* added ability to talk to the borg in libraries

scripts/HTN/Trees/Red/RandomMove.xml

@@ -13,15 +13,18 @@
     <HTNNode AllowMsg="true" Name="moveToData" Type="DEFAULT">
       <Parent>initInfo</Parent>
       <Code IsFile="false">from HTNBehaviors import SendEntityEventDelay
+from HTNBehaviors import GetRandomPoint
 import cxxi.model.behavior.PythonUtilities as PythonUtilities
 import math
 
-int_num = PythonUtilities._py_getRandomNumber("UNIFORM", [0.0, 1.0])
-int_num *= borg.allWPs.size()
-int_num = int(round(int_num))
+#int_num = PythonUtilities._py_getRandomNumber("UNIFORM", [0.0, 1.0])
+#int_num *= borg.allWPs.size()
+#int_num = int(round(int_num))
 
 #destName = "INTERSECTION" + str(int_num)
-destName = borg.allWPs.get(int_num).getName()
+#destName = borg.allWPs.get(int_num).getName()
+
+destName = GetRandomPoint()
 
 SendEntityEventDelay(info.getMyAssignedName(), "GoalTracker_MoveToDestination", ["RANDOM", destName], 5.0)
 borg.delay=1.0

scripts/HTNBehaviors.py

@@ -3,10 +3,45 @@ from java.util import ArrayList
 import cxxi.model.objects.holders.CMHolder as CMHolder
 import cxxi.model.behavior.OrderUtilities as OrderUtilities
 
+import mtry.cxxi.model.HierarchicalTaskNetwork.GoalContainer as GoalContainer
+import cxxi.model.behavior.PythonUtilities as PythonUtilities
+
+#from UtilityFuncsExp import HTNBorg as borg
+
 __HTN_PATH__ = "HTN/Trees/"
 __BASIC_MOVE_PATH__ = "HTN/Trees/BasicMove.xml"
 __NETWORK_MOVE_PATH__ = "HTN/Trees/NetworkMove.xml"
 
+borg = None
+
+# Reads from a list of allWPs
+def GetRandomPoint():
+    _InitBorgInternal()
+
+    int_num = PythonUtilities._py_getRandomNumber("UNIFORM", [0.0, 1.0])
+    int_num *= borg.allWPs.size()
+    int_num = int(round(int_num))
+
+    destName = borg.allWPs.get(int_num).getName()
+
+    return destName
+
+def _InitBorgInternal():
+    global borg
+
+    if borg == None:
+        borgName = GoalContainer.getBorgName()
+        impStr = "from "+borgName+" import HTNBorg"
+        exec(impStr)
+        borg = HTNBorg()
+        print "Borg created"
+    else:
+        print "Borg already created"
+
+def TestBorg():
+    _InitBorgInternal()
+    print "Test borg=",borg.allWPs.size()
+
 def ConvertToJavaList(l):
     al = ArrayList()
     for o in l: