def unify_obs(observation):
'''
TODO: accumulate and apply them all at once
'''
action = copy.deepcopy(observation.action)
action.update_start_time(observation.start_time)
action.update_end_time(observation.end_time)
# Constraint check
action_cons, return_state = constraints_satisfied(action,
Plan(),
Proposed(),
is_observation=True)
if not action_cons:
return_state.update_subs({
var('T1'): observation.start_time,
var('T2'): observation.end_time,
})
process_return_state(observation, return_state)
return
KB.log_action_new(action, from_obs=True)
KB.add_cycle_obs(observation)
initiates, terminates = process_causalities(action)
return initiates, terminates
def process_cycle(cycle_events):
'''
TODO - Delay all commitment into KB until all are processed
'''
for event in cycle_events:
# Convert args for action
converted_args = convert_args_to_python(event)
# Add into observations
KB.add_cycle_obs(Observation(event, event.start_time, event.end_time))
# Log action
KB.log_action_new(event, converted_args=converted_args)
initiates, terminates = process_causalities(event)
commit_outcomes(initiates, terminates)