public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = new OCActionPlanStep();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.Enqueue(actionPlanStep);
Debug.Log("Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
Debug.Log("OCActionController::LoadActionPlanStep: " + actionName);
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = OCScriptableObject.CreateInstance <OCActionPlanStep>();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.AddLast(actionPlanStep);
Debug.Log("Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
//Debug.Log("OCActionController::LoadActionPlanStep: " + actionName);
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = OCScriptableObject.CreateInstance <OCActionPlanStep>();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.AddLast(actionPlanStep);
System.Console.WriteLine(OCLogSymbol.DETAILEDINFO + "Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public IEnumerator Start()
{
_TreeTypeDictionary = new Dictionary <TreeType, Tree>();
_ActionPlanQueue = new Queue <OCActionPlanStep>();
foreach (TreeType type in Enum.GetValues(typeof(TreeType)).Cast <TreeType>())
{
_TreeTypeDictionary.Add(type, BLOCBehaviours.InstantiateTree(type, this));
}
OCAction[] actions = gameObject.GetComponentsInChildren <OCAction>(true);
foreach (Tree tree in _TreeTypeDictionary.Values)
{
if (tree == null)
{
continue;
}
int index = tree.Name.LastIndexOf(".") + 1;
if (index < 0 || index > tree.Name.Count())
{
index = 0;
}
string treeName = tree.Name.Substring(index);
foreach (OCAction action in actions)
{
if (action.FullName.Contains(treeName) || treeName.Contains("Behaviour"))
{
int actionTypeID = (int)Enum.Parse(typeof(BLOCBehaviours.ActionType), action.FullName);
tree.SetTickForward(actionTypeID, action.ExecuteBehave);
}
}
}
OCActionPlanStep firstStep = new OCActionPlanStep();
firstStep.Behaviour = _TreeTypeDictionary[_TreeType];
firstStep.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
_ActionPlanQueue.Enqueue(firstStep);
RunningActions = new List <string>();
//RunningActions.Add("StandIdleShow");
while (Application.isPlaying)
{
yield return(new WaitForSeconds(1.0f / 240.0f));
UpdateAI();
}
}
public void UpdateAI()
{
_ActionPlanList = _ActionPlanQueue.ToList();
if(_step == null && _ActionPlanQueue.Count != 0)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
} else if(_step == null && _ActionPlanQueue.Count == 0)
{
_PlanSucceeded = true;
OCActionPlanStep step = OCScriptableObject.CreateInstance<OCActionPlanStep>();
step.Behaviour = _TreeTypeDictionary[_TreeType];
step.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
KeyValuePair<string, TreeType> keyValuePair = _ActionNameDictionary.First(s => s.Value == _TreeType);
step.Arguments.ActionName = keyValuePair.Key;
_step = step;
}
BehaveResult result = _step.Behaviour.Tick();
// if((_step.Behaviour.Name == _TreeTypeDictionary[TreeType.Character_IdleShow].Name) && result == BehaveResult.Success)
// {
// //iTween itween = _step.Arguments.Source.GetComponent<iTween>();
// iTween.Stop(_step.Arguments.Source);
// }
if(result != BehaveResult.Running)
{
OCAction.OCActionArgs args = _step.Arguments;
// if((_step.Behaviour.Name != _TreeTypeDictionary[_TreeType].Name)
// || ((_step.Behaviour.Name == _TreeTypeDictionary[_TreeType].Name)
// && (GameObject.Find("EndPointStub").transform.position != Vector3.zero)))
{
// if we have a goal...
if(_step.Arguments.EndTarget != null)
{
if(_step.Arguments.EndTarget.transform.position != Vector3.zero)
{
_PlanSucceeded &= result == BehaveResult.Success;
}
Vector3 startPosition = _step.Arguments.StartTarget.transform.position;
Vector3 endPosition = _step.Arguments.EndTarget.transform.position;
Vector3 sourcePosition = _step.Arguments.Source.transform.position;
sourcePosition.y = sourcePosition.y - 0.5f;
Vector3 startToEnd = endPosition - startPosition;
Vector3 sourceToEnd = endPosition - sourcePosition;
float startToEndManDist = Math.Abs(endPosition.x - startPosition.x) + Math.Abs(endPosition.y - startPosition.y) + Math.Abs(endPosition.z - startPosition.z);
float sourceToEndManDist = Math.Abs(endPosition.x - sourcePosition.x) + Math.Abs(endPosition.y - sourcePosition.y) + Math.Abs(endPosition.z - sourcePosition.z);
if(_step.Behaviour.Name == "Character.Move" || _step.Arguments.ActionName == "walk" || _step.Arguments.ActionName == "jump_toward")
{
// don't use euclideon distance
//_PlanSucceeded |= sourceToEnd.sqrMagnitude < startToEnd.sqrMagnitude;
// use manhattan distance
//_PlanSucceeded = sourceToEndManDist <= startToEndManDist;
if(VectorUtil.AreVectorsEqual(sourcePosition, endPosition))
{
_PlanSucceeded = true;
} else
{
_PlanSucceeded = false;
}
}
if(_step.Behaviour.Name == "Character.Destroy" || _step.Arguments.ActionName == "eat")
{
_PlanSucceeded = (endPosition == Vector3.zero || _step.Arguments.EndTarget == null);
}
if(_step.Arguments.ActionName == "grab")
{
_PlanSucceeded = OCAction.IsEndTargetCloseForward(null, _step.Arguments);
}
// if(_step.Arguments.ActionName == "grab")
// {
// _PlanSucceeded = endPosition != startPosition && endPosition != null;
// }
if(_step.Arguments.ActionPlanID != null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries))
{
OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, _PlanSucceeded);
if(_step.Behaviour.Name != "Character.IdleShow" && !_step.Behaviour.Name.Contains("Behaviour"))
{
Debug.LogWarning("In OCActionController.UpdateAI, Result: " + (_PlanSucceeded ? "Success" : "Failure") + " for Action: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : (_step.Arguments.ActionName + " & Sequence: " + _step.Arguments.SequenceID)));
}
}
// else if(_step.Arguments.ActionPlanID == null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries) && OCConnectorSingleton.Instance.IsEstablished )
// {
// OCConnectorSingleton.Instance.HandleOtherAgentActionResult(_step, _PlanSucceeded);
// }
}
// if(!_PlanSucceeded)
// Debug.LogWarning(" -- Step Failed: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : _step.Arguments.ActionName));
_step.Behaviour.Reset();
// if we failed, retry last step
if(_PlanSucceeded == false && OCActionPlanStep.MaxRetries > _step.Retry)
{
_ActionPlanQueue.AddFirst(_step);
_step.Retry += 1;
} else if(_PlanSucceeded == false && OCActionPlanStep.MaxRetries <= _step.Retry)
{
_ActionPlanQueue.Clear();
_step = null;
} else if(_step.Arguments.EndTarget)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent<OCFadeOutGameObject>();
if(fadeOut != null)
{
fadeOut.enabled = true;
}
}
if(_ActionPlanQueue.Count == 0)
{
if(_LastPlanID != null)
{
// if(result == BehaveResult.Failure)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
OCConnectorSingleton.Instance.SendActionPlanStatus(_LastPlanID, _PlanSucceeded);
if(_step != null && _step.Arguments.EndTarget != null)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent<OCFadeOutGameObject>();
if(fadeOut != null)
{
fadeOut.enabled = true;
}
}
_LastPlanID = null;
}
_step = null;
} else if(_LastPlanID != null)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
if(_LastPlanID != _step.Arguments.ActionPlanID)
{
Debug.LogError("We've changed plans without reporting back to OpenCog!");
}
} else
{
_LastPlanID = _step.Arguments.ActionPlanID;
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
}
}
}
public void UpdateAI()
{
_ActionPlanList = _ActionPlanQueue.ToList();
if (_step == null && _ActionPlanQueue.Count != 0)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
else if (_step == null && _ActionPlanQueue.Count == 0)
{
_PlanSucceeded = true;
OCActionPlanStep step = OCScriptableObject.CreateInstance <OCActionPlanStep>();
step.Behaviour = _TreeTypeDictionary[_TreeType];
step.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
KeyValuePair <string, TreeType> keyValuePair = _ActionNameDictionary.First(s => s.Value == _TreeType);
step.Arguments.ActionName = keyValuePair.Key;
_step = step;
}
BehaveResult result = _step.Behaviour.Tick();
// if((_step.Behaviour.Name == _TreeTypeDictionary[TreeType.Character_IdleShow].Name) && result == BehaveResult.Success)
// {
// //iTween itween = _step.Arguments.Source.GetComponent<iTween>();
// iTween.Stop(_step.Arguments.Source);
// }
if (result != BehaveResult.Running)
{
OCAction.OCActionArgs args = _step.Arguments;
// if((_step.Behaviour.Name != _TreeTypeDictionary[_TreeType].Name)
// || ((_step.Behaviour.Name == _TreeTypeDictionary[_TreeType].Name)
// && (GameObject.Find("EndPointStub").transform.position != Vector3.zero)))
{
// if we have a goal...
if (_step.Arguments.EndTarget != null)
{
if (_step.Arguments.EndTarget.transform.position != Vector3.zero)
{
_PlanSucceeded &= result == BehaveResult.Success;
}
Vector3 startPosition = _step.Arguments.StartTarget.transform.position;
Vector3 endPosition = _step.Arguments.EndTarget.transform.position;
Vector3 sourcePosition = _step.Arguments.Source.transform.position;
sourcePosition.y = sourcePosition.y - 0.5f;
Vector3 startToEnd = endPosition - startPosition;
Vector3 sourceToEnd = endPosition - sourcePosition;
float startToEndManDist = Math.Abs(endPosition.x - startPosition.x) + Math.Abs(endPosition.y - startPosition.y) + Math.Abs(endPosition.z - startPosition.z);
float sourceToEndManDist = Math.Abs(endPosition.x - sourcePosition.x) + Math.Abs(endPosition.y - sourcePosition.y) + Math.Abs(endPosition.z - sourcePosition.z);
if (_step.Behaviour.Name == "Character.Move" || _step.Arguments.ActionName == "walk" || _step.Arguments.ActionName == "jump_toward")
{
// don't use euclideon distance
//_PlanSucceeded |= sourceToEnd.sqrMagnitude < startToEnd.sqrMagnitude;
// use manhattan distance
//_PlanSucceeded = sourceToEndManDist <= startToEndManDist;
if (VectorUtil.AreVectorsEqual(sourcePosition, endPosition))
{
_PlanSucceeded = true;
}
else
{
_PlanSucceeded = false;
}
}
if (_step.Behaviour.Name == "Character.Destroy" || _step.Arguments.ActionName == "eat")
{
_PlanSucceeded = (endPosition == Vector3.zero || _step.Arguments.EndTarget == null);
}
if (_step.Arguments.ActionName == "grab")
{
_PlanSucceeded = OCAction.IsEndTargetCloseForward(null, _step.Arguments);
}
// if(_step.Arguments.ActionName == "grab")
// {
// _PlanSucceeded = endPosition != startPosition && endPosition != null;
// }
if (_step.Arguments.ActionPlanID != null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries))
{
OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, _PlanSucceeded);
if (_step.Behaviour.Name != "Character.IdleShow" && !_step.Behaviour.Name.Contains("Behaviour"))
{
Debug.LogWarning("In OCActionController.UpdateAI, Result: " + (_PlanSucceeded ? "Success" : "Failure") + " for Action: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : (_step.Arguments.ActionName + " & Sequence: " + _step.Arguments.SequenceID)));
}
}
else if (_step.Arguments.ActionPlanID == null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries) && OCConnectorSingleton.Instance.IsEstablished)
{
OCConnectorSingleton.Instance.HandleOtherAgentActionResult(_step, _PlanSucceeded);
}
}
// if(!_PlanSucceeded)
// Debug.LogWarning(" -- Step Failed: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : _step.Arguments.ActionName));
_step.Behaviour.Reset();
// if we failed, retry last step
if (_PlanSucceeded == false && OCActionPlanStep.MaxRetries > _step.Retry)
{
_ActionPlanQueue.AddFirst(_step);
_step.Retry += 1;
}
else if (_PlanSucceeded == false && OCActionPlanStep.MaxRetries <= _step.Retry)
{
_ActionPlanQueue.Clear();
_step = null;
}
else if (_step.Arguments.EndTarget)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent <OCFadeOutGameObject>();
if (fadeOut != null)
{
fadeOut.enabled = true;
}
}
if (_ActionPlanQueue.Count == 0)
{
if (_LastPlanID != null)
{
// if(result == BehaveResult.Failure)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
OCConnectorSingleton.Instance.SendActionPlanStatus(_LastPlanID, _PlanSucceeded);
if (_step != null && _step.Arguments.EndTarget != null)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent <OCFadeOutGameObject>();
if (fadeOut != null)
{
fadeOut.enabled = true;
}
}
_LastPlanID = null;
}
_step = null;
}
else if (_LastPlanID != null)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
if (_LastPlanID != _step.Arguments.ActionPlanID)
{
Debug.LogError("We've changed plans without reporting back to OpenCog!");
}
}
else
{
_LastPlanID = _step.Arguments.ActionPlanID;
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
}
}
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public IEnumerator Start()
{
_TreeTypeDictionary = new Dictionary <TreeType, Tree>();
_ActionPlanQueue = new LinkedList <OCActionPlanStep>();
foreach (TreeType type in Enum.GetValues(typeof(TreeType)).Cast <TreeType>())
{
_TreeTypeDictionary.Add(type, BLOCBehaviours.InstantiateTree(type, this));
}
OCAction[] actions = gameObject.GetComponentsInChildren <OCAction>(true);
foreach (Tree tree in _TreeTypeDictionary.Values)
{
if (tree == null)
{
continue;
}
int index = tree.Name.LastIndexOf(".") + 1;
if (index < 0 || index > tree.Name.Count())
{
index = 0;
}
string treeName = tree.Name.Substring(index);
foreach (OCAction action in actions)
{
if (((action.FullName.Contains(treeName) || treeName.Contains("Behaviour")) &&
!(treeName == "GhostBehaviour" && action.name.Contains("Create")) &&
!(treeName == "GhostBehaviour" && action.name.Contains("Destroy"))) ||
(treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreate") ||
(treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreateBelow") ||
(treeName == "TurnAndCreate" && action.FullName == "StandTurnLeftMove") ||
(treeName == "TurnAndCreate" && action.FullName == "StandTurnRightMove") ||
(treeName == "TurnAndCreate" && action.FullName == "StandIdleShow") ||
(treeName == "TurnAndCreate" && action.FullName == "FallIdleShow") ||
(treeName == "TurnLeftOrRight" && action.FullName == "StandTurnLeftMove") ||
(treeName == "TurnLeftOrRight" && action.FullName == "StandTurnRightMove") ||
(treeName == "TurnLeftOrRight" && action.FullName == "StandIdleShow") ||
(treeName == "TurnLeftOrRight" && action.FullName == "FallIdleShow") ||
(treeName == "BothHandsTransfer" && action.FullName == "HoldBothHandsTransfer")
)
{
int actionTypeID = (int)Enum.Parse(typeof(BLOCBehaviours.ActionType), action.FullName);
tree.SetTickForward(actionTypeID, action.ExecuteBehave);
}
}
}
OCActionPlanStep firstStep = OCScriptableObject.CreateInstance <OCActionPlanStep>();
firstStep.Behaviour = _TreeTypeDictionary[_TreeType];
firstStep.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
KeyValuePair <string, TreeType> keyValuePair = _ActionNameDictionary.First(s => s.Value == _TreeType);
firstStep.Arguments.ActionName = keyValuePair.Key;
_ActionPlanQueue.AddLast(firstStep);
RunningActions = new List <string>();
//RunningActions.Add("StandIdleShow");
// vvvv Testing Nil's action for the SantaFe problem vvvv
/////////////////////////////////////////////////////////////////////////////////
// XmlDocument doc = new XmlDocument();
// doc.LoadXml("<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?>\n<oc:action-plan xmlns:oc=\"http://www.opencog.org/brain\" demand=\"\" entity-id=\"OAC_AGI_Robot\" id=\"0\">\n<action name=\"step_forward\" sequence=\"1\"/>\n</oc:action-plan>");
//
// XmlNodeList list = doc.GetElementsByTagName(OCEmbodimentXMLTags.ACTION_PLAN_ELEMENT);
// XmlElement root = (XmlElement)list.Item(0);//MakeXMLElementRoot(doc);
//
// CharacterController charControl = gameObject.GetComponent<CharacterController>();
// bool tryParse = true;
/////////////////////////////////////////////////////////////////////////////////
while (Application.isPlaying)
{
yield return(new WaitForSeconds(1.0f / 100.0f));
UpdateAI();
// if(tryParse && charControl.isGrounded)
// {
// OCConnectorSingleton.Instance.ParseActionPlanElement(root);
// tryParse = false;
// }
}
}
public void UpdateAI()
{
_ActionPlanList = _ActionPlanQueue.ToList();
if (_step == null && _ActionPlanQueue.Count != 0)
{
_step = _ActionPlanQueue.Dequeue();
}
else if (_step == null && _ActionPlanQueue.Count == 0)
{
_PlanSucceeded = true;
OCActionPlanStep step = new OCActionPlanStep();
step.Behaviour = _TreeTypeDictionary[_TreeType];
step.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
_step = step;
}
BehaveResult result = _step.Behaviour.Tick();
// if((_step.Behaviour.Name == _TreeTypeDictionary[TreeType.Character_IdleShow].Name) && result == BehaveResult.Success)
// {
// //iTween itween = _step.Arguments.Source.GetComponent<iTween>();
// iTween.Stop(_step.Arguments.Source);
// }
if (result != BehaveResult.Running)
{
OCAction.OCActionArgs args = _step.Arguments;
// if((_step.Behaviour.Name != _TreeTypeDictionary[_TreeType].Name)
// || ((_step.Behaviour.Name == _TreeTypeDictionary[_TreeType].Name)
// && (GameObject.Find("EndPointStub").transform.position != Vector3.zero)))
{
// if we have a goal...
if (_step.Arguments.EndTarget != null)
{
if (_step.Arguments.EndTarget.transform.position != Vector3.zero)
{
_PlanSucceeded &= result == BehaveResult.Success;
}
Vector3 startPosition = _step.Arguments.StartTarget.transform.position;
Vector3 endPosition = _step.Arguments.EndTarget.transform.position;
Vector3 sourcePosition = _step.Arguments.Source.transform.position;
Vector3 startToEnd = endPosition - startPosition;
Vector3 sourceToEnd = endPosition - sourcePosition;
float startToEndManDist = Math.Abs(endPosition.x - startPosition.x) + Math.Abs(endPosition.y - startPosition.y) + Math.Abs(endPosition.z - startPosition.z);
float sourceToEndManDist = Math.Abs(endPosition.x - sourcePosition.x) + Math.Abs(endPosition.y - sourcePosition.y) + Math.Abs(endPosition.z - sourcePosition.z);
if (_step.Behaviour.Name == "Character.Move" || _step.Arguments.ActionName == "walk" || _step.Arguments.ActionName == "jump_toward")
{
// don't use euclideon distance
//_PlanSucceeded |= sourceToEnd.sqrMagnitude < startToEnd.sqrMagnitude;
// use manhattan distance
_PlanSucceeded = sourceToEndManDist <= startToEndManDist;
if (sourcePosition == endPosition)
{
_PlanSucceeded = true;
}
}
if (_step.Behaviour.Name == "Character.Destroy" || _step.Arguments.ActionName == "eat")
{
_PlanSucceeded = endPosition == Vector3.zero;
}
if (_step.Arguments.ActionName == "grab")
{
_PlanSucceeded = endPosition != startPosition && endPosition != null;
}
if (_step.Arguments.ActionPlanID != null)
{
OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, _PlanSucceeded);
}
}
// if(!_PlanSucceeded)
// Debug.LogWarning(" -- Step Failed: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : _step.Arguments.ActionName));
if (_step.Behaviour.Name != "Character.IdleShow" && !_step.Behaviour.Name.Contains("Behaviour"))
{
Debug.LogWarning("In OCActionController.UpdateAI, Result: " + (_PlanSucceeded ? "Success" : "Failure") + " for Action: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : (_step.Arguments.ActionName + " & Sequence: " + _step.Arguments.SequenceID)));
}
_step.Behaviour.Reset();
if (_ActionPlanQueue.Count == 0)
{
if (_LastPlanID != null)
{
// if(result == BehaveResult.Failure)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
OCConnectorSingleton.Instance.SendActionPlanStatus(_LastPlanID, _PlanSucceeded);
_LastPlanID = null;
}
_step = null;
}
else if (_LastPlanID != null)
{
_step = _ActionPlanQueue.Dequeue();
if (_LastPlanID != _step.Arguments.ActionPlanID)
{
Debug.LogError("We've changed plans without reporting back to OpenCog!");
}
}
else
{
_LastPlanID = _step.Arguments.ActionPlanID;
_step = _ActionPlanQueue.Dequeue();
}
}
}
}
public void HandleOtherAgentActionResult(OCActionPlanStep step, bool status)
{
// don't report actions that game from us.
// don't report actions without an action summary (these are from trying
// to do non-existant actions).
///TODO: Find a different way to check for this...
// if (ar.avatar == gameObject.GetComponent<Avatar>() || ar.action == null) {
// //Debug.LogWarning("skipping action result from " + ar.avatar);
// return;
// }
// the corresponding process within OpenCog's embodiment system is in PAI::processAgentActionWithParameters
string timestamp = GetCurrentTimestamp();
XmlDocument doc = new XmlDocument();
XmlElement root = MakeXMLElementRoot(doc);
XmlElement agentSignal = (XmlElement) root.AppendChild(doc.CreateElement("agent-signal"));
agentSignal.SetAttribute("id", gameObject.GetInstanceID().ToString());
agentSignal.SetAttribute("type", OCEmbodimentXMLTags.AVATAR_OBJECT_TYPE);
agentSignal.SetAttribute("timestamp", timestamp);
XmlElement actionElement = (XmlElement)agentSignal.AppendChild(doc.CreateElement(OCEmbodimentXMLTags.ACTION_ELEMENT));
// note that the name and the action-instance-name are different
// ie: name = kick , while action-instance-name = kick2342
actionElement.SetAttribute("name", step.Arguments.ActionName);
actionElement.SetAttribute("action-instance-name", step.Arguments.ActionName + step.ID);
//bool result = (status == ActionResult.Status.SUCCESS ? true : false);
actionElement.SetAttribute("result-state", status.ToString().ToLower()); //successful or failed
if (step.Arguments.Source.GetInstanceID() == step.Arguments.StartTarget.GetInstanceID()) {
actionElement.SetAttribute("target", _brainID);
} else {
actionElement.SetAttribute("target", step.Arguments.StartTarget.GetInstanceID().ToString());
}
// currently we only process the avatar and ocobject type, other types in EmbodimentXMLTages can is to be added when needed.
// if you add other types such as BLOCK_OBJECT_TYPE, you should also modify PAI::processAgentActionWithParameters in opencog
string targetType = step.Arguments.StartTarget.tag;
if (targetType == "OCA" || targetType == "Player" || targetType == "OCAGI")// it's an avatar
actionElement.SetAttribute("target-type", OCEmbodimentXMLTags.AVATAR_OBJECT_TYPE);
else if (targetType == "OCObject") // it's an object
actionElement.SetAttribute("target-type",OCEmbodimentXMLTags.ORDINARY_OBJECT_TYPE);
else
Debug.LogWarning("Error target type: " + targetType + " in action: " + step.Arguments.ActionName);
XmlElement param = (XmlElement)actionElement.AppendChild(doc.CreateElement("param"));
if(step.Arguments.EndTarget != null)
{
if(step.Arguments.EndTarget.tag == "OCObject" || step.Arguments.EndTarget.tag == "Player")
{
param.SetAttribute("type", "entity");
param.SetAttribute("name", step.Arguments.EndTarget.name);
XmlElement entityElement = (XmlElement)param.AppendChild(doc.CreateElement(OCEmbodimentXMLTags.ENTITY_ELEMENT));
entityElement.SetAttribute(OCEmbodimentXMLTags.ID_ATTRIBUTE, step.Arguments.EndTarget.GetInstanceID().ToString());
if(step.Arguments.EndTarget.tag == "OCObject")
entityElement.SetAttribute(OCEmbodimentXMLTags.TYPE_ATTRIBUTE, OCEmbodimentXMLTags.ORDINARY_OBJECT_TYPE);
else
entityElement.SetAttribute(OCEmbodimentXMLTags.TYPE_ATTRIBUTE, OCEmbodimentXMLTags.AVATAR_OBJECT_TYPE);
}
else
{
UnityEngine.Vector3 vec = step.Arguments.EndTarget.transform.position;
param.SetAttribute("type", "vector");
param.SetAttribute("name", "position");
XmlElement vectorElement = (XmlElement)param.AppendChild(doc.CreateElement(OCEmbodimentXMLTags.VECTOR_ELEMENT));
vectorElement.SetAttribute(OCEmbodimentXMLTags.X_ATTRIBUTE, vec.x.ToString());
vectorElement.SetAttribute(OCEmbodimentXMLTags.Y_ATTRIBUTE, vec.y.ToString());
vectorElement.SetAttribute(OCEmbodimentXMLTags.Z_ATTRIBUTE, vec.z.ToString());
}
}
// // we can only process the parameter type defined in class ActionParamType both in opencog and unity
// // currently they are : boolean, int, float, string, vector, rotation, entity
// // also see opencog/opencog/embodiment/control/perceptionActionInterface/BrainProxyAxon.xsd
// ArrayList paramList = ar.parameters;
//
// if (paramList != null)
// {
//
// int i;
// if (targetType == "OCA" || targetType == "Player")
// {
// if (ar.action.objectID == ar.avatar.gameObject.GetInstanceID())
// i = -1;
// else
// i = 0;
// }
// else
// {
// i = 0;
// }
//
// foreach (System.Object obj in paramList)
// {
// XmlElement param = (XmlElement)actionElement.AppendChild(doc.CreateElement("param"));
//
// // the first param in pinfo is usually the avator does this action, so we just skip it
// string paratype = obj.GetType().ToString();
// if (paratype == "System.Int32") // it's a int
// {
// param.SetAttribute("type", "int");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
// param.SetAttribute("value", obj.ToString());
// }
// else if (paratype == "System.Single") // it's a float
// {
// param.SetAttribute("type", "float");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
// param.SetAttribute("value", obj.ToString());
// }
// else if (paratype == "System.Boolean") // it's a bool
// {
// param.SetAttribute("type", "boolean");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
//
// param.SetAttribute("value", obj.ToString().ToLower());
// }
// else if (paratype == "System.String")// it's a string
// {
// param.SetAttribute("type", "string");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
// param.SetAttribute("value", obj.ToString());
// }
// // it's an entity, we only process the ActionTarget,
// // if your parameter is an Entiy, please change it into ActionTarget type first
// else if (paratype == "ActionTarget")
// {
// param.SetAttribute("type", "entity");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
// XmlElement entityElement = (XmlElement)param.AppendChild(doc.CreateElement(OCEmbodimentXMLTags.ENTITY_ELEMENT));
// OCAction.Target entity = obj as OCAction.Target;
// entityElement.SetAttribute(OCEmbodimentXMLTags.ID_ATTRIBUTE, entity.id.ToString());
// entityElement.SetAttribute(OCEmbodimentXMLTags.TYPE_ATTRIBUTE, entity.type);
//
// // currently it seems not use of OWNER_ID_ATTRIBUTE and OWNER_NAME_ATTRIBUTE, we just skip them
// }
// else if ( paratype == "UnityEngine.Vector3") // it's an vector
// {
// UnityEngine.Vector3 vec = (Vector3)obj ;
// param.SetAttribute("type", "vector");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
// XmlElement vectorElement = (XmlElement)param.AppendChild(doc.CreateElement(OCEmbodimentXMLTags.VECTOR_ELEMENT));
// vectorElement.SetAttribute(OCEmbodimentXMLTags.X_ATTRIBUTE, vec.x.ToString());
// vectorElement.SetAttribute(OCEmbodimentXMLTags.Y_ATTRIBUTE, vec.y.ToString());
// vectorElement.SetAttribute(OCEmbodimentXMLTags.Z_ATTRIBUTE, vec.z.ToString());
//
// }
// else if ( paratype == "IntVect") // it's an vector
// {
// Vector3i vec = (Vector3i)obj ;
// param.SetAttribute("type", "vector");
// param.SetAttribute("name", ar.action.pinfo[i+1].Name);
// XmlElement vectorElement = (XmlElement)param.AppendChild(doc.CreateElement(OCEmbodimentXMLTags.VECTOR_ELEMENT));
// vectorElement.SetAttribute(OCEmbodimentXMLTags.X_ATTRIBUTE, (vec.X + 0.5f).ToString());
// vectorElement.SetAttribute(OCEmbodimentXMLTags.Y_ATTRIBUTE, (vec.Y + 0.5f).ToString());
// vectorElement.SetAttribute(OCEmbodimentXMLTags.Z_ATTRIBUTE, (vec.Z + 0.5f).ToString());
//
// }
// // todo: we don't have a rotation type
// else
// {
// // we can only process the type define in ActionParamType
// continue;
// }
//
// i++;
// }
// }
OCMessage message = new OCMessage(_ID, _brainID, OCMessage.MessageType.STRING, BeautifyXmlText(doc));
OCLogger.Warn("sending action result from " + _ID + "\n" + BeautifyXmlText(doc));
lock (_messageSendingLock)
{
_messagesToSend.Add(message);
}
}
public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = new OCActionPlanStep();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.AddLast(actionPlanStep);
Debug.Log("Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public IEnumerator Start()
{
_TreeTypeDictionary = new Dictionary<TreeType, Tree>();
_ActionPlanQueue = new LinkedList<OCActionPlanStep>();
foreach(TreeType type in Enum.GetValues( typeof(TreeType) ).Cast<TreeType>())
{
_TreeTypeDictionary.Add(type, BLOCBehaviours.InstantiateTree(type, this));
}
OCAction[] actions = gameObject.GetComponentsInChildren<OCAction>(true);
foreach(Tree tree in _TreeTypeDictionary.Values)
{
if(tree == null)
{
continue;
}
int index = tree.Name.LastIndexOf(".") + 1;
if(index < 0 || index > tree.Name.Count())
{
index = 0;
}
string treeName = tree.Name.Substring(index);
foreach(OCAction action in actions)
{
if(((action.FullName.Contains(treeName) || treeName.Contains("Behaviour"))
&& !(treeName == "GhostBehaviour" && action.name.Contains("Create"))
&& !(treeName == "GhostBehaviour" && action.name.Contains("Destroy")))
|| (treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreate")
|| (treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreateBelow")
|| (treeName == "TurnAndCreate" && action.FullName == "StandTurnLeftMove")
|| (treeName == "TurnAndCreate" && action.FullName == "StandTurnRightMove")
|| (treeName == "TurnAndCreate" && action.FullName == "StandIdleShow")
|| (treeName == "TurnAndCreate" && action.FullName == "FallIdleShow")
|| (treeName == "TurnLeftOrRight" && action.FullName == "StandTurnLeftMove")
|| (treeName == "TurnLeftOrRight" && action.FullName == "StandTurnRightMove")
|| (treeName == "TurnLeftOrRight" && action.FullName == "StandIdleShow")
|| (treeName == "TurnLeftOrRight" && action.FullName == "FallIdleShow")
|| (treeName == "BothHandsTransfer" && action.FullName == "HoldBothHandsTransfer")
)
{
int actionTypeID = (int)Enum.Parse(typeof(BLOCBehaviours.ActionType), action.FullName);
tree.SetTickForward(actionTypeID, action.ExecuteBehave);
}
}
}
OCActionPlanStep firstStep = new OCActionPlanStep();
firstStep.Behaviour = _TreeTypeDictionary[_TreeType];
firstStep.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
_ActionPlanQueue.AddLast(firstStep);
RunningActions = new List<string>();
//RunningActions.Add("StandIdleShow");
while(Application.isPlaying)
{
yield return new WaitForSeconds(1.0f / 100.0f);
UpdateAI();
}
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public IEnumerator Start()
{
_TreeTypeDictionary = new Dictionary<TreeType, Tree>();
_ActionPlanQueue = new LinkedList<OCActionPlanStep>();
foreach(TreeType type in Enum.GetValues( typeof(TreeType) ).Cast<TreeType>())
{
_TreeTypeDictionary.Add(type, BLOCBehaviours.InstantiateTree(type, this));
}
OCAction[] actions = gameObject.GetComponentsInChildren<OCAction>(true);
foreach(Tree tree in _TreeTypeDictionary.Values)
{
if(tree == null)
{
continue;
}
int index = tree.Name.LastIndexOf(".") + 1;
if(index < 0 || index > tree.Name.Count())
{
index = 0;
}
string treeName = tree.Name.Substring(index);
foreach(OCAction action in actions)
{
if(((action.FullName.Contains(treeName) || treeName.Contains("Behaviour"))
&& !(treeName == "GhostBehaviour" && action.name.Contains("Create"))
&& !(treeName == "GhostBehaviour" && action.name.Contains("Destroy")))
|| (treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreate")
|| (treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreateBelow")
|| (treeName == "TurnAndCreate" && action.FullName == "StandTurnLeftMove")
|| (treeName == "TurnAndCreate" && action.FullName == "StandTurnRightMove")
|| (treeName == "TurnAndCreate" && action.FullName == "StandIdleShow")
|| (treeName == "TurnAndCreate" && action.FullName == "FallIdleShow")
|| (treeName == "TurnLeftOrRight" && action.FullName == "StandTurnLeftMove")
|| (treeName == "TurnLeftOrRight" && action.FullName == "StandTurnRightMove")
|| (treeName == "TurnLeftOrRight" && action.FullName == "StandIdleShow")
|| (treeName == "TurnLeftOrRight" && action.FullName == "FallIdleShow")
|| (treeName == "BothHandsTransfer" && action.FullName == "HoldBothHandsTransfer")
)
{
int actionTypeID = (int)Enum.Parse(typeof(BLOCBehaviours.ActionType), action.FullName);
tree.SetTickForward(actionTypeID, action.ExecuteBehave);
}
}
}
OCActionPlanStep firstStep = new OCActionPlanStep();
firstStep.Behaviour = _TreeTypeDictionary[_TreeType];
firstStep.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
_ActionPlanQueue.AddLast(firstStep);
RunningActions = new List<string>();
//RunningActions.Add("StandIdleShow");
// vvvv Testing Nil's action for the SantaFe problem vvvv
/////////////////////////////////////////////////////////////////////////////////
// XmlDocument doc = new XmlDocument();
// doc.LoadXml("<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?>\n<oc:action-plan xmlns:oc=\"http://www.opencog.org/brain\" demand=\"\" entity-id=\"OAC_AGI_Robot\" id=\"0\">\n<action name=\"step_forward\" sequence=\"1\"/>\n</oc:action-plan>");
//
// XmlNodeList list = doc.GetElementsByTagName(OCEmbodimentXMLTags.ACTION_PLAN_ELEMENT);
// XmlElement root = (XmlElement)list.Item(0);//MakeXMLElementRoot(doc);
//
// CharacterController charControl = gameObject.GetComponent<CharacterController>();
// bool tryParse = true;
/////////////////////////////////////////////////////////////////////////////////
while(Application.isPlaying)
{
yield return new WaitForSeconds(1.0f / 100.0f);
UpdateAI();
// if(tryParse && charControl.isGrounded)
// {
// OCConnectorSingleton.Instance.ParseActionPlanElement(root);
// tryParse = false;
// }
}
}
