public void ProcessIntent(FSM.Event _event)
{
//print(Time.time +"- ID:" + id +"- From: " + position + " Called Intent: (" + _event + "), alone?: " + isAlone);
//FSM.Event _event = supervisorio.eventsConteiner[eventID];
if (_event == null)
{
return;
}
Coord dest = position;
switch (_event.type)
{
case "typeMovement":
switch (_event.label)
{
case "u":
dest = position + Coord.left; break;
case "d":
dest = position + Coord.right; break;
case "l":
dest = position + Coord.down; break;
case "r":
dest = position + Coord.up; break;
}
break;
case "typeMovementIO":
if (_event.label == "out")
{
dest = Coord.origin;
}
else if (_event.label == "in")
{
dest = new Coord(1, 1);
}
else
{
dest = new Coord((int)Char.GetNumericValue(_event.label[2]), (int)Char.GetNumericValue(_event.label[3]));
}
break;
case "typePlace":
dest = new Coord((int)Char.GetNumericValue(_event.label[1]), (int)Char.GetNumericValue(_event.label[2]));
break;
}
communicationComponent.CallIntent(_event.id, dest);
}
public void StartTransition(int eventID, Coord dest)
{
//print(Time.time + "- Started Transition: " + dest + " e " + brain.position);
_event = brain.supervisorio.eventsConteiner[eventID];
// START TRANSITION
reservedDest = dest;
IsTransitioning = true;
// START ANIMATION
animationComponent.StartAnimation(eventID);
}
public void NotifyTransistionEnd(GameObject source, FSM.Event _event)
{
externalEvents.Add(_event);
foreach (var bot in botList)
{
if (bot == source)
{
}
else
{
bot.GetComponent <TermiteCommunicationComponent>().unknownEventsBuffer.Add(_event);
}
}
}
Dictionary <int, FSM.Event> LoadEvents(IEnumerable events)
{
Dictionary <int, FSM.Event> eventsContainer = new Dictionary <int, FSM.Event>();
//Carrega o dicionário de eventos
foreach (XElement eventData in events)
{
int eventId = (int)eventData.Attribute("id");
string eventLabel = (string)eventData.Attribute("label");
FSM.Event eventCaster = new FSM.Event(eventId, eventLabel);
eventsContainer.Add(eventId, eventCaster);
}
return(eventsContainer);
}
// Start a transition if all other bots allow and the intended event is still possible
public void CallIntent(int eventID, Coord destination)
{
FSM.Event _event = brain.supervisorio.eventsConteiner[eventID];
if (centralController.RequestIntent(gameObject, destination, _event))
{
if (brain.supervisorio.FeasibleEvents().Contains(_event))
{
StartTransition(eventID, destination);
}
}
else
{
brain.ActionDenied();
}
}
// MultiBot (TermiteFSM) Functions
public bool RequestIntent(GameObject source, Coord dest, FSM.Event _event)
{
bool permission = true;
foreach (var bot in botList)
{
if (bot != source)
{
if (!bot.GetComponent <TermiteFSMBrain>().communicationComponent.Allow(dest, _event))
{
permission = false;
}
}
}
return(permission);
}
// Allows other bots intention to occur
public bool Allow(Coord dest, FSM.Event _event)
{
// If is an external event, check if it is feasible
if (brain.supervisorio.AltEvent(_event) != null)
{
bool feasible = false;
foreach (var e in brain.supervisorio.FeasibleEvents())
{
if (e.id == brain.supervisorio.AltEvent(_event).id)
{
feasible = true;
}
}
if (!feasible)
{
return(false);
}
}
if (brain.position == dest && dest != Coord.origin)
{
return(false);
}
else if (IsTransitioning && reservedDest == dest)
{
return(false);
}
else
{
return(true);
}
}
private void PlanAction(int steps = 5, int tries = 5)
{
List <FSM.Event> eventPlan = new List <FSM.Event>();
int maxScore = -1;
for (int i = 0; i < tries; i++)
{
FSM.State imaginaryState = supervisorio.currentState;
List <FSM.Event> tryPlan = new List <FSM.Event>();
for (int j = 0; j < steps; j++)
{
//print(i + "" + j + " Started--- "+ imaginaryState);
List <FSM.Event> feasible = supervisorio.FeasibleEvents(imaginaryState, true);
if (feasible.Count > 0)
{
FSM.Event tryEvent = feasible[UnityEngine.Random.Range(0, feasible.Count)];
//print(i + "" + j + " Did--- " + tryEvent);
tryPlan.Add(tryEvent);
imaginaryState = supervisorio.ImagineEvent(tryEvent, imaginaryState);
//print(i + "" + j + " Ended--- " + imaginaryState);
}
}
if (EvaluatePlan(tryPlan, steps) > maxScore)
{
maxScore = EvaluatePlan(tryPlan, steps);
eventPlan = tryPlan;
}
}
//print("Score: " + maxScore);
myPlan = eventPlan;
}
public void StartAnimation(int eventID)
{
//OBS: Still needs refactoring
IsAnimating = true;
FSM.Event _event = brain.supervisorio.eventsConteiner[eventID];
string eventType = _event.type;
switch (eventType)
{
case "typeGet":
animationBuffer.Add(GrabTile);
break;
case "typePlace":
int x = int.Parse(_event.label[1].ToString());
int y = int.Parse(_event.label[2].ToString());
if (brain.position.y < y)
{
animationBuffer.Add(() => TurnTo(0));
}
else if (brain.position.y > y)
{
animationBuffer.Add(() => TurnTo(2));
}
else if (brain.position.x < x)
{
animationBuffer.Add(() => TurnTo(3));
}
else
{
animationBuffer.Add(() => TurnTo(1));
}
animationBuffer.Add(PlaceTile);
break;
case "typeMovement":
switch (_event.label)
{
case "u":
animationBuffer.Add(() => TurnTo(1));
break;
case "d":
animationBuffer.Add(() => TurnTo(3));
break;
case "l":
animationBuffer.Add(() => TurnTo(2));
break;
case "r":
animationBuffer.Add(() => TurnTo(0));
break;
}
animationBuffer.Add(GoFoward);
break;
case "typeMovementIO":
if (_event.label == "out")
{
coreTransform.position = new Vector3(-27.5f * 1.5f, 5f, -27.5f * 1.5f);
coreTransform.eulerAngles = compass[3];
}
else if (_event.label == "in")
{
coreTransform.position = tileSystem.centreMap[new Coord(1, 1)];
coreTransform.eulerAngles = compass[3];
}
break;
}
}
