ast_controller.tpl.cpp

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//_/_/ AERA
//_/_/ Autocatalytic Endogenous Reflective Architecture
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//_/_/ Copyright (c) 2018-2025 Jeff Thompson
//_/_/ Copyright (c) 2018-2025 Kristinn R. Thorisson
//_/_/ Copyright (c) 2018-2025 Icelandic Institute for Intelligent Machines
//_/_/ http://www.iiim.is
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//_/_/ Copyright (c) 2010-2012 Eric Nivel
//_/_/ Center for Analysis and Design of Intelligent Agents
//_/_/ Reykjavik University, Menntavegur 1, 102 Reykjavik, Iceland
//_/_/ http://cadia.ru.is
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//_/_/ Part of this software was developed by Eric Nivel
//_/_/ in the HUMANOBS EU research project, which included
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//_/_/ Autonomous Systems Laboratory
//_/_/ Technical University of Madrid, Spain
//_/_/ http://www.aslab.org/
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//_/_/ Communicative Machines
//_/_/ Edinburgh, United Kingdom
//_/_/ http://www.cmlabs.com/
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//_/_/ Istituto Dalle Molle di Studi sull'Intelligenza Artificiale
//_/_/ University of Lugano and SUPSI, Switzerland
//_/_/ http://www.idsia.ch/
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//_/_/ Institute of Cognitive Sciences and Technologies
//_/_/ Consiglio Nazionale delle Ricerche, Italy
//_/_/ http://www.istc.cnr.it/
//_/_/
//_/_/ Dipartimento di Ingegneria Informatica
//_/_/ University of Palermo, Italy
//_/_/ http://diid.unipa.it/roboticslab/
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#include "ast_controller.h"
#include "mem.h"
#include "factory.h"
#include "auto_focus.h"
 
using namespace r_code;
 
namespace r_exec {
 
template<class U> ASTController<U>::ASTController(AutoFocusController *auto_focus, View *target) : OController(NULL) {
 
  target_ = (_Fact *)target->object_;
  tpx_ = new CTPX(auto_focus, target); // target is the premise, i.e. the tpx' target to be defeated.
  thz_timestamp_ = Now() - Utils::GetTimeTolerance();
}
 
template<class U> ASTController<U>::~ASTController() {
}
 
template<class U> void ASTController<U>::take_input(r_exec::View *input) {
 
  if (is_invalidated())
    return;
 
  if (input->object_->code(0).asOpcode() == Opcodes::Fact ||
    input->object_->code(0).asOpcode() == Opcodes::AntiFact) { // discard everything but facts and |facts.
 
    Goal *goal = ((_Fact *)input->object_)->get_goal();
    if (goal && goal->get_actor() == _Mem::Get()->get_self()) // ignore self's goals.
      return;
    if (input->get_ijt() >= thz_timestamp_) // input is too old.
      Controller::__take_input<U>(input);
  }
}
 
template<class U> void ASTController<U>::reduce(View *input) {
 
  if (is_invalidated())
    return;
 
  _Fact *input_object = input->object_;
  if (input_object->is_invalidated()) {
    return; }
  reductionCS_.enter();
 
  if (input_object == target_) {
 
    tpx_->store_input(input);
    reductionCS_.leave();
    return;
  }
 
  Pred *prediction = input_object->get_pred();
  if (prediction) {
    // Don't cancel if a model made a prediction of an anti-fact.
    if (prediction->get_target()->is_fact()) {
      switch (prediction->get_target()->is_timeless_evidence(target_)) {
      case MATCH_SUCCESS_POSITIVE:
      case MATCH_SUCCESS_NEGATIVE: // a model predicted the next value of the target.
        kill();
        break;
      case MATCH_FAILURE:
        break;
      }
    }
 
    reductionCS_.leave();
    return;
  }
  ((U *)this)->reduce(input, input_object);
 
  reductionCS_.leave();
}
 
template<class U> void ASTController<U>::kill() {
 
  invalidate();
  get_view()->force_res(0);
}
}