // case: next step is an if-then
    if (currentStep instanceof IfStateThenPlan) {
        IfStateThenPlan conditional = (IfStateThenPlan) this.stack.remove();
        this.stack.push(conditional.ifStateMatches(percept));
        return this.execute(percept);
    } else // case: ignore next step if null
    if (currentStep == null) {
        this.stack.remove();
        return this.execute(percept);
    } else {
        throw new RuntimeException("Unrecognized contingency plan step.");
    }
}