/** The plan body. */
public void body() {
Waste waste = (Waste) getBeliefbase().getBelief("carriedwaste").getFact();
// System.out.println("carriedwaste a ="+waste);
// if(waste==null)
// System.out.println("here");
// Move to a not full waste-bin
Wastebin wastebin = (Wastebin) getParameter("wastebin").getValue();
if (wastebin == null) throw new PlanFailureException();
Location location = wastebin.getLocation();
IGoal moveto = createGoal("achievemoveto");
moveto.getParameter("location").setValue(location);
// System.out.println("Created: "+location+" "+this);
dispatchSubgoalAndWait(moveto);
// System.out.println("Reached: "+location+" "+this);
// Drop waste to waste-bin.
// IEnvironment env = (IEnvironment)getBeliefbase().getBelief("environment").getFact();
// boolean success = env.dropWasteInWastebin(waste, wastebin);
IGoal dg = createGoal("drop_waste_action");
dg.getParameter("waste").setValue(waste);
dg.getParameter("wastebin").setValue(wastebin);
dispatchSubgoalAndWait(dg);
// Update beliefs.
// getLogger().info("Dropping waste to wastebin!");
wastebin.addWaste(waste);
// Todo: Find out why atomic is needed.
// startAtomic();
IBeliefSet wbs = getBeliefbase().getBeliefSet("wastebins");
if (wbs.containsFact(wastebin)) {
((Wastebin) wbs.getFact(wastebin)).update(wastebin);
// wbs.updateFact(wastebin);
} else {
wbs.addFact(wastebin);
}
// getBeliefbase().getBeliefSet("wastebins").updateOrAddFact(wastebin);
getBeliefbase().getBelief("carriedwaste").setFact(null);
// System.out.println("carriedwaste b =null");
// endAtomic();
}
private void updateAgentBeliefs() {
ISpaceObject myself = (ISpaceObject) getBeliefbase().getBelief("myself").getFact();
PerceptContainer localPerceptContainer =
(PerceptContainer) myself.getProperty("perceptContainer");
// Update Agent Beliefs
Set<String> perceptIDSet = localPerceptContainer.perceptIDSet();
// System.out.println("~~~~~Inside belief update :" + perceptIDSet.size() +"-"+this);
// for (String perceptID : perceptIDSet)
Object[] perceptIDSetA = perceptIDSet.toArray();
for (int m = 0; m < perceptIDSetA.length; m++) {
String perceptID = (String) perceptIDSetA[m];
startAtomic();
IGoal[] oldGoal = this.getGoalbase().getGoals();
try {
if (getBeliefbase().containsBelief(perceptID)) {
Object oldFact = getBeliefbase().getBelief(perceptID).getFact();
Object newFact = localPerceptContainer.read(perceptID);
// if (oldFact == null)
// System.out.println("NULLL OLD FACT CREATE EXCEPTION!");
if (!newFact.equals(oldFact)) {
getBeliefbase().getBelief(perceptID).setFact(newFact);
}
// System.out.println("------Inside belief update :" + perceptID +"-"+this);
} else if (getBeliefbase().containsBeliefSet(perceptID)) {
IBeliefSet beliefSet = getBeliefbase().getBeliefSet(perceptID);
Object newFact = localPerceptContainer.read(perceptID);
if (newFact.getClass().equals(beliefSet.getClazz())) {
// Replace the old fact with the new one
if (beliefSet.containsFact(newFact) == true) beliefSet.removeFact(newFact);
beliefSet.addFact(newFact);
} else {
Object[] newFacts = (Object[]) newFact;
for (int i = 0; i < newFacts.length; i++) {
if (beliefSet.containsFact(newFacts[i]) == true) beliefSet.removeFact(newFacts[i]);
beliefSet.addFact(newFacts[i]);
}
String nh = "";
for (int i = 0; i < newFacts.length; i++) {
nh = nh + newFacts[i].toString();
}
System.out.println(agentID + nh);
}
} else {
// System.out.println("------Inside belief update");
LOGGER.severe("perceptID is not recognized by Jadex's belief/beliefset");
// throw new RuntimeException ("perceptID is not recognized by Jadex's belief/beliefset");
}
} catch (Exception e) {
LOGGER.severe(e.getMessage());
}
// No need to track new number of goals, because the goal itself is created and the plan
// are in queue to be launched even before this idleplan could dispatch another idleplan
int noOfNewlyGeneratedGoal = this.getNoOfNewlyGeneratedGoalSince(oldGoal);
endAtomic();
if (noOfNewlyGeneratedGoal > 0) {
SyncInteger noOfTopLevelGoal =
(SyncInteger) getBeliefbase().getBelief("noOfTopLevelGoal").getFact();
// noOfTopLevelGoal = noOfTopLevelGoal + noOfNewlyGeneratedGoal;
noOfTopLevelGoal.add(noOfNewlyGeneratedGoal);
getBeliefbase().getBelief("noOfTopLevelGoal").setFact(noOfTopLevelGoal);
}
// System.out.println("------Inside belief update :" + perceptID +"-"+this);
}
}
