pstlab / PLATINUm

import java.util.ArrayList;

import java.util.Collections;

import java.util.Comparator;

import java.util.HashMap;

import java.util.List;

import java.util.Map;

import java.util.concurrent.atomic.AtomicLong;

import it.cnr.istc.pst.platinum.ai.executive.lang.failure.ExecutionFailureCause;

import it.cnr.istc.pst.platinum.ai.executive.pdb.ExecutionNode;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.plan.SolutionPlan;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.PlanProtocolDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.TimePoint;

/**

 * 

 * @author anacleto

 *

 */

public class Goal implements Comparable<Goal>, Comparator<ExecutionNode>

{

	private static AtomicLong GoalIdCounter = new AtomicLong(0);

	private long id;

	private long timestamp;

	private AgentTaskDescription description;			// goal and facts description 

	private GoalStatus status;

	private SolutionPlan plan;							// (current) solution plan for the goal

	private List<Long> planningAttempts;				// array counting planning attempts and keeping track of planning times

	private List<Long> executionAttempts;				// array counting execution attempts and keeping track of execution times

	private List<Long> contingencyAttempts;				// array counting contingency attempts and keeping track of their handling times

	private List<PlanProtocolDescriptor> plans;			// trace of generated plans

	private ExecutionFailureCause failureCause;			// goal execution failure cause

	private Map<String, List<ExecutionNode>> trace;		// execution trace

	private boolean repaired;

	private long executionTick;

	//EDIT POINTER

	private long uppaalTime;

	private boolean existsStrategy;

	private long managementStrategyTime;

	private boolean isOutOfBounds;

	private int maxOutOfBounds;

	/**

	 * 

	 * @param description

	 */

	public Goal(AgentTaskDescription description) 

	{ 

		this.id = GoalIdCounter.getAndIncrement();

		this.timestamp = System.currentTimeMillis();

		this.description = description;

		this.status = null;

		this.plan = null;

		this.planningAttempts = new ArrayList<>();

		this.executionAttempts = new ArrayList<>();

		this.contingencyAttempts = new ArrayList<>();

		this.plans = new ArrayList<>();

		this.trace = new HashMap<>();

		this.failureCause = null;

		this.repaired = false;

		this.executionTick = 0;

		//EDIT POINTER

		this.uppaalTime = -1;

		this.existsStrategy = false;

		this.managementStrategyTime = -1;

		this.isOutOfBounds = false;

		this.maxOutOfBounds = -1;

	}

	/**

	 * 

	 * @param repaired

	 */

	public void setRepaired(boolean repaired) {

		this.repaired = repaired;

	}

	/**

	 * 

	 */

	public void clearExecutionTrace() {

		// clear trace

		this.trace.clear();

		// clear failure cause

		this.failureCause = null;

	}

	/**

	 * 

	 * @return

	 */

	public boolean isRepaired() {

		return this.repaired;

	}

	/**

	 * 

	 * @return

	 */

	public long getExecutionTick() {

		return executionTick;

	}

	public boolean isOutOfBounds() {

		return isOutOfBounds;

	}

	public void setOutOfBounds(boolean isOutOfBounds) {

		this.isOutOfBounds = isOutOfBounds;

	}

	public void setMaxOutOfBounds(int maxOutOfBounds) {

		this.maxOutOfBounds = maxOutOfBounds;

	}

	/**

	 * 

	 * @param executionTick

	 */

	public void setExecutionTick(long executionTick) {

		this.executionTick = executionTick;

	}

	/**

	 * 

	 * @param failureCause

	 */

	public void setFailureCause(ExecutionFailureCause failureCause) {

		this.failureCause = failureCause;

	}

	/**

	 * 

	 * @return

	 */

	public ExecutionFailureCause getFailureCause() {

		return failureCause;

	}

	/**

	 * 

	 * @param node

	 */

	public void addNodeToExecutionTrace(ExecutionNode node) {

		if (!this.trace.containsKey(node.getComponent())) {

			this.trace.put(node.getComponent(), new ArrayList<>());

		}

		this.trace.get(node.getComponent()).add(node);

	}

	/**

	 * 

	 * @param name

	 */

	public List<ExecutionNode> getExecutionTraceByComponentName(String name) {

		// list of executed nodes

		List<ExecutionNode> list = new ArrayList<>();

		if (this.trace.containsKey(name)) {

			// add nodes

			list.addAll(this.trace.get(name));

		}

		// sort the trace

		Collections.sort(list, this);

		// get the list

		return list;

	}

	/**

	 * Add planning attempt time in milliseconds

	 * 

	 * @param time

	 */

	public void addPlanningAttempt(long time) {

		// add planning time

		this.planningAttempts.add(time);

	}

	/**

	 * 

	 * @return

	 */

	public int getPlanningAttempts() {

		return this.planningAttempts.size();

	}

	/**

	 * Get the total planning time in milliseconds

	 * 

	 * @return

	 */

	public long getTotalPlanningTime() 

	{

		// compute total planning time 

		long total = 0;

		for (Long time : this.planningAttempts) {

			total += time;

		}

		// get total planning time

		return total;

	}

	/**

	 * Add execution attempt time in milliseconds

	 * 

	 * @param time

	 */

	public void addExecutionAttempt(long time) {

		// add execution time 

		this.executionAttempts.add(time);

	}

	/**

	 * 

	 * @return

	 */

	public int getExecutionAttempts() {

		return this.executionAttempts.size();

	}

	/**

	 * 

	 * @return

	 */

	public long getTotalExecutionTime() {

		// compute total execution time 

		long total = 0;

		for (Long time : this.executionAttempts) {

			total += time;

		}

		// get total planning time

		return total;

	}

	/**

	 * Add contingency handling time in milliseconds

	 * 

	 * @param time

	 */

	public void addContingencyHandlingAttempt(long time) {

		// add contingency time

		this.contingencyAttempts.add(time);

	}

	/**

	 * 

	 * @return

	 */

	public int getContingencyHandlingAttempts() {

		return this.contingencyAttempts.size();

	}

	/**

	 * 

	 * @return

	 */

	public long getTotalContingencyHandlingTime() {

		// compute total contingency handling time 

		long total = 0;

		for (long time : this.contingencyAttempts) {

			total += time;

		}

		// get total planning time

		return total;

	}

	/**

	 * 

	 * @param plan

	 */

	public void setPlan(SolutionPlan plan) {

		this.plan = plan;

		// add exported plan 

		this.plans.add(plan.export());

	}

	/**

	 * 

	 * @return

	 */

	public AgentTaskDescription getTaskDescription() {

		return description;

	}

	/**

	 * 

	 * @return

	 */

	public SolutionPlan getPlan() {

		return plan;

	}

	/**

	 * 

	 * @return

	 */

	public GoalStatus getStatus() {

		return status;

	}

	/**

	 * 

	 * @param status

	 */

	public void setStatus(GoalStatus status) {

		this.status = status;

	}

	//EDIT POINTER

	public long getUppaalTime() {

		return uppaalTime;

	}

	public void setUppaalTime(long uppaalTime) {

		this.uppaalTime = uppaalTime;

	}

	public long getManagementStrategyTime() {

		return managementStrategyTime;

	}

	public void setManagementStrategyTime(long managementStrategyTime) {

		this.managementStrategyTime = managementStrategyTime;

	}

	public boolean isExistsStrategy() {

		return existsStrategy;

	}

	public void setExistsStrategy(boolean existsStrategy) {

		this.existsStrategy = existsStrategy;

	}

	/**

	 * 

	 */

	@Override

	public int hashCode() {

		final int prime = 31;

		int result = 1;

		result = prime * result + (int) (id ^ (id >>> 32));

		return result;

	}

	/**

	 * 

	 */

	public boolean equals(Object obj) {

		if (this == obj)

			return true;

		if (obj == null)

			return false;

		if (getClass() != obj.getClass())

			return false;

		Goal other = (Goal) obj;

		if (id != other.id)

			return false;

		return true;

	}

	/**

	 * 

	 */

	@Override

	public int compareTo(Goal o) {

		// chronological order

		return this.timestamp < o.timestamp ? -1 : this.timestamp > o.timestamp ? 1 : 0;

	}

	/**

	 * Completely instantiated nodes are expected

	 */

	@Override

	public int compare(ExecutionNode o1, ExecutionNode o2) {

		// compare start times

		TimePoint s1 = o1.getInterval().getStartTime();

		TimePoint s2 = o2.getInterval().getStartTime();

		// compare lower bounds

		return s1.getLowerBound() < s2.getLowerBound() ? -1 : s1.getLowerBound() > s2.getLowerBound() ? 1 : 0;

	}

	/**

	 * 

	 */

	@Override

	public String toString() {

		return "[Goal id: " + this.id +", status: " + this.status + "]";

	}

}