agents

-module(autonomous_goal_planner).
-behaviour(gen_server).

%% Autonomous Goal Formation and Planning Engine
%% Sophisticated system for autonomous goal formation and planning that enables agents to:
%% - Autonomously form goals based on needs, drives, and environmental opportunities
%% - Create hierarchical goal structures with sub-goals and dependencies
%% - Plan sequences of actions to achieve goals
%% - Dynamically adjust goals and plans based on changing circumstances
%% - Balance multiple competing goals and resource constraints
%% - Learn from goal pursuit outcomes to improve future planning
%% - Form meta-goals about the goal formation process itself

-export([start_link/1,
         % Core goal formation
         form_autonomous_goals/2, update_goal_hierarchy/2, prioritize_goals/2,
         decompose_complex_goal/2, identify_goal_conflicts/1, resolve_goal_conflicts/2,
         % Planning and execution
         create_action_plan/3, execute_plan/2, monitor_plan_execution/2,
         adapt_plan_during_execution/3, evaluate_plan_success/3,
         % Goal management
         activate_goal/2, deactivate_goal/2, suspend_goal/2, resume_goal/2,
         merge_compatible_goals/2, split_complex_goal/2,
         % Resource and constraint handling
         analyze_resource_requirements/2, check_resource_availability/2,
         optimize_resource_allocation/2, handle_resource_conflicts/2,
         % Learning and adaptation
         learn_from_goal_outcomes/3, adapt_goal_formation_strategies/2,
         update_goal_preferences/3, evolve_goal_structures/2,
         % Meta-goal processing
         form_meta_goals/2, reason_about_goal_formation/2, 
         optimize_goal_formation_process/1, evaluate_goal_formation_effectiveness/1]).

-export([init/1, handle_call/3, handle_cast/2, handle_info/2, 
         terminate/2, code_change/3]).

%% Goal and planning data structures
-record(autonomous_goal, {
    goal_id,                           % Unique goal identifier
    goal_type,                         % Type of goal (survival, exploration, achievement, etc.)
    goal_description,                  % Human-readable goal description
    goal_parameters = #{},             % Parameters defining the goal
    priority = 0.5,                    % Goal priority (0-1)
    urgency = 0.5,                     % Goal urgency (0-1)
    importance = 0.5,                  % Goal importance (0-1)
    difficulty = 0.5,                  % Estimated difficulty (0-1)
    resource_requirements = #{},       % Required resources
    preconditions = [],                % Conditions that must be met
    success_criteria = [],             % Criteria for goal success
    failure_criteria = [],             % Criteria indicating goal failure
    time_constraints = #{},            % Time-related constraints
    dependencies = [],                 % Dependencies on other goals
    sub_goals = [],                    % Sub-goals for goal decomposition
    parent_goal = undefined,           % Parent goal (if this is a sub-goal)
    status = inactive,                 % Current status (inactive, active, suspended, completed, failed)
    progress = 0.0,                    % Progress towards completion (0-1)
    creation_time,                     % When goal was created
    activation_time = undefined,       % When goal was activated
    completion_time = undefined,       % When goal was completed
    motivation_source,                 % What motivated this goal
    learning_value = 0.5,             % Value for learning from this goal
    adaptation_history = []            % History of adaptations to this goal
}).

-record(action_plan, {
    plan_id,                           % Unique plan identifier
    goal_id,                           % Goal this plan serves
    plan_type,                         % Type of planning (sequential, parallel, conditional, etc.)
    actions = [],                      % Sequence of actions
    execution_strategy,                % How to execute the plan
    resource_allocation = #{},         % Resource allocation for plan
    time_estimate,                     % Estimated time to complete
    success_probability = 0.5,         % Estimated probability of success
    risk_assessment = #{},             % Risk analysis
    contingency_plans = [],            % Alternative plans if main plan fails
    monitoring_checkpoints = [],       % Checkpoints for monitoring progress
    adaptation_triggers = [],          % Conditions that trigger plan adaptation
    execution_status = not_started,    % Current execution status
    execution_progress = 0.0,          % Progress in plan execution (0-1)
    execution_history = [],            % History of plan execution
    performance_metrics = #{},         % Performance metrics for the plan
    lessons_learned = []               % Lessons learned from plan execution
}).

-record(planning_state, {
    agent_id,                          % Associated agent
    active_goals = #{},                % Currently active goals
    goal_hierarchy = [],               % Hierarchical structure of goals
    goal_formation_strategies = [],    % Strategies for forming goals
    planning_algorithms = [],          % Available planning algorithms
    execution_monitors = #{},          % Monitors for plan execution
    resource_state = #{},              % Current resource availability
    goal_preferences = #{},            % Learned preferences about goals
    performance_history = [],          % History of goal/plan performance
    meta_goals = [],                   % Meta-goals about goal formation
    conflict_resolution_strategies = [], % Strategies for resolving goal conflicts
    learning_parameters = #{},         % Parameters for learning from outcomes
    environmental_opportunities = [],  % Current environmental opportunities
    internal_drives = #{}              % Internal drives and motivations
}).

%%====================================================================
%% API functions
%%====================================================================

start_link(Config) ->
    AgentId = maps:get(agent_id, Config, generate_planner_id()),
    io:format("[GOAL_PLANNER] Starting autonomous goal planner for agent ~p~n", [AgentId]),
    gen_server:start_link(?MODULE, [AgentId, Config], []).

%% Core goal formation
form_autonomous_goals(PlannerPid, Context) ->
    gen_server:call(PlannerPid, {form_autonomous_goals, Context}).

update_goal_hierarchy(PlannerPid, Updates) ->
    gen_server:call(PlannerPid, {update_goal_hierarchy, Updates}).

prioritize_goals(PlannerPid, PrioritizationContext) ->
    gen_server:call(PlannerPid, {prioritize_goals, PrioritizationContext}).

decompose_complex_goal(PlannerPid, ComplexGoal) ->
    gen_server:call(PlannerPid, {decompose_complex_goal, ComplexGoal}).

identify_goal_conflicts(PlannerPid) ->
    gen_server:call(PlannerPid, identify_goal_conflicts).

resolve_goal_conflicts(PlannerPid, ConflictResolutionStrategy) ->
    gen_server:call(PlannerPid, {resolve_goal_conflicts, ConflictResolutionStrategy}).

%% Planning and execution
create_action_plan(PlannerPid, GoalId, PlanningContext) ->
    gen_server:call(PlannerPid, {create_action_plan, GoalId, PlanningContext}).

execute_plan(PlannerPid, PlanId) ->
    gen_server:call(PlannerPid, {execute_plan, PlanId}).

monitor_plan_execution(PlannerPid, PlanId) ->
    gen_server:call(PlannerPid, {monitor_plan_execution, PlanId}).

adapt_plan_during_execution(PlannerPid, PlanId, AdaptationTrigger) ->
    gen_server:call(PlannerPid, {adapt_plan_during_execution, PlanId, AdaptationTrigger}).

evaluate_plan_success(PlannerPid, PlanId, OutcomeData) ->
    gen_server:call(PlannerPid, {evaluate_plan_success, PlanId, OutcomeData}).

%% Goal management
activate_goal(PlannerPid, GoalId) ->
    gen_server:call(PlannerPid, {activate_goal, GoalId}).

deactivate_goal(PlannerPid, GoalId) ->
    gen_server:call(PlannerPid, {deactivate_goal, GoalId}).

suspend_goal(PlannerPid, GoalId) ->
    gen_server:call(PlannerPid, {suspend_goal, GoalId}).

resume_goal(PlannerPid, GoalId) ->
    gen_server:call(PlannerPid, {resume_goal, GoalId}).

merge_compatible_goals(PlannerPid, GoalIds) ->
    gen_server:call(PlannerPid, {merge_compatible_goals, GoalIds}).

split_complex_goal(PlannerPid, GoalId) ->
    gen_server:call(PlannerPid, {split_complex_goal, GoalId}).

%% Resource and constraint handling
analyze_resource_requirements(PlannerPid, GoalId) ->
    gen_server:call(PlannerPid, {analyze_resource_requirements, GoalId}).

check_resource_availability(PlannerPid, ResourceRequirements) ->
    gen_server:call(PlannerPid, {check_resource_availability, ResourceRequirements}).

optimize_resource_allocation(PlannerPid, Goals) ->
    gen_server:call(PlannerPid, {optimize_resource_allocation, Goals}).

handle_resource_conflicts(PlannerPid, ConflictingGoals) ->
    gen_server:call(PlannerPid, {handle_resource_conflicts, ConflictingGoals}).

%% Learning and adaptation
learn_from_goal_outcomes(PlannerPid, GoalId, Outcome) ->
    gen_server:cast(PlannerPid, {learn_from_goal_outcomes, GoalId, Outcome}).

adapt_goal_formation_strategies(PlannerPid, PerformanceData) ->
    gen_server:cast(PlannerPid, {adapt_goal_formation_strategies, PerformanceData}).

update_goal_preferences(PlannerPid, GoalType, PreferenceUpdate) ->
    gen_server:cast(PlannerPid, {update_goal_preferences, GoalType, PreferenceUpdate}).

evolve_goal_structures(PlannerPid, EvolutionPressure) ->
    gen_server:cast(PlannerPid, {evolve_goal_structures, EvolutionPressure}).

%% Meta-goal processing
form_meta_goals(PlannerPid, MetaContext) ->
    gen_server:call(PlannerPid, {form_meta_goals, MetaContext}).

reason_about_goal_formation(PlannerPid, ReasoningContext) ->
    gen_server:call(PlannerPid, {reason_about_goal_formation, ReasoningContext}).

optimize_goal_formation_process(PlannerPid) ->
    gen_server:call(PlannerPid, optimize_goal_formation_process).

evaluate_goal_formation_effectiveness(PlannerPid) ->
    gen_server:call(PlannerPid, evaluate_goal_formation_effectiveness).

%%====================================================================
%% gen_server callbacks
%%====================================================================

init([AgentId, Config]) ->
    process_flag(trap_exit, true),
    
    io:format("[GOAL_PLANNER] Initializing autonomous goal planner for agent ~p~n", [AgentId]),
    
    % Initialize goal formation strategies
    GoalFormationStrategies = initialize_goal_formation_strategies(Config),
    
    % Initialize planning algorithms
    PlanningAlgorithms = initialize_planning_algorithms(Config),
    
    % Initialize internal drives
    InternalDrives = initialize_internal_drives(Config),
    
    % Initialize learning parameters
    LearningParams = initialize_learning_parameters(Config),
    
    State = #planning_state{
        agent_id = AgentId,
        goal_formation_strategies = GoalFormationStrategies,
        planning_algorithms = PlanningAlgorithms,
        internal_drives = InternalDrives,
        learning_parameters = LearningParams
    },
    
    % Start goal formation and planning cycles
    schedule_goal_formation_cycle(),
    schedule_plan_monitoring_cycle(),
    schedule_resource_monitoring_cycle(),
    
    {ok, State}.

handle_call({form_autonomous_goals, Context}, _From, State) ->
    io:format("[GOAL_PLANNER] Forming autonomous goals for context: ~p~n", [Context]),
    
    % Analyze current situation and needs
    SituationAnalysis = analyze_current_situation(Context, State),
    
    % Identify potential goals based on multiple sources
    PotentialGoals = identify_potential_goals(SituationAnalysis, State),
    
    % Evaluate and filter goals
    EvaluatedGoals = evaluate_potential_goals(PotentialGoals, State),
    
    % Select goals to pursue
    SelectedGoals = select_goals_for_pursuit(EvaluatedGoals, State),
    
    % Create goal structures
    CreatedGoals = create_goal_structures(SelectedGoals, State),
    
    % Update goal hierarchy
    NewGoalHierarchy = update_hierarchy_with_new_goals(CreatedGoals, State#planning_state.goal_hierarchy),
    
    % Update active goals
    NewActiveGoals = activate_selected_goals(CreatedGoals, State#planning_state.active_goals),
    
    NewState = State#planning_state{
        goal_hierarchy = NewGoalHierarchy,
        active_goals = NewActiveGoals
    },
    
    {reply, {ok, CreatedGoals}, NewState};

handle_call({decompose_complex_goal, ComplexGoal}, _From, State) ->
    io:format("[GOAL_PLANNER] Decomposing complex goal: ~p~n", [ComplexGoal#autonomous_goal.goal_id]),
    
    % Analyze goal complexity
    ComplexityAnalysis = analyze_goal_complexity(ComplexGoal),
    
    % Apply decomposition strategies
    DecompositionStrategy = select_decomposition_strategy(ComplexityAnalysis, State),
    SubGoals = apply_decomposition_strategy(ComplexGoal, DecompositionStrategy, State),
    
    % Establish sub-goal relationships
    SubGoalRelationships = establish_subgoal_relationships(SubGoals, ComplexGoal),
    
    % Update goal hierarchy
    UpdatedHierarchy = insert_subgoals_in_hierarchy(SubGoals, SubGoalRelationships, 
                                                   State#planning_state.goal_hierarchy),
    
    NewState = State#planning_state{goal_hierarchy = UpdatedHierarchy},
    
    {reply, {ok, SubGoals}, NewState};

handle_call({create_action_plan, GoalId, PlanningContext}, _From, State) ->
    io:format("[GOAL_PLANNER] Creating action plan for goal: ~p~n", [GoalId]),
    
    % Get goal details
    case maps:find(GoalId, State#planning_state.active_goals) of
        {ok, Goal} ->
            % Analyze planning requirements
            PlanningRequirements = analyze_planning_requirements(Goal, PlanningContext, State),
            
            % Select planning algorithm
            PlanningAlgorithm = select_planning_algorithm(PlanningRequirements, State),
            
            % Generate action plan
            ActionPlan = generate_action_plan(Goal, PlanningAlgorithm, PlanningContext, State),
            
            % Validate and optimize plan
            OptimizedPlan = validate_and_optimize_plan(ActionPlan, State),
            
            % Store plan
            PlanId = OptimizedPlan#action_plan.plan_id,
            
            {reply, {ok, PlanId, OptimizedPlan}, State};
        error ->
            {reply, {error, goal_not_found}, State}
    end;

handle_call({execute_plan, PlanId}, _From, State) ->
    io:format("[GOAL_PLANNER] Executing plan: ~p~n", [PlanId]),
    
    % Start plan execution
    ExecutionResult = start_plan_execution(PlanId, State),
    
    % Set up execution monitoring
    setup_execution_monitoring(PlanId, State),
    
    {reply, {ok, ExecutionResult}, State};

handle_call(identify_goal_conflicts, _From, State) ->
    io:format("[GOAL_PLANNER] Identifying goal conflicts~n"),
    
    % Analyze conflicts between active goals
    ActiveGoals = maps:values(State#planning_state.active_goals),
    
    % Find resource conflicts
    ResourceConflicts = find_resource_conflicts(ActiveGoals),
    
    % Find logical conflicts
    LogicalConflicts = find_logical_conflicts(ActiveGoals),
    
    % Find temporal conflicts
    TemporalConflicts = find_temporal_conflicts(ActiveGoals),
    
    AllConflicts = #{
        resource_conflicts => ResourceConflicts,
        logical_conflicts => LogicalConflicts,
        temporal_conflicts => TemporalConflicts
    },
    
    {reply, {ok, AllConflicts}, State};

handle_call({resolve_goal_conflicts, ConflictResolutionStrategy}, _From, State) ->
    io:format("[GOAL_PLANNER] Resolving goal conflicts with strategy: ~p~n", [ConflictResolutionStrategy]),
    
    % Identify current conflicts
    Conflicts = identify_all_conflicts(State),
    
    % Apply conflict resolution strategy
    ResolutionResults = apply_conflict_resolution(Conflicts, ConflictResolutionStrategy, State),
    
    % Update goals based on resolution
    UpdatedGoals = update_goals_from_resolution(ResolutionResults, State#planning_state.active_goals),
    
    % Update goal hierarchy
    UpdatedHierarchy = update_hierarchy_from_resolution(ResolutionResults, 
                                                       State#planning_state.goal_hierarchy),
    
    NewState = State#planning_state{
        active_goals = UpdatedGoals,
        goal_hierarchy = UpdatedHierarchy
    },
    
    {reply, {ok, ResolutionResults}, NewState};

handle_call({prioritize_goals, PrioritizationContext}, _From, State) ->
    io:format("[GOAL_PLANNER] Prioritizing goals~n"),
    
    % Get all active goals
    ActiveGoals = maps:values(State#planning_state.active_goals),
    
    % Apply prioritization algorithm
    PrioritizationResult = prioritize_goals_internal(ActiveGoals, PrioritizationContext, State),
    
    % Update goal priorities
    UpdatedGoals = update_goal_priorities(PrioritizationResult, State#planning_state.active_goals),
    
    NewState = State#planning_state{active_goals = UpdatedGoals},
    
    {reply, {ok, PrioritizationResult}, NewState};

handle_call({form_meta_goals, MetaContext}, _From, State) ->
    io:format("[GOAL_PLANNER] Forming meta-goals~n"),
    
    % Analyze current goal formation process
    GoalFormationAnalysis = analyze_goal_formation_process(State),
    
    % Identify areas for improvement
    ImprovementAreas = identify_improvement_areas(GoalFormationAnalysis, State),
    
    % Generate meta-goals
    MetaGoals = generate_meta_goals(ImprovementAreas, MetaContext, State),
    
    % Add meta-goals to state
    UpdatedMetaGoals = MetaGoals ++ State#planning_state.meta_goals,
    NewState = State#planning_state{meta_goals = UpdatedMetaGoals},
    
    {reply, {ok, MetaGoals}, NewState};

handle_call(optimize_goal_formation_process, _From, State) ->
    io:format("[GOAL_PLANNER] Optimizing goal formation process~n"),
    
    % Analyze current process effectiveness
    ProcessAnalysis = analyze_process_effectiveness(State),
    
    % Identify optimization opportunities
    OptimizationOpportunities = identify_process_optimizations(ProcessAnalysis, State),
    
    % Apply optimizations
    OptimizedStrategies = apply_process_optimizations(OptimizationOpportunities, 
                                                     State#planning_state.goal_formation_strategies),
    
    NewState = State#planning_state{goal_formation_strategies = OptimizedStrategies},
    
    {reply, {ok, OptimizationOpportunities}, NewState};

handle_call(_Request, _From, State) ->
    {reply, {error, unknown_request}, State}.

handle_cast({learn_from_goal_outcomes, GoalId, Outcome}, State) ->
    io:format("[GOAL_PLANNER] Learning from goal outcome: ~p -> ~p~n", [GoalId, Outcome]),
    
    % Extract lessons from outcome
    Lessons = extract_lessons_from_outcome(GoalId, Outcome, State),
    
    % Update goal preferences
    UpdatedPreferences = update_preferences_from_lessons(Lessons, State#planning_state.goal_preferences),
    
    % Update goal formation strategies
    UpdatedStrategies = update_strategies_from_lessons(Lessons, 
                                                      State#planning_state.goal_formation_strategies),
    
    % Record performance history
    PerformanceRecord = create_performance_record(GoalId, Outcome, Lessons),
    UpdatedHistory = [PerformanceRecord | State#planning_state.performance_history],
    
    NewState = State#planning_state{
        goal_preferences = UpdatedPreferences,
        goal_formation_strategies = UpdatedStrategies,
        performance_history = UpdatedHistory
    },
    
    {noreply, NewState};

handle_cast({adapt_goal_formation_strategies, PerformanceData}, State) ->
    io:format("[GOAL_PLANNER] Adapting goal formation strategies~n"),
    
    % Analyze performance data
    PerformanceAnalysis = analyze_performance_data(PerformanceData, State),
    
    % Identify strategy adaptations
    StrategyAdaptations = identify_strategy_adaptations(PerformanceAnalysis, State),
    
    % Apply adaptations
    AdaptedStrategies = apply_strategy_adaptations(StrategyAdaptations, 
                                                  State#planning_state.goal_formation_strategies),
    
    NewState = State#planning_state{goal_formation_strategies = AdaptedStrategies},
    
    {noreply, NewState};

handle_cast(_Msg, State) ->
    {noreply, State}.

handle_info(goal_formation_cycle, State) ->
    % Periodic autonomous goal formation
    NewState = perform_autonomous_goal_formation_cycle(State),
    schedule_goal_formation_cycle(),
    {noreply, NewState};

handle_info(plan_monitoring_cycle, State) ->
    % Periodic plan monitoring and adaptation
    NewState = perform_plan_monitoring_cycle(State),
    schedule_plan_monitoring_cycle(),
    {noreply, NewState};

handle_info(resource_monitoring_cycle, State) ->
    % Periodic resource monitoring
    NewState = perform_resource_monitoring_cycle(State),
    schedule_resource_monitoring_cycle(),
    {noreply, NewState};

handle_info(_Info, State) ->
    {noreply, State}.

terminate(_Reason, State) ->
    io:format("[GOAL_PLANNER] Autonomous goal planner for agent ~p terminating~n", 
              [State#planning_state.agent_id]),
    save_planning_state(State),
    ok.

code_change(_OldVsn, State, _Extra) ->
    {ok, State}.

%%====================================================================
%% Internal functions - Goal Formation
%%====================================================================

analyze_current_situation(Context, State) ->
    % Analyze current situation to identify goal formation opportunities
    
    % Environmental analysis
    EnvironmentalFactors = analyze_environmental_factors(Context, State),
    
    % Internal state analysis
    InternalFactors = analyze_internal_factors(State),
    
    % Resource analysis
    ResourceFactors = analyze_resource_factors(State),
    
    % Opportunity analysis
    Opportunities = identify_opportunities(Context, State),
    
    % Threat analysis
    Threats = identify_threats(Context, State),
    
    #{
        environmental_factors => EnvironmentalFactors,
        internal_factors => InternalFactors,
        resource_factors => ResourceFactors,
        opportunities => Opportunities,
        threats => Threats,
        analysis_timestamp => erlang:system_time(second)
    }.

identify_potential_goals(SituationAnalysis, State) ->
    % Identify potential goals from multiple sources
    
    % Need-driven goals
    NeedDrivenGoals = identify_need_driven_goals(SituationAnalysis, State),
    
    % Opportunity-driven goals
    OpportunityDrivenGoals = identify_opportunity_driven_goals(SituationAnalysis, State),
    
    % Curiosity-driven goals
    CuriosityDrivenGoals = identify_curiosity_driven_goals(SituationAnalysis, State),
    
    % Achievement-driven goals
    AchievementDrivenGoals = identify_achievement_driven_goals(SituationAnalysis, State),
    
    % Meta-cognitive goals
    MetaCognitiveGoals = identify_meta_cognitive_goals(SituationAnalysis, State),
    
    % Combine all potential goals
    AllPotentialGoals = NeedDrivenGoals ++ OpportunityDrivenGoals ++ 
                       CuriosityDrivenGoals ++ AchievementDrivenGoals ++ MetaCognitiveGoals,
    
    AllPotentialGoals.

evaluate_potential_goals(PotentialGoals, State) ->
    % Evaluate potential goals based on multiple criteria
    
    lists:map(fun(Goal) ->
        % Evaluate goal value
        Value = evaluate_goal_value(Goal, State),
        
        % Evaluate goal feasibility
        Feasibility = evaluate_goal_feasibility(Goal, State),
        
        % Evaluate goal alignment with agent values
        Alignment = evaluate_goal_alignment(Goal, State),
        
        % Evaluate resource requirements
        ResourceScore = evaluate_resource_requirements(Goal, State),
        
        % Calculate overall score
        OverallScore = calculate_goal_score(Value, Feasibility, Alignment, ResourceScore),
        
        Goal#autonomous_goal{
            importance = Value,
            difficulty = 1.0 - Feasibility,
            priority = OverallScore
        }
    end, PotentialGoals).

select_goals_for_pursuit(EvaluatedGoals, State) ->
    % Select which goals to actually pursue
    
    % Sort by priority
    SortedGoals = lists:sort(fun(G1, G2) ->
        G1#autonomous_goal.priority >= G2#autonomous_goal.priority
    end, EvaluatedGoals),
    
    % Apply selection constraints
    MaxActiveGoals = get_max_active_goals(State),
    ResourceConstraints = get_resource_constraints(State),
    
    % Select goals within constraints
    SelectedGoals = select_goals_within_constraints(SortedGoals, MaxActiveGoals, 
                                                   ResourceConstraints, State),
    
    SelectedGoals.

create_goal_structures(SelectedGoals, State) ->
    % Create full goal structures with all necessary information
    
    lists:map(fun(Goal) ->
        % Generate unique goal ID
        GoalId = generate_goal_id(),
        
        % Set creation time
        CreationTime = erlang:system_time(second),
        
        % Determine motivation source
        MotivationSource = determine_motivation_source(Goal, State),
        
        % Set initial status
        Status = determine_initial_status(Goal, State),
        
        Goal#autonomous_goal{
            goal_id = GoalId,
            creation_time = CreationTime,
            motivation_source = MotivationSource,
            status = Status
        }
    end, SelectedGoals).

%%====================================================================
%% Internal functions - Goal Decomposition
%%====================================================================

analyze_goal_complexity(Goal) ->
    % Analyze how complex a goal is and how it should be decomposed
    
    % Analyze goal parameters
    ParameterComplexity = analyze_parameter_complexity(Goal#autonomous_goal.goal_parameters),
    
    % Analyze resource requirements
    ResourceComplexity = analyze_resource_complexity(Goal#autonomous_goal.resource_requirements),
    
    % Analyze success criteria
    CriteriaComplexity = analyze_criteria_complexity(Goal#autonomous_goal.success_criteria),
    
    % Analyze time constraints
    TemporalComplexity = analyze_temporal_complexity(Goal#autonomous_goal.time_constraints),
    
    #{
        parameter_complexity => ParameterComplexity,
        resource_complexity => ResourceComplexity,
        criteria_complexity => CriteriaComplexity,
        temporal_complexity => TemporalComplexity,
        overall_complexity => (ParameterComplexity + ResourceComplexity + 
                              CriteriaComplexity + TemporalComplexity) / 4
    }.

select_decomposition_strategy(ComplexityAnalysis, State) ->
    % Select appropriate decomposition strategy based on complexity analysis
    
    OverallComplexity = maps:get(overall_complexity, ComplexityAnalysis),
    _AvailableStrategies = get_decomposition_strategies(State),
    
    % Select strategy based on complexity level
    if OverallComplexity > 0.8 ->
        hierarchical_decomposition;
    OverallComplexity > 0.6 ->
        temporal_decomposition;
    OverallComplexity > 0.4 ->
        functional_decomposition;
    true ->
        simple_decomposition
    end.

apply_decomposition_strategy(Goal, Strategy, State) ->
    % Apply the selected decomposition strategy
    
    case Strategy of
        hierarchical_decomposition ->
            apply_hierarchical_decomposition(Goal, State);
        temporal_decomposition ->
            apply_temporal_decomposition(Goal, State);
        functional_decomposition ->
            apply_functional_decomposition(Goal, State);
        simple_decomposition ->
            apply_simple_decomposition(Goal, State);
        _ ->
            apply_general_decomposition(Goal, State)
    end.

apply_hierarchical_decomposition(Goal, State) ->
    % Decompose goal into hierarchical sub-goals
    
    % Identify major components
    MajorComponents = identify_major_components(Goal, State),
    
    % Create sub-goals for each component
    SubGoals = lists:map(fun(Component) ->
        create_component_subgoal(Component, Goal, State)
    end, MajorComponents),
    
    % Establish hierarchy relationships
    establish_hierarchy_relationships(SubGoals, Goal),
    
    SubGoals.

%%====================================================================
%% Internal functions - Planning
%%====================================================================

analyze_planning_requirements(Goal, PlanningContext, State) ->
    % Analyze what kind of planning is needed for this goal
    
    % Analyze goal characteristics
    GoalCharacteristics = analyze_goal_characteristics(Goal),
    
    % Analyze environmental constraints
    EnvironmentalConstraints = analyze_environmental_constraints(PlanningContext),
    
    % Analyze resource constraints
    ResourceConstraints = analyze_resource_constraints(Goal, State),
    
    % Analyze temporal constraints
    TemporalConstraints = analyze_temporal_constraints(Goal, PlanningContext),
    
    #{
        goal_characteristics => GoalCharacteristics,
        environmental_constraints => EnvironmentalConstraints,
        resource_constraints => ResourceConstraints,
        temporal_constraints => TemporalConstraints
    }.

select_planning_algorithm(PlanningRequirements, State) ->
    % Select appropriate planning algorithm
    
    AvailableAlgorithms = State#planning_state.planning_algorithms,
    
    % Score algorithms for these requirements
    AlgorithmScores = score_planning_algorithms(PlanningRequirements, AvailableAlgorithms),
    
    % Select best algorithm
    BestAlgorithm = select_best_planning_algorithm(AlgorithmScores),
    
    BestAlgorithm.

generate_action_plan(Goal, PlanningAlgorithm, PlanningContext, State) ->
    % Generate action plan using selected algorithm
    
    case PlanningAlgorithm of
        forward_chaining -> generate_forward_chaining_plan(Goal, PlanningContext, State);
        backward_chaining -> generate_backward_chaining_plan(Goal, PlanningContext, State);
        hierarchical_planning -> generate_hierarchical_plan(Goal, PlanningContext, State);
        reactive_planning -> generate_reactive_plan(Goal, PlanningContext, State);
        _ -> generate_general_plan(Goal, PlanningContext, State)
    end.

%%====================================================================
%% Internal functions - Conflict Resolution
%%====================================================================

find_resource_conflicts(Goals) ->
    % Find conflicts in resource requirements between goals
    
    % Collect all resource requirements
    AllResourceRequirements = collect_resource_requirements(Goals),
    
    % Identify overlapping requirements
    OverlappingRequirements = find_overlapping_requirements(AllResourceRequirements),
    
    % Identify conflicts where total requirements exceed availability
    ResourceConflicts = identify_resource_conflicts(OverlappingRequirements),
    
    ResourceConflicts.

find_logical_conflicts(Goals) ->
    % Find logical conflicts between goals (mutually exclusive goals)
    
    % Analyze goal relationships
    GoalRelationships = analyze_goal_relationships(Goals),
    
    % Identify contradictory goals
    ContradictoryGoals = identify_contradictory_goals(GoalRelationships),
    
    % Identify mutually exclusive goals
    MutuallyExclusiveGoals = identify_mutually_exclusive_goals(GoalRelationships),
    
    #{
        contradictory_goals => ContradictoryGoals,
        mutually_exclusive_goals => MutuallyExclusiveGoals
    }.

find_temporal_conflicts(Goals) ->
    % Find temporal conflicts between goals
    
    % Analyze time constraints for all goals
    TimeConstraints = collect_time_constraints(Goals),
    
    % Identify overlapping time requirements
    TemporalOverlaps = find_temporal_overlaps(TimeConstraints),
    
    % Identify impossible temporal sequences
    ImpossibleSequences = find_impossible_sequences(TimeConstraints),
    
    #{
        temporal_overlaps => TemporalOverlaps,
        impossible_sequences => ImpossibleSequences
    }.

apply_conflict_resolution(Conflicts, Strategy, State) ->
    % Apply conflict resolution strategy
    
    case Strategy of
        priority_based -> apply_priority_based_resolution(Conflicts, State);
        resource_optimization -> apply_resource_optimization_resolution(Conflicts, State);
        temporal_scheduling -> apply_temporal_scheduling_resolution(Conflicts, State);
        goal_merging -> apply_goal_merging_resolution(Conflicts, State);
        goal_postponing -> apply_goal_postponing_resolution(Conflicts, State);
        _ -> apply_general_resolution(Conflicts, State)
    end.

%%====================================================================
%% Internal functions - Cycles and Monitoring
%%====================================================================

schedule_goal_formation_cycle() ->
    Interval = 60000, % 1 minute
    erlang:send_after(Interval, self(), goal_formation_cycle).

schedule_plan_monitoring_cycle() ->
    Interval = 30000, % 30 seconds
    erlang:send_after(Interval, self(), plan_monitoring_cycle).

schedule_resource_monitoring_cycle() ->
    Interval = 45000, % 45 seconds
    erlang:send_after(Interval, self(), resource_monitoring_cycle).

perform_autonomous_goal_formation_cycle(State) ->
    % Perform periodic autonomous goal formation
    
    % Check if new goals should be formed
    ShouldFormNewGoals = should_form_new_goals(State),
    
    if ShouldFormNewGoals ->
        % Form new goals autonomously
        Context = create_autonomous_context(State),
        {ok, NewGoals} = form_autonomous_goals_internal(Context, State),
        integrate_new_goals(NewGoals, State);
    true ->
        State
    end.

perform_plan_monitoring_cycle(State) ->
    % Monitor active plans and adapt as needed
    
    % Get all active plans
    ActivePlans = get_active_plans(State),
    
    % Monitor each plan
    MonitoringResults = lists:map(fun(Plan) ->
        monitor_plan_progress(Plan, State)
    end, ActivePlans),
    
    % Adapt plans that need adaptation
    AdaptedState = adapt_plans_based_on_monitoring(MonitoringResults, State),
    
    AdaptedState.

perform_resource_monitoring_cycle(State) ->
    % Monitor resource availability and usage
    
    % Update resource state
    UpdatedResourceState = update_resource_state(State),
    
    % Check for resource conflicts
    ResourceConflicts = check_for_resource_conflicts(UpdatedResourceState, State),
    
    % Handle conflicts if any
    FinalState = handle_resource_conflicts_internal(ResourceConflicts, 
                                                   State#planning_state{resource_state = UpdatedResourceState}),
    
    FinalState.

%%====================================================================
%% Internal functions - Utility and Helper Functions
%%====================================================================

initialize_goal_formation_strategies(_Config) ->
    [
        need_based_formation,
        opportunity_based_formation,
        curiosity_driven_formation,
        achievement_oriented_formation,
        meta_cognitive_formation
    ].

initialize_planning_algorithms(_Config) ->
    [
        forward_chaining,
        backward_chaining,
        hierarchical_planning,
        reactive_planning,
        probabilistic_planning
    ].

initialize_internal_drives(_Config) ->
    #{
        survival_drive => 0.8,
        exploration_drive => 0.6,
        achievement_drive => 0.5,
        social_drive => 0.4,
        creativity_drive => 0.3
    }.

initialize_learning_parameters(_Config) ->
    #{
        learning_rate => 0.1,
        adaptation_rate => 0.05,
        preference_update_rate => 0.08,
        strategy_evolution_rate => 0.03
    }.

generate_planner_id() ->
    iolist_to_binary(io_lib:format("goal_planner_~p", [erlang:system_time(microsecond)])).

generate_goal_id() ->
    iolist_to_binary(io_lib:format("goal_~p", [erlang:system_time(microsecond)])).

save_planning_state(_State) ->
    % Save planning state to persistent storage
    ok.

% Placeholder implementations for complex functions
analyze_environmental_factors(_Context, _State) -> #{}.
analyze_internal_factors(_State) -> #{}.
analyze_resource_factors(_State) -> #{}.
identify_opportunities(_Context, _State) -> [].
identify_threats(_Context, _State) -> [].

identify_need_driven_goals(_Analysis, _State) -> [].
identify_opportunity_driven_goals(_Analysis, _State) -> [].
identify_curiosity_driven_goals(_Analysis, _State) -> [].
identify_achievement_driven_goals(_Analysis, _State) -> [].
identify_meta_cognitive_goals(_Analysis, _State) -> [].

evaluate_goal_value(_Goal, _State) -> 0.7.
evaluate_goal_feasibility(_Goal, _State) -> 0.8.
evaluate_goal_alignment(_Goal, _State) -> 0.6.
evaluate_resource_requirements(_Goal, _State) -> 0.5.
calculate_goal_score(Value, Feasibility, Alignment, Resource) -> (Value + Feasibility + Alignment + Resource) / 4.

get_max_active_goals(_State) -> 5.
get_resource_constraints(_State) -> #{}.
select_goals_within_constraints(Goals, _Max, _Constraints, _State) -> lists:sublist(Goals, 3).
determine_motivation_source(_Goal, _State) -> autonomous.
determine_initial_status(_Goal, _State) -> inactive.

update_hierarchy_with_new_goals(Goals, Hierarchy) -> Goals ++ Hierarchy.
activate_selected_goals(Goals, ActiveGoals) -> 
    lists:foldl(fun(Goal, Acc) ->
        maps:put(Goal#autonomous_goal.goal_id, Goal#autonomous_goal{status = active}, Acc)
    end, ActiveGoals, Goals).

analyze_parameter_complexity(_Parameters) -> 0.5.
analyze_resource_complexity(_Resources) -> 0.4.
analyze_criteria_complexity(_Criteria) -> 0.6.
analyze_temporal_complexity(_Constraints) -> 0.3.
get_decomposition_strategies(_State) -> [hierarchical, temporal, functional, simple].

identify_major_components(_Goal, _State) -> [component1, component2].
create_component_subgoal(_Component, Goal, _State) -> 
    Goal#autonomous_goal{goal_id = generate_goal_id()}.
establish_hierarchy_relationships(_SubGoals, _Goal) -> ok.

apply_temporal_decomposition(Goal, _State) -> [Goal].
apply_functional_decomposition(Goal, _State) -> [Goal].
apply_simple_decomposition(Goal, _State) -> [Goal].
apply_general_decomposition(Goal, _State) -> [Goal].

analyze_goal_characteristics(_Goal) -> #{}.
analyze_environmental_constraints(_Context) -> #{}.
analyze_resource_constraints(_Goal, _State) -> #{}.
analyze_temporal_constraints(_Goal, _Context) -> #{}.

score_planning_algorithms(_Requirements, Algorithms) -> [{A, 0.5} || A <- Algorithms].
select_best_planning_algorithm(Scores) -> element(1, hd(Scores)).

generate_forward_chaining_plan(_Goal, _Context, _State) -> 
    #action_plan{plan_id = generate_goal_id(), plan_type = forward_chaining}.
generate_backward_chaining_plan(_Goal, _Context, _State) -> 
    #action_plan{plan_id = generate_goal_id(), plan_type = backward_chaining}.
generate_hierarchical_plan(_Goal, _Context, _State) -> 
    #action_plan{plan_id = generate_goal_id(), plan_type = hierarchical}.
generate_reactive_plan(_Goal, _Context, _State) -> 
    #action_plan{plan_id = generate_goal_id(), plan_type = reactive}.
generate_general_plan(_Goal, _Context, _State) -> 
    #action_plan{plan_id = generate_goal_id(), plan_type = general}.

validate_and_optimize_plan(Plan, _State) -> Plan.
start_plan_execution(_PlanId, _State) -> #{status => started}.
setup_execution_monitoring(_PlanId, _State) -> ok.

collect_resource_requirements(Goals) -> [Goal#autonomous_goal.resource_requirements || Goal <- Goals].
find_overlapping_requirements(_Requirements) -> [].
identify_resource_conflicts(_Overlapping) -> [].
analyze_goal_relationships(_Goals) -> #{}.
identify_contradictory_goals(_Relationships) -> [].
identify_mutually_exclusive_goals(_Relationships) -> [].
collect_time_constraints(Goals) -> [Goal#autonomous_goal.time_constraints || Goal <- Goals].
find_temporal_overlaps(_Constraints) -> [].
find_impossible_sequences(_Constraints) -> [].

identify_all_conflicts(_State) -> #{resource => [], logical => [], temporal => []}.

establish_subgoal_relationships(SubGoals, _ComplexGoal) ->
    % Create relationships between sub-goals
    lists:map(fun(SubGoal) ->
        #{
            subgoal => SubGoal,
            dependencies => [],
            prerequisites => [],
            relationships => []
        }
    end, SubGoals).

insert_subgoals_in_hierarchy(SubGoals, _Relationships, Hierarchy) ->
    % Insert sub-goals into the goal hierarchy
    lists:foldl(fun(SubGoal, Acc) ->
        SubGoalId = maps:get(goal_id, SubGoal, generate_goal_id()),
        maps:put(SubGoalId, SubGoal, Acc)
    end, Hierarchy, SubGoals).
apply_priority_based_resolution(_Conflicts, _State) -> #{}.
apply_resource_optimization_resolution(_Conflicts, _State) -> #{}.
apply_temporal_scheduling_resolution(_Conflicts, _State) -> #{}.
apply_goal_merging_resolution(_Conflicts, _State) -> #{}.
apply_goal_postponing_resolution(_Conflicts, _State) -> #{}.
apply_general_resolution(_Conflicts, _State) -> #{}.

update_goals_from_resolution(_Results, Goals) -> Goals.
update_hierarchy_from_resolution(_Results, Hierarchy) -> Hierarchy.

prioritize_goals_internal(Goals, _Context, _State) -> Goals.
update_goal_priorities(_Results, Goals) -> Goals.

analyze_goal_formation_process(_State) -> #{}.
identify_improvement_areas(_Analysis, _State) -> [].
generate_meta_goals(_Areas, _Context, _State) -> [].
analyze_process_effectiveness(_State) -> #{}.
identify_process_optimizations(_Analysis, _State) -> [].
apply_process_optimizations(_Opportunities, Strategies) -> Strategies.

extract_lessons_from_outcome(_GoalId, _Outcome, _State) -> [].
update_preferences_from_lessons(_Lessons, Preferences) -> Preferences.
update_strategies_from_lessons(_Lessons, Strategies) -> Strategies.
create_performance_record(_GoalId, _Outcome, _Lessons) -> #{}.

analyze_performance_data(_Data, _State) -> #{}.
identify_strategy_adaptations(_Analysis, _State) -> [].
apply_strategy_adaptations(_Adaptations, Strategies) -> Strategies.

should_form_new_goals(_State) -> true.
create_autonomous_context(_State) -> #{}.
form_autonomous_goals_internal(_Context, _State) -> {ok, []}.
integrate_new_goals(_Goals, State) -> State.

get_active_plans(_State) -> [].
monitor_plan_progress(_Plan, _State) -> #{}.
adapt_plans_based_on_monitoring(_Results, State) -> State.
update_resource_state(State) -> State#planning_state.resource_state.
check_for_resource_conflicts(_ResourceState, _State) -> [].
handle_resource_conflicts_internal(_Conflicts, State) -> State.