pstlab / PLATINUm

import java.util.ArrayList;

import java.util.HashMap;

import java.util.LinkedList;

import java.util.List;

import java.util.Map;

import it.cnr.istc.pst.platinum.ai.deliberative.Planner;

import it.cnr.istc.pst.platinum.ai.executive.Executive;

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.executive.pdb.ExecutionNodeStatus;

import it.cnr.istc.pst.platinum.ai.framework.domain.PlanDataBaseBuilder;

import it.cnr.istc.pst.platinum.ai.framework.domain.component.ComponentValue;

import it.cnr.istc.pst.platinum.ai.framework.domain.component.Decision;

import it.cnr.istc.pst.platinum.ai.framework.domain.component.DomainComponent;

import it.cnr.istc.pst.platinum.ai.framework.domain.component.PlanDataBase;

import it.cnr.istc.pst.platinum.ai.framework.domain.component.ex.DecisionPropagationException;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.NoSolutionFoundException;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.SynchronizationCycleException;

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

import it.cnr.istc.pst.platinum.ai.framework.utils.properties.FilePropertyReader;

import it.cnr.istc.pst.platinum.control.lang.AgentTaskDescription;

import it.cnr.istc.pst.platinum.control.lang.Goal;

import it.cnr.istc.pst.platinum.control.lang.GoalStatus;

import it.cnr.istc.pst.platinum.control.lang.PlatformFeedback;

import it.cnr.istc.pst.platinum.control.lang.PlatformObservation;

import it.cnr.istc.pst.platinum.control.lang.TokenDescription;

import it.cnr.istc.pst.platinum.control.lang.ex.PlatformException;

import it.cnr.istc.pst.platinum.control.platform.PlatformObserver;

import it.cnr.istc.pst.platinum.control.platform.PlatformProxy;

import it.cnr.istc.pst.platinum.control.platform.PlatformProxyBuilder;

import it.cnr.istc.pst.platinum.control.platform.RunnablePlatformProxy;

/**

 * 

 * @author anacleto

 *

 */

public class GoalOrientedActingAgent implements PlatformObserver

{	

	private final Object lock;								// lock state;

	private ActingAgentStatus status;						// agent status

	private final Map<GoalStatus, List<Goal>> queue;		// goal queue

	private String ddl;										// path to the domain specification file

	private PlanDataBase pdb;								// internal plan database representation

	private List<Thread> processes;							// goal oriented processes

	private DeliberativeProcess deliberative;				// internal deliberative process

	private Class<? extends Planner> pClass;				// planner class

	private boolean displayPlan;							// display plan flag

	private ExecutiveProcess executive;						// internal executive process

	private ContingencyHandlerProcess contingencyHandler;	// internal contingency handler process

	private Class<? extends Executive> eClass;				// executive class

	protected PlatformProxy proxy;

	private FilePropertyReader properties;

	/**

	 * 

	 * @param agentPropertyFile

	 */

	@SuppressWarnings("unchecked")

	public GoalOrientedActingAgent(String agentPropertyFile) 

	{

		try

		{

			// set lock and status

			this.lock = new Object();

			// set status

			this.status = ActingAgentStatus.OFFLINE;

			// set goal buffer

			// set goal queue

			for (GoalStatus s : GoalStatus.values()) {

				this.queue.put(s, new LinkedList<>());

			}

			// set internal plan database representation

			this.pdb = null;

			// set platform

			this.processes = null;

			// get agent property file

			this.properties = new FilePropertyReader(agentPropertyFile);

			// get DDL file 

			String ddlFile = this.properties.getProperty("model");

			// check if null

			if (ddlFile == null || ddlFile.equals("")) {

			}

			// set the model

			this.ddl = ddlFile;

			// read the class name of the planner

			String plannerClassName = this.properties.getProperty("planner");

			// set planner class

			this.pClass = (Class<? extends Planner>) Class.forName(plannerClassName);

			// set display plan flag

			this.displayPlan = this.properties.getProperty("display_plan").equals("1") ? true : false;

			// read the class name of the executive

			String executiveClassName = this.properties.getProperty("executive");

			// set executive class

			this.eClass = (Class<? extends Executive>) Class.forName(executiveClassName);

			// read the class of the platform 

			String platformClassName = this.properties.getProperty("platform");

			// check if a platform is necessary

			if (platformClassName != null && !platformClassName.equals("")) 

			{

				// print agent configuration

				System.out.println("Configuration of the Goal-Oriented Acting Agent:\n"

						+ "- Deliberative: " + plannerClassName + "\n"

						+ "- Executive: " + executiveClassName + "\n"

						+ "- Platform: " + platformClassName + "\n");

				// get platform configuration file 

				String configFile = this.properties.getProperty("platform_config_file");

				// check platform configuration file 

				if (configFile == null || configFile.equals("")) {

				}

				// create platform PROXY

				Class<? extends PlatformProxy> clazz = (Class<? extends PlatformProxy>) Class.forName(platformClassName); 

				// create PROXY

				this.proxy = PlatformProxyBuilder.build(clazz, configFile);

			}

			else 

			{

				// print agent configuration

				System.out.println("Configuration of the Goal-Oriented Acting Agent:\n"

						+ "- deliberative: " + plannerClassName + "\n"

						+ "- executive: " + executiveClassName + "\n");

			}

			// setup deliberative and executive processes

			this.setupProcesses();

		}

		catch (Exception ex) {

		}

	}

	/**

	 * 

	 */

	private void setupProcesses() 

	{

		// set the list of processes

		this.processes = new ArrayList<>();

		// set goal listener thread

		this.processes.add(new Thread(new Runnable() {

			/**

			 * 

			 */

				}

			}

		}));

		// set goal deliberative

		this.deliberative = new DeliberativeProcess(this.pClass, this.displayPlan, this);

		this.processes.add(new Thread(this.deliberative));

		// set goal executive

		this.executive = new ExecutiveProcess(this.eClass, this);

		this.processes.add(new Thread(this.executive));

		// set goal failure handler

		this.contingencyHandler = new ContingencyHandlerProcess(this);

		this.processes.add(new Thread(this.contingencyHandler));

		// finally register to platform events

		if (this.proxy != null) {

			this.proxy.register(this);

		}

	}

	/**

	 * 

	 * @return

	 */

	public synchronized ActingAgentStatus getStatus() {

		return status;

	}

	/**

	 * 

	 */

	@Override

	public void task(AgentTaskDescription task) {

		// buffer task planning request

		this.buffer(task);

	}

	/**

	 * 

	 */

	@Override

	public void feedback(PlatformFeedback feedback) {

		// nothing to do

	}

	/**

	 * 

	 */

	@Override

	public void observation(PlatformObservation<? extends Object> obs) {

		// nothing to do

	}

	/**

	 * Trigger acting process by buffering a description of a goal to plan and execute for

	 * 

	 * @param description

	 */

	public void buffer(AgentTaskDescription description) {

		// protect access to the queue

		synchronized (this.queue) {

			System.out.println("receiving task ...\n" + description + "\n");

			// create goal 

			Goal goal = new Goal(description);

			// set goal status

			goal.setStatus(GoalStatus.BUFFERED);

			// add a goal to the queue

			this.queue.get(goal.getStatus()).add(goal);

			// send signal

			this.queue.notifyAll();

		}

	}

	/**

	 * Blocking call returning a list of finished or aborted goals.

	 * 

	 * @return

	 * @throws InterruptedException

	 */

	public List<Goal> getResults() 

			throws InterruptedException

	{

		// wait some finished or aborted goal

		List<Goal> goals = new ArrayList<>();

		synchronized (this.queue) 

		{

			while (this.queue.get(GoalStatus.ABORTED).isEmpty() && 

					this.queue.get(GoalStatus.FINISHED).isEmpty()) {

				// wait

				this.queue.wait();

			}

			// take aborted goals

			goals.addAll(this.queue.get(GoalStatus.ABORTED));

			// clear queue

			this.queue.get(GoalStatus.ABORTED).clear();

			// take finished goals

			goals.addAll(this.queue.get(GoalStatus.FINISHED));

			// clear queue

			this.queue.get(GoalStatus.FINISHED).clear();

			// send signal

			this.queue.notifyAll();

		}

		// get finished and aborted goals

		return goals;

	}

	/**

	 * 

	 */

	protected void select(Goal goal) {

		// protect access to the queue

		synchronized (this.queue) {

			// remove goal form the current queue

			this.queue.get(goal.getStatus()).remove(goal);

			// set goal status

			goal.setStatus(GoalStatus.SELECTED);

			// add goal to the queue

			this.queue.get(goal.getStatus()).add(goal);

			// send signal

			this.queue.notifyAll();

		}

	}

	/**

	 * 

	 */

	protected void commit(Goal goal) 

	{

		// protect access to the queue

		synchronized (this.queue) {

			// remove goal form the current queue

			this.queue.get(goal.getStatus()).remove(goal);

			// set goal status

			goal.setStatus(GoalStatus.COMMITTED);

			// add goal to the queue

			this.queue.get(goal.getStatus()).add(goal);

			// send signal

			this.queue.notifyAll();

		}

	}

	/**

	 * 

	 */

	protected void suspend(Goal goal) {

		// protect access to the queue

		synchronized (this.queue) {

			// remove goal form the current queue

			this.queue.get(goal.getStatus()).remove(goal);

			// set goal status

			goal.setStatus(GoalStatus.SUSPENDED);

			// add goal to the queue

			this.queue.get(goal.getStatus()).add(goal);

			// send signal

			this.queue.notifyAll();

		}

	}

	/**

	 * 

	 */

	protected void finish(Goal goal) {

		// protect access to the queue

		synchronized (this.queue) {

			// remove goal form the current queue

			this.queue.get(goal.getStatus()).remove(goal);

			// set goal status

			goal.setStatus(GoalStatus.FINISHED);

			// add goal to the queue

			this.queue.get(goal.getStatus()).add(goal);

			// send signal

			this.queue.notifyAll();

		}

	}

	/**

	 * 

	 */

	protected void abort(Goal goal) {

		// protect access to the queue

		synchronized (this.queue) {

			// remove goal form the current queue

			this.queue.get(goal.getStatus()).remove(goal);

			// set goal status

			goal.setStatus(GoalStatus.ABORTED);

			// add goal to the queue

			this.queue.get(goal.getStatus()).add(goal);

			// send signal

			this.queue.notifyAll();

		}		

	}

	/**

	 * 

	 * @throws InterruptedException

	 * @throws PlatformException

	 */

	public void start() 

			throws InterruptedException, PlatformException

	{

		synchronized (this.lock) {

			while (!this.status.equals(ActingAgentStatus.OFFLINE)) {

				// wait 

				this.lock.wait();

			}

			// change status

			this.status = ActingAgentStatus.STARTING;

			// send signal

			this.lock.notifyAll();

		}

		// start PROXY if necessary

		if (this.proxy instanceof RunnablePlatformProxy) {

			// start runnable PROXY

			((RunnablePlatformProxy) this.proxy).start();

		}

		// start all internal processes

		for (Thread p : this.processes) {

			p.start();

		}

		synchronized (this.lock) {

			// change status

			this.status = ActingAgentStatus.RUNNING;

			// notify all

			this.lock.notifyAll();

		}

	}

	/**

	 * 

	 * @throws InterruptedException

	 */

	public void stop() 

			throws InterruptedException, PlatformException

	{

		synchronized (this.lock) {

			while (!this.status.equals(ActingAgentStatus.READY) && 

					!this.status.equals(ActingAgentStatus.RUNNING)) {

				// wait 

				this.lock.wait();

			}

			// change status

			this.status = ActingAgentStatus.STOPPING;

			// send signal

			this.lock.notifyAll();

		}

		// interrupt internal processes and wait termination

		for (Thread p : this.processes) {

			p.interrupt();

			p.join();

		}

		// stop platform PROXY

		if (this.proxy instanceof RunnablePlatformProxy) {

			// stop platform PROXY

			((RunnablePlatformProxy) this.proxy).stop();

		}

		synchronized (this.lock) {

			// change status

			this.status = ActingAgentStatus.OFFLINE;

			// notify all

			this.lock.notifyAll();

		}

	}

	/**

	 * 

	 * @throws InterruptedException

	 * @throws SynchronizationCycleException

	 * @throws PlatformException

	 */

	public void initialize() 

			throws InterruptedException, SynchronizationCycleException, PlatformException

	{

		synchronized (this.lock) {

			while(!this.status.equals(ActingAgentStatus.RUNNING)) {

				// wait a signal

				this.lock.wait();

			}

			// change status

			this.status = ActingAgentStatus.INITIALIZING;

			// send signal 

			this.lock.notifyAll();

		}

		// set plan database on the given planning domain

		this.pdb = PlanDataBaseBuilder.createAndSet(this.ddl);

		synchronized (this.lock) {

			// change status

			this.status = ActingAgentStatus.READY;

			// send signal

			this.lock.notifyAll();

		}

	}

	/**

	 * 

	 * @throws InterruptedException

	 */

	public void clear() 

			throws InterruptedException

	{

		synchronized (this.lock) {

			while (!this.status.equals(ActingAgentStatus.FAILURE) && 

					!this.status.equals(ActingAgentStatus.READY)) {

				// wait

				this.lock.wait();

			}

			// change status

			this.status = ActingAgentStatus.CLEARNING;

			// send signal 

			this.lock.notifyAll();

		}

		// clear queue

		this.queue.clear();

		// clear domain file specification

		this.ddl = null;

		// clear plan database 

		this.pdb = null;

		// clear PROXY

		this.proxy = null;

		synchronized (this.lock) {

			// change status

			this.status = ActingAgentStatus.RUNNING;

			// send signal

			this.lock.notifyAll();

		}

 	}

	/**

	 * 

	 * @return

	 * @throws InterruptedException

	 * @throws NoSolutionFoundException 

	 */

	protected boolean plan(Goal goal) 

			throws InterruptedException

	{

		// wait when planning can be actually performed if necessary

		synchronized (this.lock) {

			while (!this.status.equals(ActingAgentStatus.READY)) {

				// wait 

				this.lock.wait();

			}

			// change status

			this.status = ActingAgentStatus.DELIBERATING;

			// send signal

			this.lock.notifyAll();

		}

		// planning process result

		boolean success = true;

		// list of goal decisions

		List<Decision> goals = new ArrayList<>();

		// list of fact decisions

		List<Decision> facts = new ArrayList<>();

		try

		{

			// get task description

			AgentTaskDescription task = goal.getTaskDescription();

			// set known information concerning components

			{

				// get domain component

				DomainComponent component = this.pdb.getComponentByName(f.getComponent());

				// get goal referred value

				ComponentValue value = component.getValueByName(f.getValue());

				// check start time bound

				long[] start = f.getStart();

				if (start == null) {

					start = new long[] {

						this.pdb.getOrigin(),

						this.pdb.getHorizon()

					};

				}

				// check end time bound

				long[] end = f.getEnd();

				if (end == null) {

					end = new long[] {

						this.pdb.getOrigin(),

						this.pdb.getHorizon()

					};

				}

				// check duration bound

				long[] duration = f.getDuration();

				if (duration == null) {

					duration = new long[] {

						value.getDurationLowerBound(),

						value.getDurationUpperBound()

					};

				}

				// check labels

				String[] labels = f.getLabels();

				if (labels == null) {

					labels = new String[] {};

				}

				// create fact decision

				Decision decision = component.create(

						value, 

						labels,

						start,

						end,

						duration

						);

				// also activate fact decision

				component.activate(decision);

				// add decision to fact list

				facts.add(decision);

			}

			// set planning goals 

			{

				// get domain component

				DomainComponent component = this.pdb.getComponentByName(g.getComponent());

				// get goal referred value

				ComponentValue value = component.getValueByName(g.getValue());

				// check start time bound

				long[] start = g.getStart();

				if (start == null) {

					start = new long[] {

						this.pdb.getOrigin(),

						this.pdb.getHorizon()

					};

				}

				// check end time bound

				long[] end = g.getEnd();

				if (end == null) {

					end = new long[] {

						this.pdb.getOrigin(),

						this.pdb.getHorizon()

					};

				}

				// check duration bound

				long[] duration = g.getDuration();

				if (duration == null) {

					duration = new long[] {

						value.getDurationLowerBound(),

						value.getDurationUpperBound()

					};

				}

				// check labels

				String[] labels = g.getLabels();

				if (labels == null) {

					labels = new String[] {};

				}

				// create goal decision

				Decision decision = component.create(

						value, 

						labels,

						start,

						end,

						duration

						);

				// add decision to goal list

				goals.add(decision);

			}

			// start planning time

			long now = System.currentTimeMillis();

			try

			{

				// deliberate on the current status of the plan database

				SolutionPlan plan = this.deliberative.doHandle(this.pdb);

				// set generated plan

				goal.setPlan(plan);

			}

			catch (NoSolutionFoundException ex) {

				// failure - no plan can be found

				success = false;

				// remove and deactivate facts

				for (Decision f : facts) {

					f.getComponent().deactivate(f);

					f.getComponent().free(f);

				}

				// remove and deactivate goals

				for (Decision g : goals) {

					g.getComponent().deactivate(g);

					g.getComponent().free(g);

				}

			}

			finally 

			{

				// compute actual planning time

				long time = System.currentTimeMillis() - now;

				// add planning time attempt to the goal

				goal.addPlanningAttempt(time);

			}

		}

		catch (DecisionPropagationException ex) {

			// problem setup error 

			success = false;

			// remove and deactivate facts

			for (Decision f : facts) {

				f.getComponent().deactivate(f);

				f.getComponent().free(f);

			}

			// remove and deactivate goals

			for (Decision g : goals) {

				g.getComponent().deactivate(g);

				g.getComponent().free(g);

			}

			// print an error message

			System.err.println("Error while propagating intial facts from task description:\n"

					+ "\t- message: " + ex.getMessage() + "\n");

		}

		// update agent status

		synchronized (this.lock) {

			// update status according to the result of the planning process

			if (success) {

				this.status = ActingAgentStatus.READY;

			}

			else {

				// failure

				this.status = ActingAgentStatus.FAILURE;

			}

			// send signal

			this.lock.notifyAll();

		}

		// return planning process result

		return success;

	}

	/**

	 * 

	 * @param goal

	 * @return

	 * @throws InterruptedException

	 */

	protected boolean execute(Goal goal) 

			throws InterruptedException

	{

		synchronized (this.lock) {

			while (!this.status.equals(ActingAgentStatus.READY)) {

				// wait

				this.lock.wait();

			}

			// update status

			this.status = ActingAgentStatus.EXECUTING;

			// send signal

			this.lock.notifyAll();

 		}

		// execution result

		boolean complete = true;

		// start execution time

		long now = System.currentTimeMillis();

		try 

		{

			// execute the plan

			this.executive.doHandle(goal);

		}

		catch (Exception ex) {

			// execution failure

			complete = false;

		}

		finally 

		{

			// compute actual execution time

			long time = System.currentTimeMillis() - now;

			// add execution attempt time

			goal.addExecutionAttempt(time);

		}

		// update agent status

		synchronized (this.lock) {

			// update status according to the execution results

			if (complete) {

				this.status = ActingAgentStatus.READY;

			}

			else {

				this.status = ActingAgentStatus.SUSPENDED;

			}

			// send signal

			this.lock.notifyAll();

		}

		// return execution result

		return complete;

	}

	/**

	 * 

	 * @param goal

	 * @return

	 * @throws InterruptedException

	 */

	protected boolean repair(Goal goal) 

			throws InterruptedException

	{

		synchronized (this.lock) {

			while (!this.status.equals(ActingAgentStatus.SUSPENDED)) {

				// wait

				this.lock.wait();

			}

			// update status

			this.status = ActingAgentStatus.DELIBERATING;

			// send signal

			this.lock.notifyAll();

 		}

		// repairing result

		boolean success = true;

		// start contingency handling time

		long now = System.currentTimeMillis();

		try

		{

			// repair plan data

			System.out.println("\n\nPLAN REPAIR\n");

			// list of kept decisions 

			List<Decision> kept = new ArrayList<>();

			// clear domain components

			for (DomainComponent comp : this.pdb.getComponents())

			{

				// clear component 

				System.out.println("CLEAR COMPONENT : " + comp.getName() + "\n");

				// remove all pending decisions

				System.out.println("\nREMOVE ALL PENDING DECISIONS\n");

				// list of pending decisions

				List<Decision> pendings = comp.getPendingDecisions();

				for (Decision pending : pendings) 

				{

					// completely remove decision and related relations

					System.out.println("\nCLEAR DECISION " + pending + " AND RELATED RELATIONS");

					comp.deactivate(pending);

					comp.free(pending);

				}

				// get execution trace 

				List<ExecutionNode> trace = goal.getExecutionTraceByComponentName(comp.getName());

				// remove active decisions that have not been executed

				System.out.println("\nREMOVE ALL ACTIVE DECISIONS THAT HAVE NOT BEEN EXECUTED\n");

				// list of active decisions

				List<Decision> actives = comp.getActiveDecisions();

				for (Decision active : actives)

				{

					// check if the token has been executed

					System.out.println("\nACTIVE DECISION " + active + "\n");

					boolean executed = false;

					for (ExecutionNode node : trace) {

						// check if the temporal interval has been executed

						if (node.getInterval().equals(active.getToken().getInterval())){

							executed = true;

							break;

						}

					}

					// check flag

					if (executed) {

						// keep the decision as active

						System.out.println("\nKEEP DECISION AS ACTIVE SINCE ALREADY EXECUTED");

						kept.add(active);

					}

					else {

						// clear and remove decision and related relations

						System.out.println("\nREMOVE DECISION AND RELATED RELATIONS SINCE NOT EXECUTED");

						comp.deactivate(active);

						comp.free(active);

					}

				}

			}

			// check execution failure cause

			ExecutionFailureCause cause = goal.getFailureCause();

			// check type

			switch (cause.getType())

			{

				case NODE_DURATION_OVERFLOW : {

					// keep the decision as active and consider it as executed

					System.out.println("\nHANDLE DURATION OVERFLOW FAILURE\n");

					ExecutionNode node = cause.getInterruptionNode();

					// find the related decision

					for (DomainComponent comp : this.pdb.getComponents()) {

						// get active decisions

						List<Decision> actives = comp.getActiveDecisions();

						for (Decision active : actives) {

							// check temporal intervals

							if (node.getInterval().equals(active.getToken().getInterval())) {

								// keep the decision as active 

								System.out.println("\nKEEP DECISION " + active + "\n");

								kept.add(active);

							}

						}

					}

				}

				break;

				case NODE_EXECUTION_ERROR :

				case NODE_START_OVERFLOW : {

					// remove decisions they are going to be re-planned

					System.out.println("\nHANDLE START OVERFLOW FAILURE / EXECUTION ERRROR FAILURE\n");

					ExecutionNode node = cause.getInterruptionNode();

					// find the related decision

					for (DomainComponent comp : this.pdb.getComponents()) {

						// get active decisions

						List<Decision> actives = comp.getActiveDecisions();

						for (Decision active : actives) {

							// check temporal intervals

							if (node.getInterval().equals(active.getToken().getInterval())) {

								// keep the decision as active 

								System.out.println("\nREMOVE DECISION " + active + "\n");

								comp.deactivate(active);

								comp.free(active);

							}

						}

					}

				}

				break;

				default:

			}

			// get task description

			AgentTaskDescription task = goal.getTaskDescription();

			// set planning goals 

			for (TokenDescription g : task.getGoals()) 

			{

				// get domain component

				DomainComponent component = this.pdb.getComponentByName(g.getComponent());

				// get goal referred value

				ComponentValue value = component.getValueByName(g.getValue());

				// check start time bound

				long[] start = g.getStart();

				if (start == null) {

					start = new long[] {

						this.pdb.getOrigin(),

						this.pdb.getHorizon()

					};

				}

				// check end time bound

				long[] end = g.getEnd();

				if (end == null) {

					end = new long[] {

						this.pdb.getOrigin(),

						this.pdb.getHorizon()

					};

				}

				// check duration bound

				long[] duration = g.getDuration();

				if (duration == null) {

					duration = new long[] {

						value.getDurationLowerBound(),

						value.getDurationUpperBound()

					};

				}

				// check labels

				String[] labels = g.getLabels();

				if (labels == null) {

					labels = new String[] {};

				}

				/*

				 * TODO : check parameter relations

				 */

				// create goal decision

				Decision decision = component.create(

						value, 

						labels,

						start,

						end,

						duration,

						ExecutionNodeStatus.IN_EXECUTION);

				// add decision to goal list

				System.out.println("REPAIR GOAL : [" + decision.getId() +"]:" + decision.getComponent().getName() + "." + decision.getValue().getLabel() + " "

						+ "AT [" + decision.getStart()[0]  + ", " + decision.getStart()[1] + "] "

						+ "[" + decision.getEnd()[0] + ", " + decision.getEnd()[1] + "] "

						+ "[" + decision.getDuration()[0] + ", " + decision.getDuration()[1] + "]");

			}

			// deliberate on the current status of the plan database

			SolutionPlan plan = this.contingencyHandler.doHandle(

					this.pClass, 

					this.pdb);

			// set repaired plan

			goal.setPlan(plan);

			// set goal as repaired

			goal.setRepaired(true);

			// set the tick the execution will start

			goal.setExecutionTick(goal.getFailureCause().getInterruptionTick());

			// clear execution trace

			goal.clearExecutionTrace();

		}

		catch (Exception ex) 

		{

			// error while repairing

			success = false;

			// error message

			System.err.println("Error while trying to repair the plan\n"

					+ "\t- message: " + ex.getMessage() + "\n");

			// completely clear all the plan database

			for (DomainComponent comp : this.pdb.getComponents()) {

				// remove all pending decisions

				List<Decision> pendings = comp.getPendingDecisions();

				for (Decision pending : pendings) {

					comp.deactivate(pending);

					comp.free(pending);

				}

				// remove all active decisions

				List<Decision> actives = comp.getActiveDecisions();

				for (Decision active : actives) {

					comp.deactivate(active);

					comp.free(active);

				}

				// finally completely clear component

				comp.clear();

			}

		}

		finally 

		{

			// compute actual planning time

			long time = System.currentTimeMillis() - now;

			// add planning time attempt to the goal

			goal.addContingencyHandlingAttempt(time);

			goal.addPlanningAttempt(time);

		}