feat: add GoalStructure

.editorconfig

@@ -1,12 +1,12 @@
 # Remove the line below if you want to inherit .editorconfig settings from higher directories
 root = true
 
-# XMLDOC settings
-xmldoc_indent_size = 0
-
 # C# files
 [*.cs]
 
+# XMLDoc settings
+resharper_xmldoc_indent_size = 0
+
 #### Core EditorConfig Options ####
 
 # Indentation and spacing
@@ -107,7 +107,7 @@ csharp_style_conditional_delegate_call = true
 
 # Modifier preferences
 csharp_prefer_static_local_function = true
-csharp_preferred_modifier_order = public,private,protected,internal,file,static,extern,new,virtual,abstract,sealed,override,readonly,unsafe,required,volatile,async
+csharp_preferred_modifier_order = public, private, protected, internal, file, static, extern, new, virtual, abstract, sealed, override, readonly, unsafe, required, volatile, async
 csharp_style_prefer_readonly_struct = true
 csharp_style_prefer_readonly_struct_member = true
 
@@ -195,6 +195,10 @@ csharp_preserve_single_line_statements = true
 
 # Naming rules
 
+dotnet_naming_rule.private_members_with_underscore.severity = warning
+dotnet_naming_rule.private_members_with_underscore.symbols = private_fields
+dotnet_naming_rule.private_members_with_underscore.style = prefix_underscore
+
 dotnet_naming_rule.interface_should_be_begins_with_i.severity = warning
 dotnet_naming_rule.interface_should_be_begins_with_i.symbols = interface
 dotnet_naming_rule.interface_should_be_begins_with_i.style = begins_with_i
@@ -203,64 +207,58 @@ dotnet_naming_rule.types_should_be_pascal_case.severity = warning
 dotnet_naming_rule.types_should_be_pascal_case.symbols = types
 dotnet_naming_rule.types_should_be_pascal_case.style = pascal_case
 
+dotnet_naming_rule.classes_should_be_pascal_case.severity = warning
+dotnet_naming_rule.classes_should_be_pascal_case.symbols = classes
+dotnet_naming_rule.classes_should_be_pascal_case.style = pascal_case
+
 dotnet_naming_rule.non_field_members_should_be_pascal_case.severity = warning
 dotnet_naming_rule.non_field_members_should_be_pascal_case.symbols = non_field_members
 dotnet_naming_rule.non_field_members_should_be_pascal_case.style = pascal_case
 
-dotnet_naming_rule.private_members_with_underscore.severity = warning
-dotnet_naming_rule.private_members_with_underscore.symbols  = private_fields
-dotnet_naming_rule.private_members_with_underscore.style    = prefix_underscore
+dotnet_naming_rule.public_fields_should_be_pascal_case.severity = warning
+dotnet_naming_rule.public_fields_should_be_pascal_case.symbols = public_fields
+dotnet_naming_rule.public_fields_should_be_pascal_case.style = pascal_case
 
 # Symbol specifications
 
 dotnet_naming_symbols.interface.applicable_kinds = interface
 dotnet_naming_symbols.interface.applicable_accessibilities = public, internal, private, protected, protected_internal, private_protected
-dotnet_naming_symbols.interface.required_modifiers = 
+dotnet_naming_symbols.interface.required_modifiers =
 
 dotnet_naming_symbols.types.applicable_kinds = class, struct, interface, enum, field
 dotnet_naming_symbols.types.applicable_accessibilities = public, internal, private, protected, protected_internal, private_protected
-dotnet_naming_symbols.types.required_modifiers = 
+dotnet_naming_symbols.types.required_modifiers =
+
+dotnet_naming_symbols.classes.applicable_kinds = class, struct, enum
+dotnet_naming_symbols.classes.applicable_accessibilities = public, internal, private, protected, protected_internal, private_protected
+dotnet_naming_symbols.classes.required_modifiers =
 
 dotnet_naming_symbols.non_field_members.applicable_kinds = property, event, method
 dotnet_naming_symbols.non_field_members.applicable_accessibilities = public, internal, private, protected, protected_internal, private_protected
-dotnet_naming_symbols.non_field_members.required_modifiers = 
+dotnet_naming_symbols.non_field_members.required_modifiers =
 
-dotnet_naming_symbols.private_fields.applicable_kinds           = field, property
-dotnet_naming_symbols.private_fields.applicable_accessibilities = private
+dotnet_naming_symbols.public_fields.applicable_kinds = field, property
+dotnet_naming_symbols.public_fields.applicable_accessibilities = public, internal, protected_internal
+
+dotnet_naming_symbols.private_fields.applicable_kinds = field, property
+dotnet_naming_symbols.private_fields.applicable_accessibilities = protected, private_protected, private
 
 # Naming styles
 
-dotnet_naming_style.pascal_case.required_prefix = 
-dotnet_naming_style.pascal_case.required_suffix = 
-dotnet_naming_style.pascal_case.word_separator = 
+dotnet_naming_style.pascal_case.required_prefix =
+dotnet_naming_style.pascal_case.required_suffix =
+dotnet_naming_style.pascal_case.word_separator =
 dotnet_naming_style.pascal_case.capitalization = pascal_case
 
 dotnet_naming_style.begins_with_i.required_prefix = I
-dotnet_naming_style.begins_with_i.required_suffix = 
-dotnet_naming_style.begins_with_i.word_separator = 
+dotnet_naming_style.begins_with_i.required_suffix =
+dotnet_naming_style.begins_with_i.word_separator =
 dotnet_naming_style.begins_with_i.capitalization = pascal_case
+
 dotnet_naming_style.prefix_underscore.capitalization = camel_case
 dotnet_naming_style.prefix_underscore.required_prefix = _
 
-[*.{cs,vb}]
-dotnet_style_coalesce_expression = true:suggestion
-dotnet_style_null_propagation = true:suggestion
-dotnet_style_prefer_is_null_check_over_reference_equality_method = true:suggestion
-dotnet_style_prefer_auto_properties = true:silent
-dotnet_style_object_initializer = true:suggestion
-dotnet_style_collection_initializer = true:suggestion
-dotnet_style_operator_placement_when_wrapping = beginning_of_line
-tab_width = 4
-indent_size = 4
-end_of_line = crlf
-
 # Use underscores for private fields
-dotnet_naming_symbols.private_fields.applicable_kinds           = field
-dotnet_naming_symbols.private_fields.applicable_accessibilities = internal, protected_internal, private 
-
-dotnet_naming_style.prefix_underscore.capitalization  = camel_case
-dotnet_naming_style.prefix_underscore.required_prefix = _
-
-dotnet_naming_rule.private_fields_with_underscore.symbols  = private_fields
-dotnet_naming_rule.private_fields_with_underscore.style    = prefix_underscore
+dotnet_naming_rule.private_fields_with_underscore.symbols = private_fields
+dotnet_naming_rule.private_fields_with_underscore.style = prefix_underscore
 dotnet_naming_rule.private_fields_with_underscore.severity = warning

Aplib.Core/CompletionStatus.cs

@@ -0,0 +1,23 @@
+namespace Aplib.Core
+{
+    /// <summary>
+    /// Represents the state of a completable object.
+    /// </summary>
+    public enum CompletionStatus
+    {
+        /// <summary>
+        /// Represents the status of a completable object that is not yet completed.
+        /// </summary>
+        Unfinished,
+
+        /// <summary>
+        /// Represents the status of a completable object that has been successfully completed.
+        /// </summary>
+        Success,
+
+        /// <summary>
+        /// Represents the status of a completable object that has failed to complete.
+        /// </summary>
+        Failure
+    }
+}

Aplib.Core/Desire/FirstOfGoalStructure.cs

@@ -0,0 +1,80 @@
+using Aplib.Core.Belief;
+using Aplib.Core.Desire.Goals;
+using System;
+using System.Collections.Generic;
+
+namespace Aplib.Core.Desire
+{
+    /// <summary>
+    /// Represents a goal structure that will complete if any of its children complete.
+    /// </summary>
+    /// <remarks>
+    /// The children of this goal structure will be executed in the order they are given.
+    /// </remarks>
+    /// <typeparam name="TBeliefSet">The beliefset of the agent.</typeparam>
+    public class FirstOfGoalStructure<TBeliefSet> : GoalStructure<TBeliefSet>, IDisposable
+        where TBeliefSet : IBeliefSet
+    {
+        private IEnumerator<IGoalStructure<TBeliefSet>> _childrenEnumerator { get; }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="FirstOfGoalStructure{TBeliefSet}" /> class.
+        /// </summary>
+        /// <param name="children">The children of the goal structure.</param>
+        public FirstOfGoalStructure(IList<IGoalStructure<TBeliefSet>> children) : base(children)
+        {
+            _childrenEnumerator = children.GetEnumerator();
+            _childrenEnumerator.MoveNext();
+            _currentGoalStructure = _childrenEnumerator.Current;
+        }
+
+        /// <inheritdoc />
+        public override IGoal GetCurrentGoal(TBeliefSet beliefSet) => _currentGoalStructure!.GetCurrentGoal(beliefSet);
+
+        /// <inheritdoc />
+        public override void UpdateStatus(TBeliefSet beliefSet)
+        {
+            // Loop through all the children until one of them is unfinished or successful.
+            // This loop is here to prevent tail recursion.
+            while (true)
+            {
+                if (Status == CompletionStatus.Success) return;
+                _currentGoalStructure!.UpdateStatus(beliefSet);
+
+                switch (_currentGoalStructure.Status)
+                {
+                    case CompletionStatus.Unfinished:
+                        return;
+                    case CompletionStatus.Success:
+                        Status = CompletionStatus.Success;
+                        return;
+                }
+
+                if (_childrenEnumerator.MoveNext())
+                {
+                    _currentGoalStructure = _childrenEnumerator.Current;
+                    Status = CompletionStatus.Unfinished;
+
+                    // Update the Status of the new goal structure
+                    continue;
+                }
+
+                Status = CompletionStatus.Failure;
+                return;
+            }
+        }
+
+        /// <inheritdoc />
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        /// <summary>
+        /// Disposes of the goal structure.
+        /// </summary>
+        /// <param name="disposing">Whether we are actually disposing.</param>
+        protected virtual void Dispose(bool disposing) => _childrenEnumerator.Dispose();
+    }
+}

Aplib.Core/Desire/GoalStructure.cs

@@ -0,0 +1,44 @@
+using Aplib.Core.Belief;
+using Aplib.Core.Desire.Goals;
+using System.Collections.Generic;
+
+namespace Aplib.Core.Desire
+{
+    /// <summary>
+    /// Describes a structure of goals that need to be fulfilled.
+    /// </summary>
+    public abstract class GoalStructure<TBeliefSet> : IGoalStructure<TBeliefSet> where TBeliefSet : IBeliefSet
+    {
+        /// <inheritdoc />
+        public CompletionStatus Status { get; protected set; }
+
+        /// <summary>
+        /// The children of the goal structure.
+        /// </summary>
+        protected readonly IEnumerable<IGoalStructure<TBeliefSet>> _children;
+
+        /// <summary>
+        /// The goal structure that is currently being fulfilled.
+        /// </summary>
+        protected IGoalStructure<TBeliefSet>? _currentGoalStructure;
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="GoalStructure{TBeliefSet}" /> class.
+        /// </summary>
+        /// <param name="children">The children of the goal structure.</param>
+        protected GoalStructure(IEnumerable<IGoalStructure<TBeliefSet>> children) => _children = children;
+
+        /// <summary>
+        /// Gets the current goal using the given <see cref="IBeliefSet" />.
+        /// </summary>
+        /// <param name="beliefSet">The belief set of the agent.</param>
+        /// <returns>The current goal to be fulfilled.</returns>
+        public abstract IGoal GetCurrentGoal(TBeliefSet beliefSet);
+
+        /// <summary>
+        /// Updates the state of the goal structure.
+        /// </summary>
+        /// <param name="beliefSet">The belief set of the agent.</param>
+        public abstract void UpdateStatus(TBeliefSet beliefSet);
+    }
+}