public PlanningState(string fullId, string nodeId, PlanningState parent) {
this._id = fullId;
this._nodeId = nodeId;
this._parent = parent;
if (parent != null) {
if (parent._id.IndexOf("DecoratorIterator[") >= 0 && parent._index == -1 && fullId.IndexOf("+") == -1) {
Debug.Check(true);
}
parent._children.Add(this);
}
}
public PlanningState(string fullId, string nodeId, PlanningState parent)
{
this._id = fullId;
this._nodeId = nodeId;
this._parent = parent;
if (parent != null)
{
if (parent._id.IndexOf("DecoratorIterator[") >= 0 && parent._index == -1 && fullId.IndexOf("+") == -1)
{
Debug.Check(true);
}
parent._children.Add(this);
}
}
private static PlanningState SetCurrentState(string btId)
{
string nodeId = ParseNodeId(btId);
if (PlanningProcess._planning._currentState != null && PlanningProcess._planning._parentNodeIds.Count > 0)
{
int n = PlanningProcess._planning._parentNodeIds.Count;
for (int i = n - 1; i >= 0; --i)
{
nodeId = string.Format("{0}:{1}", PlanningProcess._planning._parentNodeIds[i], nodeId);
}
}
if (PlanningProcess._planning._currentState != null &&
PlanningProcess._planning._currentState._id == btId && PlanningProcess._planning._currentState._nodeId == nodeId)
{
return(PlanningProcess._planning._currentState);
}
//bool bForEachChild = false;
if (PlanningProcess._planning._currentState != null && PlanningProcess._planning._currentState._index != -1)
{
Debug.Check(PlanningProcess._planning._currentState._count != -1);
//bForEachChild = true;
}
PlanningState parentState = PlanningProcess._planning._currentState;
PlanningState newState = new PlanningState(btId, nodeId, parentState);
if (!PlanningProcess._planning._states.ContainsKey(nodeId))
{
PlanningProcess._planning._states.Add(nodeId, newState);
}
else
{
PlanningProcess._planning._states[nodeId] = newState;
}
PlanningProcess._planning._currentState = newState;
return(newState);
}
//find the last recent parent which contains state data if the current one has no data
public PlanningState GetLastNode(NodeViewData nvd)
{
while (nvd != null && !_states.ContainsKey(nvd.FullId))
{
nvd = nvd.Parent;
}
if (nvd != null && _states.ContainsKey(nvd.FullId))
{
PlanningState ps = _states[nvd.FullId];
while (ps != null && ps._agents.Count == 0)
{
ps = ps._parent;
}
return(ps);
}
return(null);
}
private static PlanningState SetCurrentState(string btId) {
string nodeId = ParseNodeId(btId);
if (PlanningProcess._planning._currentState != null && PlanningProcess._planning._parentNodeIds.Count > 0) {
int n = PlanningProcess._planning._parentNodeIds.Count;
for (int i = n - 1; i >= 0; --i) {
nodeId = string.Format("{0}:{1}", PlanningProcess._planning._parentNodeIds[i], nodeId);
}
}
if (PlanningProcess._planning._currentState != null &&
PlanningProcess._planning._currentState._id == btId && PlanningProcess._planning._currentState._nodeId == nodeId) {
return PlanningProcess._planning._currentState;
}
//bool bForEachChild = false;
if (PlanningProcess._planning._currentState != null && PlanningProcess._planning._currentState._index != -1) {
Debug.Check(PlanningProcess._planning._currentState._count != -1);
//bForEachChild = true;
}
PlanningState parentState = PlanningProcess._planning._currentState;
PlanningState newState = new PlanningState(btId, nodeId, parentState);
if (!PlanningProcess._planning._states.ContainsKey(nodeId)) {
PlanningProcess._planning._states.Add(nodeId, newState);
} else {
PlanningProcess._planning._states[nodeId] = newState;
}
PlanningProcess._planning._currentState = newState;
return newState;
}