model: First shot at fluent synchronization

Although what's really being synced is an ExogEvent for an ExogAction
that is being generated if a fluent is marked synced.

Author: vmatare

src/model/action.cpp

@@ -51,6 +51,9 @@ AbstractAction::AbstractAction(
 const vector<unique_ptr<AbstractEffectAxiom>> &AbstractAction::effects() const
 { return effects_; }
 
+vector<unique_ptr<AbstractEffectAxiom>> &AbstractAction::effects()
+{ return effects_; }
+
 
 void AbstractAction::add_effect(AbstractEffectAxiom *effect)
 {

src/model/effect_axiom.cpp

@@ -49,4 +49,21 @@ void AbstractEffectAxiom::set_condition(Expression *condition)
 	condition_->set_parent(this);
 }
 
+
+
+
+template<>
+const Reference<Fluent> &EffectAxiom<Reference<Fluent>>::fluent() const
+{ return lhs(); }
+
+template<>
+const Reference<Fluent> &EffectAxiom<FieldAccess>::fluent() const
+{ return dynamic_cast<const Reference<Fluent> &>(lhs().subject()); }
+
+template<>
+const Reference<Fluent> &EffectAxiom<ListAccess>::fluent() const
+{ return dynamic_cast<const Reference<Fluent> &>(lhs().subject()); }
+
+
+
 } // namespace gologpp

src/model/effect_axiom.h

@@ -47,6 +47,7 @@ class AbstractEffectAxiom : public virtual AbstractLanguageElement {
 	const Expression &condition() const;
 	Expression &condition();
 	void set_condition(Expression *condition);
+	virtual const Reference<Fluent> &fluent() const = 0;
 
 protected:
 	AbstractAction *action_;
@@ -95,6 +96,8 @@ class EffectAxiom : public AbstractEffectAxiom, public NoScopeOwner, public Lang
 	virtual const Scope &parent_scope() const override
 	{ return action().scope(); }
 
+	virtual const Reference<Fluent> &fluent() const override;
+
 
 	DEFINE_ATTACH_SEMANTICS_WITH_MEMBERS(*condition_, *assignment_)
 

src/model/execution.cpp

@@ -110,6 +110,28 @@ void AExecutionContext::postcompile()
 { postcompile_(); }
 
 
+void AExecutionContext::sync_fluent(const Reference<Fluent> &f, const Activity &context)
+{
+	vector<unique_ptr<Value>> sync_exog_args;
+	for (const unique_ptr<Expression> &arg : f.args())
+		sync_exog_args.emplace_back(
+			new Value(arg->abstract_expr_semantics().evaluate(context, history()))
+		);
+
+	sync_exog_args.emplace_back(
+		new Value(context.target()->senses()->abstract_expr_semantics().evaluate(context, history()))
+	);
+
+	backend().sync_event(
+		ExogEvent(
+			context.target()->senses()->target()->sync_action(),
+			std::move(sync_exog_args)
+		)
+	);
+}
+
+
+
 
 ExecutionContext::ExecutionContext(unique_ptr<SemanticsFactory> &&semantics, unique_ptr<PlatformBackend> &&exec_backend)
 : AExecutionContext(std::move(semantics), std::move(exec_backend))
@@ -149,27 +171,21 @@ void ExecutionContext::run(Block &&program)
 					backend().start_activity(trans);
 				else if (trans->hook() == Transition::Hook::FINISH) {
 					shared_ptr<Activity> activity = backend().end_activity(trans);
+
+					// Sync effects if necessary
+					for (const auto &effect : trans->target()->effects())
+						if (effect->fluent()->synced())
+							sync_fluent(effect->fluent(), *activity);
+
 					if (trans->target()->senses()) {
 						history().abstract_semantics().append_sensing_result(
 							*activity->target()->senses(),
 							activity->sensing_result().get()
 						);
 
-						if (trans->target()->senses()->target()->synced()) {
-							vector<unique_ptr<Value>> sync_exog_args;
-							for (const unique_ptr<Expression> &arg : trans->target()->senses()->args())
-								sync_exog_args.emplace_back(
-									new Value(arg->abstract_semantics().evaluate(*activity, history()))
-								);
-
-							sync_exog_args.emplace_back(
-								trans->target()->senses()->abstract_semantics().evaluate(*activity, history());
-							);
-
-							backend().sync_event(
-								ExogEvent(trans->target()->senses())
-							);
-						}
+						// Sync sensed fluent if necessary
+						if (trans->target()->senses()->target()->synced())
+							sync_fluent(*trans->target()->senses(), *activity);
 					}
 				}
 				else

src/model/execution.h

@@ -71,6 +71,9 @@ class AExecutionContext {
 	PlatformBackend &backend();
 	History &history();
 
+protected:
+	void sync_fluent(const Reference<Fluent> &f, const Activity &context);
+
 private:
 	virtual void precompile_() = 0;
 	virtual void postcompile_() = 0;

src/model/expressions.cpp

@@ -40,6 +40,9 @@ const AbstractLanguageElement *Expression::parent() const
 void Expression::set_parent(AbstractLanguageElement *parent)
 { parent_ = parent; }
 
+AbstractSemantics<Expression> &Expression::abstract_expr_semantics() const
+{ return dynamic_cast<AbstractSemantics<Expression> &>(abstract_semantics()); }
+
 const string &Expression::type_name() const
 { return type().name(); }
 

src/model/expressions.h

@@ -45,7 +45,7 @@ class Expression : public virtual AbstractLanguageElement {
 	AbstractLanguageElement *parent();
 	const AbstractLanguageElement *parent() const;
 	void set_parent(AbstractLanguageElement *parent);
-
+	AbstractSemantics<Expression> &abstract_expr_semantics() const;
 	const string &type_name() const;
 
 protected:

src/model/fluent.cpp

@@ -113,6 +113,9 @@ bool Fluent::synced() const
 const ExogAction &Fluent::sync_action() const
 { return *sync_action_; }
 
+ExogAction &Fluent::sync_action()
+{ return *sync_action_; }
+
 void Fluent::define(const vector<InitialValue *> &initial_values, bool synced)
 { define(boost::optional<vector<InitialValue *>>(initial_values), synced); }
 

src/model/fluent.h

@@ -78,6 +78,7 @@ class Fluent
 	const vector<unique_ptr<InitialValue>> &initially() const;
 	bool synced() const;
 	const ExogAction &sync_action() const;
+	ExogAction &sync_action();
 
 	void define(const vector<InitialValue *> &initial_values, bool synced = false);
 	void define(const boost::optional<vector<InitialValue *>> &initial_values, bool synced = false);

src/model/gologpp.h

@@ -124,6 +124,8 @@ class History;
 
 template<class> class Semantics;
 template<class> class AbstractSemantics;
+template<> class AbstractSemantics<Expression>;
+template<> class AbstractSemantics<Instruction>;
 
 class SemanticsFactory;