/**
* Begins a node and attaches the coroutine to this object
* If you use this method you MUST call the node.OnComplete method
* after it yields
*/
public Coroutine BeginNode(BehaviorNode node)
{
node.mReturnValue = BehaviorReturn.Running;
//process
return StartCoroutine(node.Process(this));
}
public override NodeViewData CreateNodeViewData(NodeViewData parent, BehaviorNode rootBehavior)
{
NodeViewData nvd = base.CreateNodeViewData(parent, rootBehavior);
nvd.ChangeShape(this.IsEndState ? NodeShape.RoundedRectangle : NodeShape.Rectangle);
return nvd;
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if(_genericChildren.ChildCount <1)
result.Add( new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.DecoratorHasNoChildError) );
base.CheckForErrors(rootBehavior, result);
}
public ExporterCpp(BehaviorNode node, string outputFolder, string filename, List<string> includedFilenames = null)
: base(node, outputFolder, filename, includedFilenames)
{
//automatically create an extra level of path
_outputFolder = Path.Combine(Path.GetFullPath(_outputFolder), "behaviac_generated");
_filename = "behaviors/generated_behaviors.h";
}
public override NodeViewData CreateNodeViewData(NodeViewData parent, BehaviorNode rootBehavior)
{
NodeViewData nvd = base.CreateNodeViewData(parent, rootBehavior);
nvd.ChangeShape(NodeShape.Ellipse);
return nvd;
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if(_genericChildren.ChildCount <2)
result.Add( new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.SelectorOnlyOneChildError) );
else if(_genericChildren.ChildCount <1)
result.Add( new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.SelectorNoChildrenError) );
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if (this._signal.ChildCount == 0)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.ImpulseWithoutEventError));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if (this.Children.Count < 2)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "There should be at least 2 condition children."));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if (this._method == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.RandomGeneratorNotSpecified));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result) {
if (_do_sequence_error_check) {
if (_genericChildren.EnableChildCount < 1)
{ result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.SequenceNoChildrenError)); }
else if (_genericChildren.EnableChildCount < 2)
{ result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.SequenceOnlyOneChildError)); }
}
base.CheckForErrors(rootBehavior, result);
}
internal static void SetProperty(BehaviorNode behavior, string agentTypename, string agentName, string valueName, string valueStr)
{
foreach(ParametersDock dock in _parameterDocks)
{
if (dock.AgentName == agentName)
{
dock.setProperty(behavior, valueName, valueStr);
break;
}
}
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
Type valueType = this._time.GetValueType();
if (valueType != typeof(float))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Time must be a float type!"));
}
base.CheckForErrors(rootBehavior, result);
}
public BehaviorReturn mReturnValue = BehaviorReturn.Invalid; /**< as process is ran in coroutines returning a BehaviorReturn type is not allowed. So we store it here and check it with ReturnValue property */
#endregion Fields
#region Constructors
public BehaviorNode(BehaviorNode parent)
{
Composite compNode = parent as Composite;
if (compNode != null)
compNode.AddChild(this);
else
{
Decorator decNode = parent as Decorator;
if (decNode != null)
decNode.AddChild(this);
}
}
/**
* Ctor
* @param stack The BehaviorVariable id of stack to push to
* @param item The BehaviorVariable id item variable
*/
public PushToStack(BehaviorNode parent, string stack, string item)
: base(parent)
{
mStack = stack;
mItem = item;
//make sure input is instantiated
if(input == null)
{
input = new object[1];
}
}
public NodeViewDataStyled(NodeViewData parent, BehaviorNode rootBehavior, Node node, Pen borderPen, Brush backgroundBrush, Brush draggedBackgroundBrush, string label, string description, int minWidth = 120, int minHeight = 35) :
base(parent, rootBehavior, node,
NodeShape.RoundedRectangle,
new Style(backgroundBrush, null, Brushes.White),
new Style(null, DefaultCurrentBorderPen, null),
new Style(null, __defaultSelectedBorderPen, null),
new Style(draggedBackgroundBrush, null, null),
new Style(null, __highlightedBorderPen, null),
new Style(null, __updatedBorderPen, null),
new Style(null, __prefabBorderPen, null),
label, __defaultLabelFont, __profileLabelFont, __profileLabelBoldFont, minWidth, minHeight, description) {
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
foreach (BaseNode child in _genericChildren.Children)
{
if (!(child is WithPrecondition))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.SelectorLoopChildChildError));
}
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
base.CheckForErrors(rootBehavior, result);
if (this._bDoneWithinFrame)
{
long count = this.GetCount();
if (count == -1)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "when 'DoneWithinFrame' is selected, Count should not be -1 as an endless loop!"));
}
}
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if (_Task.Child == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.NoMethosError));
}
if (!(this.Parent is Task))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.MethodParentError));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
Type valueType = this._time.GetValueType();
string typeName = Plugin.GetNativeTypeName(valueType.FullName);
if (Plugin.IsIntergerNumberType(typeName))
{ }
else
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Time should be an integer number type!"));
}
base.CheckForErrors(rootBehavior, result);
}
/**
* Coroutine to begin the BehaviorTree
* @param node The root node
* @return IEnumerator (see Unity Coroutine)
*/
private IEnumerator Coroutine_Execute(BehaviorNode node)
{
//set this to true as the behavior tree is running
mStatus = BehaviorReturn.Running;
mCurrent = node;
yield return BeginNode(mCurrent);
//the status of this tree will be whatever the value of the first node was
mStatus = mCurrent.mReturnValue;
Debug.Log("BEHAVIOR COMPLETE " + mStatus);
mCurrent = null;
}
/// <summary>
/// Creates a new XML file manager to load and save behaviours.
/// </summary>
/// <param name="filename">The file we want to load from or save to.</param>
/// <param name="node">The node we want to save. When loading, use null.</param>
public DaxImporter(string filename, BehaviorNode node)
: base(filename, node)
{
if (filename.Length > 0)
{
if (filename.StartsWith ("http://"))
{
_filename=filename;
}
else{
_filename = Path.GetFullPath(filename);
}
}
_node = node;
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<Node.ErrorCheck> result)
{
if (this.Opl == null || this.Opr == null)
{
result.Add(new Node.ErrorCheck(this.Node, this.Label, ErrorCheckLevel.Error, "Operand is not complete!"));
}
else if (this.Opl.ValueType != typeof(bool) &&
(this.Operator == OperatorType.And || this.Operator == OperatorType.Or))
{
//and and or are only valid for bool
result.Add(new Node.ErrorCheck(this.Node, this.Label, ErrorCheckLevel.Error, "And and Or are only valid for bool!"));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
Type valueType = (this._time != null) ? this._time.ValueType : null;
if (valueType == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Time is not set!"));
}
else if (!Plugin.IsIntergerType(valueType) && !Plugin.IsFloatType(valueType))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Time must be a float type!"));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if (this.Attachments.Count == 0)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.ImpulseWithoutEventError));
}
else
{
foreach (Attachment attach in this.Attachments)
{
attach.CheckForErrors(rootBehavior, result);
}
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
if (_Precondition.Child == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.NoPreconditionError));
}
if (_Action.Child == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.NoActionError));
}
if (!(this.Parent is SelectorLoop))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.WithPreconditionParentError));
}
base.CheckForErrors(rootBehavior, result);
}
public DaxExporter(BehaviorNode node, string outputFolder, string filename)
: base(node, outputFolder, filename + ".btx")
{
if (filename.Length > 0)
{
if (filename.StartsWith("http://"))
{
_filename = filename;
}
else
{
_filename = Path.GetFullPath(filename);
}
}
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
Type valueType = this._count.GetValueType();
string typeName = Plugin.GetNativeTypeName(valueType.FullName);
if (Plugin.IsIntergerNumberType(typeName))
{
if (this._count.ValueClass == VariableDef.kConst)
{
string valueString = this._count.Value.ToString();
if (valueType == typeof(long) || valueType == typeof(int) || valueType == typeof(short) || valueType == typeof(sbyte))
{
long count = long.Parse(valueString);
if (count <= 0)
{
if (count != -1)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Count should be larger than 0 or -1 for endless loop!"));
}
}
}
else if (valueType == typeof(ulong) || valueType == typeof(uint) || valueType == typeof(ushort) || valueType == typeof(byte))
{
ulong count = ulong.Parse(valueString);
if (count >= 100000000)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, "Count is a huge number it could be wrong!"));
}
}
else
{
string errMsg = string.Format("Count is a '{0}', it is not a number!", valueType.Name);
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, errMsg));
}
}
}
else
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Count should be an integer number type!"));
}
base.CheckForErrors(rootBehavior, result);
}
public ExportDialog(BehaviorTreeList behaviorTreeList, BehaviorNode node, bool ignoreErrors, TreeNode selectedTreeRoot, int formatIndex) {
_initialized = false;
InitializeComponent();
_behaviorTreeList = behaviorTreeList;
_node = node;
_ignoreErrors = ignoreErrors;
_selectedTreeRoot = selectedTreeRoot;
// add all valid exporters to the format combobox
Debug.Check(Workspace.Current != null);
int exportIndex = -1;
for (int i = 0; i < Plugin.Exporters.Count; ++i) {
ExporterInfo info = Plugin.Exporters[i];
if (node != null || info.MayExportAll) {
int index = this.exportSettingGridView.Rows.Add();
DataGridViewRow row = this.exportSettingGridView.Rows[index];
bool isExported = Workspace.Current.ShouldBeExported(info.ID);
if (info.ID == Plugin.SourceLanguage && this.ExportCustomizedMeta())
{
isExported = true;
}
row.Cells["Enable"].Value = isExported;
row.Cells["Format"].Value = info.Description;
row.Cells["Format"].ReadOnly = true;
row.Cells["Setting"].Value = info.HasSettings ? "..." : "";
row.Cells["Setting"].ReadOnly = true;
if (Workspace.Current.ShouldBeExported(info.ID) &&
(exportIndex == -1 || info.HasSettings)) {
exportIndex = i;
}
}
}
changeExportFormat(exportIndex);
_initialized = true;
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
Type valueType = (this._frames != null) ? this._frames.ValueType : null;
if (valueType == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Frames is not set!"));
}
else
{
string typeName = Plugin.GetNativeTypeName(valueType.FullName);
if (!Plugin.IsIntergerNumberType(typeName))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Frames should be an integer number type!"));
}
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
if (this.Domain == string.Empty && this._descriptors.Count == 0)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Invalid query without domain or any descriptors"));
}
for (int i = 0; i < this._descriptors.Count; ++i)
{
Descriptor_t dw = this._descriptors[i];
if (dw.Attribute != null && dw.Weight == 0.0f)
{
string msg = string.Format("Descriptors[{0}]'s Weight is 0.0f!", i);
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, msg));
}
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List<ErrorCheck> result)
{
Type valueType = (this._frames != null) ? this._frames.ValueType : null;
if (valueType == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Frames is not set!"));
}
else
{
string typeName = Plugin.GetNativeTypeName(valueType.FullName);
if (!Plugin.IsIntergerNumberType(typeName))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Frames should be an integer number type!"));
}
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
Type valueType = this._count.GetValueType();
string typeName = Plugin.GetNativeTypeName(valueType.FullName);
if (Plugin.IsIntergerNumberType(typeName))
{
if (this._count.ValueClass == VariableDef.kConst)
{
string valueString = this._count.Value.ToString();
if (valueType == typeof(long) || valueType == typeof(int) || valueType == typeof(short) || valueType == typeof(sbyte))
{
long count = long.Parse(valueString);
if (count <= 0)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Count should be larger than -1!"));
}
}
else if (valueType == typeof(ulong) || valueType == typeof(uint) || valueType == typeof(ushort) || valueType == typeof(byte))
{
ulong count = ulong.Parse(valueString);
if (count >= 100000000)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, "Count is a huge number it could be wrong!"));
}
}
else
{
string errMsg = string.Format("Count is a '{0}', it is not a number!", valueType.Name);
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, errMsg));
}
}
}
else
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, "Count should be an integer number type!"));
}
base.CheckForErrors(rootBehavior, result);
}
/// <summary>
/// Exports a behaviour to the given file.
/// </summary>
/// <param name="file">The file we want to export to.</param>
/// <param name="behavior">The behaviour we want to export.</param>
protected void ExportBehavior(BsonSerializer file, BehaviorNode behavior)
{
file.WriteComment("EXPORTED BY TOOL, DON'T MODIFY IT!");
file.WriteComment("Source File: " + behavior.MakeRelative(behavior.FileManager.Filename));
file.WriteStartElement("behavior");
Behavior b = behavior as Behavior;
Debug.Check(b != null);
Debug.Check(b.Id == -1);
//'\\' ->'/'
string behaviorName = b.MakeRelative(b.Filename);
behaviorName = behaviorName.Replace('\\', '/');
int pos = behaviorName.IndexOf(".xml");
if (pos != -1)
{
behaviorName = behaviorName.Remove(pos);
}
file.WriteString(behaviorName);
file.WriteString(b.AgentType.AgentTypeName);
file.WriteString(b.Version.ToString());
this.ExportProperties(file, b);
this.ExportParameters(file, (Node)behavior);
this.ExportAttachments(file, b);
// export the children
foreach (Node child in ((Node)behavior).Children)
{
this.ExportNode(file, behavior, (Node)behavior, child);
}
file.WriteEndElement();
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <Node.ErrorCheck> result)
{
if (this.Opl == null || this.Opr == null)
{
result.Add(new Node.ErrorCheck(this.Node, this.Id, this.Label, ErrorCheckLevel.Error, "Precondition Operand is not complete!"));
}
else if (this.Opl.ValueType != typeof(bool) &&
(this.Operator == OperatorType.And || this.Operator == OperatorType.Or))
{
//and and or are only valid for bool
result.Add(new Node.ErrorCheck(this.Node, this.Id, this.Label, ErrorCheckLevel.Error, "And and Or are only valid for bool!"));
}
if (this._opl != null && this._opl.Method != null &&
this._opl.Method.AgentType != null && !this._opl.Method.AgentType.IsCustomized && this._opl.Method.IsCustomized)
{
result.Add(new Node.ErrorCheck(this.Node, this.Id, this.Label, ErrorCheckLevel.Error, Resources.CustomizedMethodError));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
if (this.Opl == null || this.Opr == null || this.Opl.ToString() == "" || this.Opr.ToString() == "")
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.OperatandIsNotComplete));
}
else if (this.Opl.ValueType != typeof(bool) &&
(this.Operator == OperatorType.And || this.Operator == OperatorType.Or))
{
// And and Or are only valid for bool
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.AndOrOnlyValidForBool));
}
if (this.Opl != null && this.Opl.IsMethod && this.Opl.Method != null && this.Opl.Method.IsCustomized ||
this.Opr != null && this.Opr.IsMethod && this.Opr.Method != null && this.Opr.Method.IsCustomized)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.CustomizedMethodError));
}
base.CheckForErrors(rootBehavior, result);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <Node.ErrorCheck> result)
{
{
if (this._opl == null)
{
result.Add(new Node.ErrorCheck(this.Node, ErrorCheckLevel.Error, "Left operand is not specified!"));
}
if (this._opr2 == null)
{
result.Add(new Node.ErrorCheck(this.Node, ErrorCheckLevel.Error, "Right operand is not specified!"));
}
if (this._opl != null && this._opl.Method != null && this._opl.Method.IsCustomized)
{
result.Add(new Node.ErrorCheck(this.Node, this.Id, this.Label, ErrorCheckLevel.Error, Resources.CustomizedMethodError));
}
}
base.CheckForErrors(rootBehavior, result);
}
public void Restore(BehaviorNode source)
{
Debug.Check(source is Nodes.Node);
Behavior sourceBehavior = (Behavior)source;
Behavior targetBehavior = (Behavior)this;
// Restore the agent type.
targetBehavior.AgentType = sourceBehavior.AgentType;
// Restore the child connector.
targetBehavior._genericChildren = sourceBehavior._genericChildren;
Node sourceNode = (Node)source;
Node targetNode = (Node)this;
// Restore the hierarchy.
targetNode.ReplaceChildren(sourceNode);
sourceBehavior.CloneProperties(this);
}
protected void ExportBehaviorToServer(StreamWriter file, BehaviorNode behavior)
{
if (_behaviorServer == null) return;
if (_behaviorServer.Length == 0) return;
string namspace = GetNamespace(_usedNamespace, _filename);
string classname = Path.GetFileNameWithoutExtension(behavior.FileManager.Filename).Replace(" ", string.Empty);
string behaviorURL = _behaviorServer + "/behavior/"+classname+".BTX";
HttpWebRequest httpRequest = (HttpWebRequest)WebRequest.Create(behaviorURL);
httpRequest.Method = WebRequestMethods.Http.Post;
//httpRequest.ContentType = "application/x-www-form-urlencoded";
httpRequest.ContentType = "text/xml";
//httpRequest.ContentLength = 0;
StreamWriter requestWriter = new StreamWriter(httpRequest.GetRequestStream(), System.Text.Encoding.ASCII);
// requestWriter.Write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n");
// requestWriter.Write("<aiml version=\"1.0\">\r\n");
// requestWriter.Write(" <state name=\"*\">\r\n");
// write comments
// requestWriter.Write(string.Format("\t<!-- Exported behavior: {0} --> \r\n", _filename));
// requestWriter.Write(string.Format("\t<!-- Exported file: {0} -->\r\n\r\n", behavior.FileManager.Filename));
// export nodes
int nodeID = 0;
// export the children
foreach (Node child in ((Node)behavior).Children)
ExportNode(requestWriter, namspace, behavior, "this", child, 3, ref nodeID);
// close constructor
// requestWriter.Write(" </state>\r\n");
//requestWriter.Write("</aiml>\r\n");
requestWriter.Close();
WebResponse responseGet = httpRequest.GetResponse();
}
public bool SetProperty(BehaviorNode behavior, string valueName, string valueStr)
{
DesignerPropertyEditor propertyEditor = getPropertyEditor(valueName);
if (propertyEditor == null && behavior != null)
{
Node root = behavior as Node;
foreach (PropertyDef p in root.LocalVars)
{
if (!p.IsArrayElement && p.BasicName == valueName)
{
propertyEditor = addRowControl(p);
break;
}
}
}
if (propertyEditor == null)
{
return(false);
}
VariableDef var = propertyEditor.GetVariable();
if (var.Value.ToString().ToLower() != valueStr.ToLower())
{
Plugin.InvokeTypeParser(null, var.ValueType, valueStr, (object value) => var.Value = value, null);
propertyEditor.ValueWasnotAssigned();
propertyEditor.SetVariable(var, null);
propertyEditor.ValueWasAssigned();
return(true);
}
return(false);
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
if (!this._isVisiting)
{
this._isVisiting = true;
// check if the node has any children
if (_genericChildren.ChildCount < 1)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.BehaviorIsEmptyError));
}
if (this._agentType == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.NoAgent));
}
base.CheckForErrors(rootBehavior, result);
this._isVisiting = false;
}
}
public IEnumerator EvaluateNode()
{
// If the condition for behavior does not hold up,
// stop here.
if (!Condition())
{
yield break;
}
// If a behavior has been specified, execute that before
// performing any other behaviors.
if (Behavior != null)
{
Behavior();
}
for (int i = 0; i < Children.Count; i++)
{
BehaviorNode node = Children[i];
yield return(node.EvaluateNode());
}
}
/// <summary>
/// Exports a behaviour to the given file.
/// </summary>
/// <param name="file">The file we want to export to.</param>
/// <param name="behavior">The behaviour we want to export.</param>
protected void ExportBehavior(StreamWriter file, BehaviorNode behavior)
{
string namspace = GetNamespace(_usedNamespace, _filename);
string classname = Path.GetFileNameWithoutExtension(behavior.FileManager.Filename).Replace(" ", string.Empty);
// write comments
file.Write(string.Format("// Exported behavior: {0}\r\n", _filename));
file.Write(string.Format("// Exported file: {0}\r\n\r\n", behavior.FileManager.Filename));
// create namespace and class
file.Write(string.Format("namespace {0}\r\n{{\r\n", namspace));
file.Write(string.Format("\tpublic sealed class {0} : {1}\r\n\t{{\r\n", classname, ((Node)behavior).ExportClass));
// create instance and accessors
file.Write(string.Format("\t\tprivate static {0} _instance = null;\r\n", classname));
file.Write(string.Format("\t\tpublic static {0} Instance\r\n\t\t{{\r\n", classname));
file.Write("\t\t\tget\r\n\t\t\t{\r\n");
file.Write("\t\t\t\tif(_instance == null)\r\n");
file.Write(string.Format("\t\t\t\t\t_instance = new {0}();\r\n\r\n", classname));
file.Write("\t\t\t\treturn _instance;\r\n\t\t\t}\r\n\t\t}\r\n\r\n");
// create constructor
file.Write(string.Format("\t\tprivate {0}()\r\n\t\t{{\r\n", classname));
// export nodes
int nodeID = 0;
// export the children
foreach (Node child in ((Node)behavior).Children)
{
ExportNode(file, namspace, behavior, "this", child, 3, ref nodeID);
}
// close constructor
file.Write("\t\t}\r\n");
// close namespace and class
file.Write("\t}\r\n}\r\n");
}
/// <summary>
/// Exports a node to the given file.
/// </summary>
/// <param name="file">The file we want to export to.</param>
/// <param name="behavior">The behaviour we are currently exporting.</param>
/// <param name="node">The node we want to export.</param>
protected void ExportNode(BsonSerializer file, BehaviorNode behavior, Node node)
{
if (!node.Enable)
{
return;
}
file.WriteStartElement("node");
file.WriteString(node.ExportClass);
file.WriteString(node.Id.ToString());
{
// export the properties
this.ExportProperties(file, node);
this.ExportAttachments(file, node);
if (!node.IsFSM && !(node is ReferencedBehavior))
{
// export the child nodes
foreach (Node child in node.Children)
{
if (!node.GetConnector(child).IsAsChild)
{
file.WriteStartElement("custom");
this.ExportNode(file, behavior, child);
file.WriteEndElement();
}
else
{
this.ExportNode(file, behavior, child);
}
}
}
}
file.WriteEndElement();
}
protected void ExportBehavior(StreamWriter file, BehaviorNode behavior)
{
string filename = behavior.FileManager.Filename;
string nameSpace = _usedNamespace;
string classname = Path.GetFileNameWithoutExtension(behavior.FileManager.Filename).Replace(" ", string.Empty);
if (filename.StartsWith("http://"))
{
_filename = Path.GetFileName(filename);
ExportBehaviorToServer(file, behavior);
}
else
{
_filename = Path.GetFullPath(filename);
nameSpace = GetNamespace(_usedNamespace, _filename);
classname = Path.GetFileNameWithoutExtension(behavior.FileManager.Filename).Replace(" ", string.Empty);
file.Write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n");
file.Write("<aiml version=\"1.0\">\r\n");
file.Write(" <state name=\"*\">\r\n");
// write comments
file.Write(string.Format("\t<!-- Exported behavior: {0} --> \r\n", _filename));
file.Write(string.Format("\t<!-- Exported file: {0} -->\r\n\r\n", behavior.FileManager.Filename));
// export nodes
int nodeID = 0;
// export the children
foreach (Node child in ((Node)behavior).Children)
{
ExportNode(file, nameSpace, behavior, "this", child, 3, ref nodeID);
}
// close constructor
file.Write(" </state>\r\n");
file.Write("</aiml>\r\n");
}
}
/// <summary>
/// Creates a new referenced behaviour.
/// </summary>
/// <param name="rootBehavior">The behaviour this node belongs not. NOT the one is references.</param>
/// <param name="referencedBehavior">The behaviour you want to reference.</param>
public ReferencedBehavior(BehaviorNode rootBehavior, BehaviorNode referencedBehavior)
: base(((Node)referencedBehavior).Label, Resources.ReferencedBehaviorDesc)
{
// when this node is saved, the children won't as they belong to another behaviour
_saveChildren = false;
_referencedBehavior = referencedBehavior;
((Node)_referencedBehavior).WasModified += new WasModifiedEventDelegate(referencedBehavior_WasModified);
_referencedBehavior.WasRenamed += new Behavior.WasRenamedEventDelegate(referencedBehavior_WasRenamed);
// assign the connector of the behaviour
_genericChildren = _referencedBehavior.GenericChildren;
_children.SetConnector(_genericChildren);
List <ParInfo> pars = ((Node)_referencedBehavior).Pars;
foreach (ParInfo p in pars)
{
_pars.Add(p.Clone());
}
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
if (_referencedBehavior == null)
{
LoadReferencedBehavior();
}
// if we have a circular reference we must stop here
if (_referencedBehavior == null || _referencedBehavior == rootBehavior)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.ReferencedBehaviorCircularReferenceError));
return;
}
// if our referenced behaviour could be loaded, check it as well for errors
if (_referencedBehavior != null)
{
foreach (Node child in ((Node)_referencedBehavior).Children)
{
child.CheckForErrors(rootBehavior, result);
}
}
}
/// <summary>
/// Returns if any of the node's parents is a given behaviour.
/// </summary>
/// <param name="behavior">The behavior we want to check if it is an ancestor of this node.</param>
/// <returns>Returns true if this node is a descendant of the given behavior.</returns>
public override bool HasParentBehavior(BehaviorNode behavior)
{
if (behavior == null)
{
return(false);
}
ReferencedBehaviorNode refb = (ReferencedBehaviorNode)_node;
Debug.Check(refb.Reference != null);
if (refb.Reference == behavior)
{
return(true);
}
if (_parent == null)
{
return(false);
}
return(_parent.HasParentBehavior(behavior));
}
public ExportDialog(BehaviorTreeList behaviorTreeList, BehaviorNode node, bool ignoreErrors, TreeNode selectedTreeRoot, int formatIndex)
{
InitializeComponent();
_behaviorTreeList = behaviorTreeList;
_node = node;
_ignoreErrors = ignoreErrors;
_selectedTreeRoot = selectedTreeRoot;
// add all valid exporters to the format combobox
Debug.Check(Workspace.Current != null);
int exportIndex = -1;
for (int i = 0; i < Plugin.Exporters.Count; ++i)
{
ExporterInfo info = Plugin.Exporters[i];
if (node != null || info.MayExportAll)
{
int index = this.exportSettingGridView.Rows.Add();
DataGridViewRow row = this.exportSettingGridView.Rows[index];
row.Cells["Enable"].Value = Workspace.Current.ShouldBeExported(info.ID);
row.Cells["Format"].Value = info.Description;
row.Cells["Format"].ReadOnly = true;
row.Cells["Setting"].Value = info.ExportToUniqueFile ? "..." : "";
row.Cells["Setting"].ReadOnly = true;
if (Workspace.Current.ShouldBeExported(info.ID) &&
(exportIndex == -1 || info.ExportToUniqueFile))
{
exportIndex = i;
}
}
}
changeExportFormat(exportIndex);
}
public BehaviorNodeTraceTag(BehaviorNode node, RequestLog log) : base("li")
{
var description = Description.For(node);
AddClass("node-trace").Data("node-id", node.UniqueId.ToString());
var container = Add("div").AddClass("node-trace-container");
container.Text(description.Title);
var start = log.FindStep <BehaviorStart>(x => x.Correlation.Node == node);
var finish = log.FindStep <BehaviorFinish>(x => x.Correlation.Node == node);
if (start == null)
{
AddClass("gray");
return;
}
// TODO -- What *should* happen here?
if (finish == null)
{
return;
}
var exception = log.FindStep <ExceptionReport>(x => node.UniqueId.Equals(x.CorrelationId));
if (exception != null || !finish.Log.Succeeded)
{
AddClass("exception");
}
var duration = finish.RequestTimeInMilliseconds - start.RequestTimeInMilliseconds;
container.Add("span").Text(duration.ToString() + " ms").AddClass("node-trace-duration");
}
private void updateParameters(AgentType agentType, string agentName, int frame)
{
if (string.IsNullOrEmpty(agentName))
{
return;
}
string typeName = (agentType == null) ? agentName : agentType.ToString();
string agentFullname = (agentType == null) ? agentName : agentType.ToString() + "#" + agentName;
string behaviorFilename = FrameStatePool.GetBehaviorFilename(agentFullname, frame);
BehaviorNode behavior = null;
if (agentFullname == Plugin.DebugAgentInstance)
{
behavior = UIUtilities.ShowBehavior(behaviorFilename);
}
List <AgentDataPool.ValueMark> values = AgentDataPool.GetValidValues(agentType, agentFullname, frame);
foreach (AgentDataPool.ValueMark value in values)
{
ParametersDock.SetProperty(behavior, typeName, agentName, value.Name, value.Value);
}
}
private void SetTask(string referencedBehaviorFileName)
{
string fullPath = FileManagers.FileManager.GetFullPath(referencedBehaviorFileName);
BehaviorNode referencedBehavior = BehaviorManager.Instance.GetBehavior(fullPath);
if (referencedBehavior != null)
{
//when expand planning process, don't update _task, as it will be set wrongly
if (Plugin.EditMode == EditModes.Design)
{
Behavior refTree_ = referencedBehavior as Behavior;
if (refTree_.Children.Count > 0 && refTree_.Children[0] is Task)
{
Task rootTask = refTree_.Children[0] as Task;
if (rootTask.Prototype != null)
{
this._task = (MethodDef)rootTask.Prototype.Clone();
}
}
}
}
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
if (_Precondition.Child == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.NoPreconditionError));
}
if (_Action.Child == null)
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.NoActionError));
}
//if (_Effector.Child == null)
//{
// result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Warning, Resources.NoEffectorError));
//}
if (!(this.Parent is Task))
{
result.Add(new Node.ErrorCheck(this, ErrorCheckLevel.Error, Resources.MethodParentError));
}
base.CheckForErrors(rootBehavior, result);
}
public override void PostLoad(BehaviorNode behavior)
{
if (this.LocalVars != null && this.Children.Count > 0)
{
BaseNode child = this.Children[0];
if (child is Task)
{
Task task = child as Task;
List <ParInfo> pars = new List <ParInfo>();
task.CollectTaskPars(ref pars);
foreach (ParInfo par in pars)
{
if (this.LocalVars.Find((p) => p.Name == par.Name) == null)
{
this.LocalVars.Add(par);
}
}
}
}
base.PostLoad(behavior);
}
private void ExportNodeClass(StreamWriter file, string btClassName, string agentType, BehaviorNode behavior, Node node)
{
string nodeName = string.Format("node{0}", node.Id);
NodeCsExporter nodeExporter = NodeCsExporter.CreateInstance(node);
nodeExporter.GenerateClass(node, file, "", nodeName, agentType, btClassName);
ExportAttachmentClass(file, btClassName, node);
if (!(node is ReferencedBehavior))
{
foreach (Node child in node.Children)
{
ExportNodeClass(file, btClassName, agentType, behavior, child);
}
}
}
public ExporterCs(BehaviorNode node, string outputFolder, string filename, List <string> includedFilenames = null)
: base(node, outputFolder, filename, includedFilenames)
{
_outputFolder = Path.GetFullPath(_outputFolder);
_filename = _filename.Replace('\\', '/');
}
private void ExportBody(StreamWriter file, BehaviorNode behavior)
{
string filename = Path.ChangeExtension(behavior.RelativePath, "").Replace(".", "");
filename = filename.Replace('\\', '/');
// write comments
file.WriteLine("\t// Source file: {0}\r\n", filename);
string btClassName = string.Format("bt_{0}", filename.Replace('/', '_'));
string agentType = behavior.AgentType.AgentTypeName;
// create the class definition of its attachments
ExportAttachmentClass(file, btClassName, (Node)behavior);
// create the class definition of its children
foreach (Node child in ((Node)behavior).Children)
{
ExportNodeClass(file, btClassName, agentType, behavior, child);
}
// create the bt class
file.WriteLine("\tpublic static class {0}\r\n\t{{", btClassName);
// export the build function
file.WriteLine("\t\tpublic static bool build_behavior_tree(BehaviorTree bt)\r\n\t\t{");
file.WriteLine("\t\t\tbt.SetClassNameString(\"BehaviorTree\");");
file.WriteLine("\t\t\tbt.SetId(-1);");
file.WriteLine("\t\t\tbt.SetName(\"{0}\");", filename);
file.WriteLine("#if !BEHAVIAC_RELEASE");
file.WriteLine("\t\t\tbt.SetAgentType(\"{0}\");", agentType.Replace("::", "."));
file.WriteLine("#endif");
if (!string.IsNullOrEmpty(((Behavior)behavior).Domains))
{
file.WriteLine("\t\t\tbt.SetDomains(\"{0}\");", ((Behavior)behavior).Domains);
}
if (((Behavior)behavior).DescriptorRefs.Count > 0)
{
file.WriteLine("\t\t\tbt.SetDescriptors(\"{0}\");", DesignerPropertyUtility.RetrieveExportValue(((Behavior)behavior).DescriptorRefs));
}
ExportPars(file, "bt", (Node)behavior, "\t\t");
// export its attachments
ExportAttachment(file, btClassName, agentType, "bt", (Node)behavior, "\t\t\t");
file.WriteLine("\t\t\t// children");
// export its children
foreach (Node child in ((Node)behavior).Children)
{
ExportNode(file, btClassName, agentType, "bt", child, 3);
}
file.WriteLine("\t\t\treturn true;");
// close the build function
file.WriteLine("\t\t}");
// close class
file.WriteLine("\t}\r\n");
}
public ExporterCs(BehaviorNode node, string outputFolder, string filename, List <string> includedFilenames = null)
: base(node, outputFolder, filename + ".cs", includedFilenames)
{
_outputFolder = Path.Combine(Path.GetFullPath(_outputFolder), "behaviac_generated");
}
/// <summary>
/// Check the tree nodes according to the behaviors which are ought to be exported.
/// </summary>
/// <param name="pool">The pool we are checking.</param>
/// <param name="node">The behavior we want to export. Use null if all behaviors may be exported.</param>
public void CheckExportTreeNodes(TreeView tv, TreeNodeCollection pool, BehaviorNode node, bool ignoreErrors, TreeNode subTreeRoot, List <string> referencedFiles)
{
foreach (TreeNode tnode in pool)
{
NodeTag nodetag = (NodeTag)tnode.Tag;
bool shouldDoubleCheck = false;
// if no behavior is given enable all behaviors to be exported.
if (node == null)
{
tnode.Checked = (subTreeRoot != null) ? isChildOf(tnode, subTreeRoot) : true;
shouldDoubleCheck = tnode.Checked;
}
else
{
// if the behavior is new one compare the label
if (node.FileManager == null)
{
tnode.Checked = (tnode.Text == ((Node)node).Label);
}
// otherwise compare the filename
else
{
bool shouldCheck = (nodetag.Filename == node.Filename);
if (!shouldCheck && referencedFiles.Count > 0)
{
string relativeFile = FileManagers.FileManager.GetRelativePath(nodetag.Filename);
shouldCheck = referencedFiles.Contains(relativeFile);
}
tnode.Checked = shouldCheck;
shouldDoubleCheck = true;
}
}
if (tnode.Checked && (node != null || subTreeRoot != null))
{
tv.SelectedNode = tnode;
}
if (nodetag.Type == NodeTagType.Behavior)
{
if (shouldDoubleCheck)
{
if (!ignoreErrors && (node == null || tnode.Text == ((Node)node).Label))
{
// Get or load the behavior.
BehaviorNode behavior = _behaviorTreeList.GetBehavior(nodetag, tnode.Text);
if (behavior != null && behavior is Behavior)
{
// Check errors for this behavior.
List <Node.ErrorCheck> result = new List <Node.ErrorCheck>();
((Behavior)behavior).CheckForErrors(behavior, result);
// If there is any error, this node should be disabled.
if (Plugin.GetErrorChecks(result).Count > 0)
{
tnode.Checked = false;
tnode.ForeColor = SystemColors.GrayText;
}
}
}
}
else
{
tnode.Checked = false;
}
}
else
{
tnode.Checked = false;
}
// check the child nodes
CheckExportTreeNodes(tv, tnode.Nodes, node, ignoreErrors, subTreeRoot, referencedFiles);
if (!tnode.Checked && tnode.Nodes.Count > 0)
{
int checkedChildCount = 0;
foreach (TreeNode childNode in tnode.Nodes)
{
NodeTag childTag = (NodeTag)childNode.Tag;
if (childNode.Checked || childTag.Type != NodeTagType.Behavior && childNode.Nodes.Count == 0)
{
checkedChildCount++;
}
}
if (checkedChildCount == tnode.Nodes.Count)
{
tnode.Checked = true;
}
}
}
}
public override void CheckForErrors(BehaviorNode rootBehavior, List <ErrorCheck> result)
{
base.CheckForErrors(rootBehavior, result);
}
private void changeExportFormat(int exportIndex)
{
if (exportIndex < 0)
{
return;
}
_isCheckingByTypeChanged = true;
this.treeView.Hide();
this.treeView.Nodes.Clear();
TreeNode root = _behaviorTreeList.GetBehaviorGroup();
TreeNode newRoot = new TreeNode(root.Text, 0, 0);
newRoot.Tag = root.Tag;
this.treeView.Nodes.Add(newRoot);
CopyTreeNodes(root.Nodes, newRoot.Nodes);
TreeNode subTreeRoot = (_selectedTreeRoot != null) ? getNodeByTag(this.treeView.Nodes, _selectedTreeRoot.Tag) : null;
ExporterInfo exporter = Plugin.Exporters[exportIndex];
//BehaviorNode node = exporter.HasSettings ? null : _node;
BehaviorNode node = _node;
bool ignoreErrors = exporter.HasSettings ? false : _ignoreErrors;
List <string> referencedFiles = new List <string>();
if (node != null && node is Node)
{
((Node)node).GetReferencedFiles(ref referencedFiles);
}
CheckExportTreeNodes(this.treeView, this.treeView.Nodes, node, ignoreErrors, subTreeRoot, referencedFiles);
this.treeView.ExpandAll();
if (node != null)
{
TreeNode treeNode = getNodeByFilename(this.treeView.Nodes, node.Filename);
if (treeNode != null)
{
treeNode.EnsureVisible();
}
}
else if (this.treeView.Nodes.Count > 0)
{
this.treeView.Nodes[0].EnsureVisible();
}
this.treeView.Select();
int errorsFilesCount = SetFileCountLabel();
bool showFaultBehaviors = _initialized ? onlyShowErrorsCheckBox.Checked : (errorsFilesCount > 0);
exportBehaviorsLabel.Text = showFaultBehaviors ? Resources.FaultBehaviors : Resources.ExportBehaviors;
if (!_initialized && showFaultBehaviors)
{
onlyShowErrorsCheckBox.Checked = true;
}
ShowNodes(this.treeView.Nodes, showFaultBehaviors);
RemoveEmptyNodes(this.treeView.Nodes);
this.treeView.Show();
_isCheckingByTypeChanged = false;
}
