void Action()
{
//if (plan!=null) Debug.Log(plan.Count);
if ((current == null || current == cooldown) && (plan == null || plan.Count == 0))
{
plan = htn.GetPlan();
ShowPlan(plan);
return;
}
// if we have a plan, but no current task
if (current == null)
{
current = plan[plan.Count - 1];
plan.RemoveAt(plan.Count - 1);
if (current.Prev(Global.ws))
{
current.Start(this);
}
else
{
plan = null;
current = cooldown;
current.Start(this);
}
return;
}
if (current.Terminate(this))
{
if (current == cooldown)
{
current = null;
}
else
{
current = cooldown;
current.Start(this);
}
}
}
void retrievePlanner()
{
while (true) //Loop continuously after started
{
waitHandle.WaitOne(); //Run only if the handle has been set in fixedUpdate (i.e every 1sec)
plan = planner.GetPlan(currentState, isAggresive); //Retrieve updated plan based on currentState
//Log generated plan
frameGenerated = frameCounter;
string debugPlan = "";
foreach (string timeStep in plan)
{
debugPlan += timeStep + ",";
}
debugPlan = debugPlan.Substring(0, debugPlan.Length - 1);
//Debug.Log("Car:" + currentState.myCar.myUniqueID + " - " + debugPlan);
//Wait for 1sec before calling the planner again
waitHandle.Reset();
}
}