From 436e7a6c0d79daab6f33794c3c2766c1d0c992f3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?P=C3=A5l=20Trefall?= <pal.trefall@sonat.no>
Date: Wed, 21 Dec 2022 15:43:16 +0100
Subject: [PATCH] Added Aborted function to primitive tasks and operators. The
 planner calls this function on the current task when a condition or executing
 condition fail, or when an operator returns failure.

---
 Fluid-HTN.UnitTests/MyOperator.cs                |  5 +++++
 Fluid-HTN/Operators/FuncOperator.cs              | 16 +++++++++++++++-
 Fluid-HTN/Operators/IOperator.cs                 |  3 ++-
 Fluid-HTN/Planners/Planner.cs                    | 10 ++++++++++
 Fluid-HTN/Tasks/PrimitiveTasks/IPrimitiveTask.cs |  3 ++-
 Fluid-HTN/Tasks/PrimitiveTasks/PrimitiveTask.cs  |  5 +++++
 6 files changed, 39 insertions(+), 3 deletions(-)

diff --git a/Fluid-HTN.UnitTests/MyOperator.cs b/Fluid-HTN.UnitTests/MyOperator.cs
index 7b9626a..3942856 100644
--- a/Fluid-HTN.UnitTests/MyOperator.cs
+++ b/Fluid-HTN.UnitTests/MyOperator.cs
@@ -13,5 +13,10 @@ public TaskStatus Update(IContext ctx)
         public void Stop(IContext ctx)
         {
         }
+
+        public void Aborted(IContext ctx)
+        {
+
+        }
     }
 }
diff --git a/Fluid-HTN/Operators/FuncOperator.cs b/Fluid-HTN/Operators/FuncOperator.cs
index f9c82f1..dc810f9 100644
--- a/Fluid-HTN/Operators/FuncOperator.cs
+++ b/Fluid-HTN/Operators/FuncOperator.cs
@@ -8,13 +8,15 @@ public class FuncOperator<T> : IOperator where T : IContext
 
         private readonly Func<T, TaskStatus> _func;
         private readonly Action<T> _funcStop;
+        private readonly Action<T> _funcAborted;
 
         // ========================================================= CONSTRUCTION
 
-        public FuncOperator(Func<T, TaskStatus> func, Action<T> funcStop = null)
+        public FuncOperator(Func<T, TaskStatus> func, Action<T> funcStop = null, Action<T> funcAborted = null)
         {
             _func = func;
             _funcStop = funcStop;
+            _funcAborted = funcAborted;
         }
 
         // ========================================================= FUNCTIONALITY
@@ -40,5 +42,17 @@ public void Stop(IContext ctx)
                 throw new Exception("Unexpected context type!");
             }
         }
+
+        public void Aborted(IContext ctx)
+        {
+            if (ctx is T c)
+            {
+                _funcAborted?.Invoke(c);
+            }
+            else
+            {
+                throw new Exception("Unexpected context type!");
+            }
+        }
     }
 }
diff --git a/Fluid-HTN/Operators/IOperator.cs b/Fluid-HTN/Operators/IOperator.cs
index 43b8df1..0a29a23 100644
--- a/Fluid-HTN/Operators/IOperator.cs
+++ b/Fluid-HTN/Operators/IOperator.cs
@@ -4,5 +4,6 @@ public interface IOperator
     {
         TaskStatus Update(IContext ctx);
         void Stop(IContext ctx);
+        void Aborted(IContext ctx);
     }
-}
\ No newline at end of file
+}
diff --git a/Fluid-HTN/Planners/Planner.cs b/Fluid-HTN/Planners/Planner.cs
index 0a80535..d8dc2ba 100644
--- a/Fluid-HTN/Planners/Planner.cs
+++ b/Fluid-HTN/Planners/Planner.cs
@@ -240,6 +240,11 @@ public void Tick(Domain<T> domain, T ctx, bool allowImmediateReplan = true)
                         {
                             OnNewTaskConditionFailed?.Invoke(_currentTask, condition);
 
+                            if (_currentTask is IPrimitiveTask task)
+                            {
+                                task.Aborted(ctx);
+                            }
+
                             _currentTask = null;
                             _plan.Clear();
 
@@ -273,6 +278,8 @@ public void Tick(Domain<T> domain, T ctx, bool allowImmediateReplan = true)
                             {
                                 OnCurrentTaskExecutingConditionFailed?.Invoke(task, condition);
 
+                                task.Aborted(ctx);
+
                                 _currentTask = null;
                                 _plan.Clear();
 
@@ -337,6 +344,8 @@ public void Tick(Domain<T> domain, T ctx, bool allowImmediateReplan = true)
                         {
                             OnCurrentTaskFailed?.Invoke(task);
 
+                            task.Aborted(ctx);
+
                             _currentTask = null;
                             _plan.Clear();
 
@@ -361,6 +370,7 @@ public void Tick(Domain<T> domain, T ctx, bool allowImmediateReplan = true)
                     else
                     {
                         // This should not really happen if a domain is set up properly.
+                        task.Aborted(ctx);
                         _currentTask = null;
                         LastStatus = TaskStatus.Failure;
                     }
diff --git a/Fluid-HTN/Tasks/PrimitiveTasks/IPrimitiveTask.cs b/Fluid-HTN/Tasks/PrimitiveTasks/IPrimitiveTask.cs
index 8372b2d..4f89950 100644
--- a/Fluid-HTN/Tasks/PrimitiveTasks/IPrimitiveTask.cs
+++ b/Fluid-HTN/Tasks/PrimitiveTasks/IPrimitiveTask.cs
@@ -27,5 +27,6 @@ public interface IPrimitiveTask : ITask
         void ApplyEffects(IContext ctx);
 
         void Stop(IContext ctx);
+        void Aborted(IContext ctx);
     }
-}
\ No newline at end of file
+}
diff --git a/Fluid-HTN/Tasks/PrimitiveTasks/PrimitiveTask.cs b/Fluid-HTN/Tasks/PrimitiveTasks/PrimitiveTask.cs
index fd5cd08..8ecfc0a 100644
--- a/Fluid-HTN/Tasks/PrimitiveTasks/PrimitiveTask.cs
+++ b/Fluid-HTN/Tasks/PrimitiveTasks/PrimitiveTask.cs
@@ -89,6 +89,11 @@ public void Stop(IContext ctx)
             Operator?.Stop(ctx);
         }
 
+        public void Aborted(IContext ctx)
+        {
+            Operator?.Aborted(ctx);
+        }
+
         // ========================================================= VALIDITY
 
         public bool IsValid(IContext ctx)