/** Main pathfinding method.
* This method will calculate the paths in the pathfinding queue.
*
* \see CalculatePathsThreaded
* \see StartPath
*/
IEnumerator CalculatePaths(PathThreadInfo threadInfo)
{
int numPaths = 0;
// Initialize memory for this thread
PathHandler runData = threadInfo.runData;
if (runData.nodes == null)
{
throw new System.NullReferenceException("NodeRuns must be assigned to the threadInfo.runData.nodes field before threads are started\n" +
"threadInfo is an argument to the thread functions");
}
// Max number of ticks before yielding/sleeping
long maxTicks = (long)(astar.maxFrameTime * 10000);
long targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
while (true)
{
//The path we are currently calculating
Path p = null;
AstarProfiler.StartProfile("Path Queue");
//Try to get the next path to be calculated
bool blockedBefore = false;
while (p == null)
{
try {
p = queue.PopNoBlock(blockedBefore);
blockedBefore |= p == null;
} catch (ThreadControlQueue.QueueTerminationException) {
yield break;
}
if (p == null)
{
AstarProfiler.EndProfile();
yield return(null);
AstarProfiler.StartProfile("Path Queue");
}
}
AstarProfiler.EndProfile();
AstarProfiler.StartProfile("Path Calc");
//Max number of ticks we are allowed to continue working in one run
//One tick is 1/10000 of a millisecond
maxTicks = (long)(astar.maxFrameTime * 10000);
p.PrepareBase(runData);
//Now processing the path
//Will advance to Processing
p.AdvanceState(PathState.Processing);
// Call some callbacks
// It needs to be stored in a local variable to avoid race conditions
var tmpOnPathPreSearch = OnPathPreSearch;
if (tmpOnPathPreSearch != null)
{
tmpOnPathPreSearch(p);
}
numPaths++;
//Tick for when the path started, used for calculating how long time the calculation took
long startTicks = System.DateTime.UtcNow.Ticks;
long totalTicks = 0;
AstarProfiler.StartFastProfile(8);
AstarProfiler.StartFastProfile(0);
//Prepare the path
AstarProfiler.StartProfile("Path Prepare");
p.Prepare();
AstarProfiler.EndProfile("Path Prepare");
AstarProfiler.EndFastProfile(0);
// Check if the Prepare call caused the path to complete
// If this happens the path usually failed
if (!p.IsDone())
{
//For debug uses, we set the last computed path to p, so we can view debug info on it in the editor (scene view).
astar.debugPath = p;
//Initialize the path, now ready to begin search
AstarProfiler.StartProfile("Path Initialize");
p.Initialize();
AstarProfiler.EndProfile();
//The error can turn up in the Init function
while (!p.IsDone())
{
// Do some work on the path calculation.
// The function will return when it has taken too much time
// or when it has finished calculation
AstarProfiler.StartFastProfile(2);
AstarProfiler.StartProfile("Path Calc Step");
p.CalculateStep(targetTick);
AstarProfiler.EndFastProfile(2);
p.searchIterations++;
AstarProfiler.EndProfile();
// If the path has finished calculation, we can break here directly instead of sleeping
// Improves latency
if (p.IsDone())
{
break;
}
AstarProfiler.EndFastProfile(8);
totalTicks += System.DateTime.UtcNow.Ticks - startTicks;
// Yield/sleep so other threads can work
AstarProfiler.EndProfile();
yield return(null);
AstarProfiler.StartProfile("Path Calc");
startTicks = System.DateTime.UtcNow.Ticks;
AstarProfiler.StartFastProfile(8);
//Cancel function (and thus the thread) if no more paths should be accepted.
//This is done when the A* object is about to be destroyed
//The path is returned and then this function will be terminated (see similar IF statement higher up in the function)
if (queue.IsTerminating)
{
p.Error();
}
targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
}
totalTicks += System.DateTime.UtcNow.Ticks - startTicks;
p.duration = totalTicks * 0.0001F;
}
// Cleans up node tagging and other things
p.Cleanup();
AstarProfiler.EndFastProfile(8);
// Call the immediate callback
// It needs to be stored in a local variable to avoid race conditions
var tmpImmediateCallback = p.immediateCallback;
if (tmpImmediateCallback != null)
{
tmpImmediateCallback(p);
}
AstarProfiler.StartFastProfile(13);
// It needs to be stored in a local variable to avoid race conditions
var tmpOnPathPostSearch = OnPathPostSearch;
if (tmpOnPathPostSearch != null)
{
tmpOnPathPostSearch(p);
}
AstarProfiler.EndFastProfile(13);
//Push the path onto the return stack
//It will be detected by the main Unity thread and returned as fast as possible (the next late update)
returnQueue.Enqueue(p);
p.AdvanceState(PathState.ReturnQueue);
AstarProfiler.EndProfile();
//Wait a bit if we have calculated a lot of paths
if (System.DateTime.UtcNow.Ticks > targetTick)
{
yield return(null);
targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
numPaths = 0;
}
}
//Debug.LogError ("Error : This part should never be reached");
}
/** Main pathfinding method (multithreaded).
* This method will calculate the paths in the pathfinding queue when multithreading is enabled.
*
* \see CalculatePaths
* \see StartPath
*
* \astarpro
*/
void CalculatePathsThreaded(PathThreadInfo threadInfo)
{
try {
//Initialize memory for this thread
PathHandler runData = threadInfo.runData;
if (runData.nodes == null)
{
throw new System.NullReferenceException("NodeRuns must be assigned to the threadInfo.runData.nodes field before threads are started\nthreadInfo is an argument to the thread functions");
}
//Max number of ticks before yielding/sleeping
long maxTicks = (long)(astar.maxFrameTime * 10000);
long targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
while (true)
{
//The path we are currently calculating
Path p = queue.Pop();
//Max number of ticks we are allowed to continue working in one run
//One tick is 1/10000 of a millisecond
maxTicks = (long)(astar.maxFrameTime * 10000);
//Trying to prevent simple modding to allow more than one thread
if (threadInfo.threadIndex > 0)
{
throw new System.Exception("Thread Error");
}
AstarProfiler.StartFastProfile(0);
p.PrepareBase(runData);
//Now processing the path
//Will advance to Processing
p.AdvanceState(PathState.Processing);
//Call some callbacks
if (OnPathPreSearch != null)
{
OnPathPreSearch(p);
}
//Tick for when the path started, used for calculating how long time the calculation took
long startTicks = System.DateTime.UtcNow.Ticks;
long totalTicks = 0;
//Prepare the path
p.Prepare();
AstarProfiler.EndFastProfile(0);
if (!p.IsDone())
{
//For debug uses, we set the last computed path to p, so we can view debug info on it in the editor (scene view).
astar.debugPath = p;
AstarProfiler.StartFastProfile(1);
//Initialize the path, now ready to begin search
p.Initialize();
AstarProfiler.EndFastProfile(1);
//The error can turn up in the Init function
while (!p.IsDone())
{
//Do some work on the path calculation.
//The function will return when it has taken too much time
//or when it has finished calculation
AstarProfiler.StartFastProfile(2);
p.CalculateStep(targetTick);
p.searchIterations++;
AstarProfiler.EndFastProfile(2);
// If the path has finished calculation, we can break here directly instead of sleeping
if (p.IsDone())
{
break;
}
// Yield/sleep so other threads can work
totalTicks += System.DateTime.UtcNow.Ticks - startTicks;
Thread.Sleep(0);
startTicks = System.DateTime.UtcNow.Ticks;
targetTick = startTicks + maxTicks;
// Cancel function (and thus the thread) if no more paths should be accepted.
// This is done when the A* object is about to be destroyed
// The path is returned and then this function will be terminated
if (queue.IsTerminating)
{
p.Error();
}
}
totalTicks += System.DateTime.UtcNow.Ticks - startTicks;
p.duration = totalTicks * 0.0001F;
}
// Cleans up node tagging and other things
p.Cleanup();
AstarProfiler.StartFastProfile(9);
if (p.immediateCallback != null)
{
p.immediateCallback(p);
}
if (OnPathPostSearch != null)
{
OnPathPostSearch(p);
}
// Push the path onto the return stack
// It will be detected by the main Unity thread and returned as fast as possible (the next late update hopefully)
returnQueue.Enqueue(p);
// Will advance to ReturnQueue
p.AdvanceState(PathState.ReturnQueue);
AstarProfiler.EndFastProfile(9);
// Wait a bit if we have calculated a lot of paths
if (System.DateTime.UtcNow.Ticks > targetTick)
{
Thread.Sleep(1);
targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
}
}
} catch (System.Exception e) {
#if !NETFX_CORE
if (e is ThreadAbortException || e is ThreadControlQueue.QueueTerminationException)
#else
if (e is ThreadControlQueue.QueueTerminationException)
#endif
{
if (astar.logPathResults == PathLog.Heavy)
{
Debug.LogWarning("Shutting down pathfinding thread #" + threadInfo.threadIndex);
}
return;
}
Debug.LogException(e);
Debug.LogError("Unhandled exception during pathfinding. Terminating.");
//Unhandled exception, kill pathfinding
queue.TerminateReceivers();
}
Debug.LogError("Error : This part should never be reached.");
queue.ReceiverTerminated();
}
// Token: 0x06002322 RID: 8994 RVA: 0x00193BD0 File Offset: 0x00191DD0
private IEnumerator CalculatePaths(PathHandler pathHandler)
{
long maxTicks = (long)(this.astar.maxFrameTime * 10000f);
long targetTick = DateTime.UtcNow.Ticks + maxTicks;
for (;;)
{
Path p = null;
bool blockedBefore = false;
while (p == null)
{
try
{
p = this.queue.PopNoBlock(blockedBefore);
blockedBefore |= (p == null);
}
catch (ThreadControlQueue.QueueTerminationException)
{
yield break;
}
if (p == null)
{
yield return(null);
}
}
IPathInternals ip = p;
maxTicks = (long)(this.astar.maxFrameTime * 10000f);
ip.PrepareBase(pathHandler);
ip.AdvanceState(PathState.Processing);
Action <Path> onPathPreSearch = this.OnPathPreSearch;
if (onPathPreSearch != null)
{
onPathPreSearch(p);
}
long ticks = DateTime.UtcNow.Ticks;
long totalTicks = 0L;
ip.Prepare();
if (!p.IsDone())
{
this.astar.debugPathData = ip.PathHandler;
this.astar.debugPathID = p.pathID;
ip.Initialize();
while (!p.IsDone())
{
ip.CalculateStep(targetTick);
if (p.IsDone())
{
break;
}
totalTicks += DateTime.UtcNow.Ticks - ticks;
yield return(null);
ticks = DateTime.UtcNow.Ticks;
if (this.queue.IsTerminating)
{
p.FailWithError("AstarPath object destroyed");
}
targetTick = DateTime.UtcNow.Ticks + maxTicks;
}
totalTicks += DateTime.UtcNow.Ticks - ticks;
p.duration = (float)totalTicks * 0.0001f;
}
ip.Cleanup();
OnPathDelegate immediateCallback = p.immediateCallback;
if (immediateCallback != null)
{
immediateCallback(p);
}
Action <Path> onPathPostSearch = this.OnPathPostSearch;
if (onPathPostSearch != null)
{
onPathPostSearch(p);
}
this.returnQueue.Enqueue(p);
ip.AdvanceState(PathState.ReturnQueue);
if (DateTime.UtcNow.Ticks > targetTick)
{
yield return(null);
targetTick = DateTime.UtcNow.Ticks + maxTicks;
}
p = null;
ip = null;
}
yield break;
}
/** Main pathfinding method (multithreaded).
* This method will calculate the paths in the pathfinding queue when multithreading is enabled.
*
* \see CalculatePaths
* \see StartPath
*
* \astarpro
*/
void CalculatePathsThreaded(PathHandler pathHandler)
{
try {
// Max number of ticks we are allowed to continue working in one run.
// One tick is 1/10000 of a millisecond.
// We need to check once in a while if the thread should be stopped.
long maxTicks = (long)(10 * 10000);
long targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
while (true)
{
// The path we are currently calculating
Path path = queue.Pop();
// Access the internal implementation methods
IPathInternals ipath = (IPathInternals)path;
// Trying to prevent simple modding to allow more than one thread
if (pathHandler.threadID > 0)
{
throw new System.Exception("Thread Error");
}
AstarProfiler.StartFastProfile(0);
ipath.PrepareBase(pathHandler);
// Now processing the path
// Will advance to Processing
ipath.AdvanceState(PathState.Processing);
// Call some callbacks
if (OnPathPreSearch != null)
{
OnPathPreSearch(path);
}
// Tick for when the path started, used for calculating how long time the calculation took
long startTicks = System.DateTime.UtcNow.Ticks;
// Prepare the path
ipath.Prepare();
AstarProfiler.EndFastProfile(0);
if (!path.IsDone())
{
// For visualization purposes, we set the last computed path to p, so we can view debug info on it in the editor (scene view).
astar.debugPathData = ipath.PathHandler;
astar.debugPathID = path.pathID;
AstarProfiler.StartFastProfile(1);
// Initialize the path, now ready to begin search
ipath.Initialize();
AstarProfiler.EndFastProfile(1);
// Loop while the path has not been fully calculated
while (!path.IsDone())
{
// Do some work on the path calculation.
// The function will return when it has taken too much time
// or when it has finished calculation
AstarProfiler.StartFastProfile(2);
ipath.CalculateStep(targetTick);
AstarProfiler.EndFastProfile(2);
targetTick = System.DateTime.UtcNow.Ticks + maxTicks;
// Cancel function (and thus the thread) if no more paths should be accepted.
// This is done when the A* object is about to be destroyed
// The path is returned and then this function will be terminated
if (queue.IsTerminating)
{
path.FailWithError("AstarPath object destroyed");
}
}
path.duration = (System.DateTime.UtcNow.Ticks - startTicks) * 0.0001F;
}
// Cleans up node tagging and other things
ipath.Cleanup();
AstarProfiler.StartFastProfile(9);
if (path.immediateCallback != null)
{
path.immediateCallback(path);
}
if (OnPathPostSearch != null)
{
OnPathPostSearch(path);
}
// Push the path onto the return stack
// It will be detected by the main Unity thread and returned as fast as possible (the next late update hopefully)
returnQueue.Enqueue(path);
// Will advance to ReturnQueue
ipath.AdvanceState(PathState.ReturnQueue);
AstarProfiler.EndFastProfile(9);
}
}
catch (System.Exception e) {
#if !NETFX_CORE
if (e is ThreadAbortException || e is ThreadControlQueue.QueueTerminationException)
#else
if (e is ThreadControlQueue.QueueTerminationException)
#endif
{
if (astar.logPathResults == PathLog.Heavy)
{
Debug.LogWarning("Shutting down pathfinding thread #" + pathHandler.threadID);
}
return;
}
Debug.LogException(e);
Debug.LogError("Unhandled exception during pathfinding. Terminating.");
// Unhandled exception, kill pathfinding
queue.TerminateReceivers();
}
Debug.LogError("Error : This part should never be reached.");
queue.ReceiverTerminated();
}
// Token: 0x06002321 RID: 8993 RVA: 0x00193A00 File Offset: 0x00191C00
private void CalculatePathsThreaded(PathHandler pathHandler)
{
try
{
long num = 100000L;
long targetTick = DateTime.UtcNow.Ticks + num;
for (;;)
{
Path path = this.queue.Pop();
IPathInternals pathInternals = path;
pathInternals.PrepareBase(pathHandler);
pathInternals.AdvanceState(PathState.Processing);
if (this.OnPathPreSearch != null)
{
this.OnPathPreSearch(path);
}
long ticks = DateTime.UtcNow.Ticks;
pathInternals.Prepare();
if (!path.IsDone())
{
this.astar.debugPathData = pathInternals.PathHandler;
this.astar.debugPathID = path.pathID;
pathInternals.Initialize();
while (!path.IsDone())
{
pathInternals.CalculateStep(targetTick);
targetTick = DateTime.UtcNow.Ticks + num;
if (this.queue.IsTerminating)
{
path.FailWithError("AstarPath object destroyed");
}
}
path.duration = (float)(DateTime.UtcNow.Ticks - ticks) * 0.0001f;
}
pathInternals.Cleanup();
if (path.immediateCallback != null)
{
path.immediateCallback(path);
}
if (this.OnPathPostSearch != null)
{
this.OnPathPostSearch(path);
}
this.returnQueue.Enqueue(path);
pathInternals.AdvanceState(PathState.ReturnQueue);
}
}
catch (Exception ex)
{
if (ex is ThreadAbortException || ex is ThreadControlQueue.QueueTerminationException)
{
if (this.astar.logPathResults == PathLog.Heavy)
{
Debug.LogWarning("Shutting down pathfinding thread #" + pathHandler.threadID);
}
return;
}
Debug.LogException(ex);
Debug.LogError("Unhandled exception during pathfinding. Terminating.");
this.queue.TerminateReceivers();
}
Debug.LogError("Error : This part should never be reached.");
this.queue.ReceiverTerminated();
}
