public GridNavigationTask(State t_startState, State t_goalState, float t_inflationFactor, ref List <State> t_path,
float t_tunnelDistanceThreshold, float t_tunnelTimeThreshold, ref List <State> t_spaceTimePath, GridTimeDomain t_gridTimeDomain,
TaskPriority t_taskPriority, TaskManager taskManager)
: base(taskManager, t_taskPriority) // defaults to a real-time task -- now what happens when both this and Global are first put in queue ??
{
taskType = TaskType.GridNavigationTask;
startState = t_startState;
goalState = t_goalState;
// EVENT : startState will trigger GridNavigationTask that STATE_CHANGED
startState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that STATE_CHANGED
goalState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that it is GOAL_INVALID or VALID
goalState.registerObserver(Event.GOAL_INVALID, this);
goalState.registerObserver(Event.GOAL_VALID, this);
inflationFactor = t_inflationFactor;
//planner = t_planner;
outputPlan = new Dictionary <DefaultState, ARAstarNode>();
path = t_path;
// TODO : deprecate these lists
List <PlanningDomainBase> domainList = new List <PlanningDomainBase>();
ARAstarDomain araStarDomain = new ARAstarDomain();
araStarDomain.setPlanningTask(this);
domainList.Add(araStarDomain);
gridPlanner = new ARAstarPlanner();
gridPlanner.init(ref domainList, 100);
initialized = true;
obstacleChanged = false;
obstacleChangedData = new List <object> ();
// tunnel planner variables
tunnelDistanceThreshold = t_tunnelDistanceThreshold;
tunnelTimeThreshold = t_tunnelTimeThreshold;
gridTimeDomain = t_gridTimeDomain;
spaceTimePath = t_spaceTimePath;
spaceTimePathStatus = false;
dynamicChange = false;
currentlyExecutingTask = false;
gridPathStatus = PathStatus.NoPath;
}
// defaults to a real-time task -- now what happens when both this and Global are first put in queue ??
public GridNavigationTask(State t_startState, State t_goalState, float t_inflationFactor, ref List<State> t_path,
float t_tunnelDistanceThreshold, float t_tunnelTimeThreshold, ref List<State> t_spaceTimePath, GridTimeDomain t_gridTimeDomain,
TaskPriority t_taskPriority, TaskManager taskManager)
: base(taskManager, t_taskPriority)
{
taskType = TaskType.GridNavigationTask;
startState = t_startState;
goalState = t_goalState;
// EVENT : startState will trigger GridNavigationTask that STATE_CHANGED
startState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that STATE_CHANGED
goalState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that it is GOAL_INVALID or VALID
goalState.registerObserver(Event.GOAL_INVALID, this);
goalState.registerObserver(Event.GOAL_VALID, this);
inflationFactor = t_inflationFactor;
//planner = t_planner;
outputPlan = new Dictionary<DefaultState, ARAstarNode>();
path = t_path;
// TODO : deprecate these lists
List<PlanningDomainBase> domainList = new List<PlanningDomainBase>();
ARAstarDomain araStarDomain = new ARAstarDomain ();
araStarDomain.setPlanningTask(this);
domainList.Add(araStarDomain);
gridPlanner = new ARAstarPlanner();
gridPlanner.init(ref domainList, 100);
initialized = true;
obstacleChanged = false;
obstacleChangedData = new List<object> ();
// tunnel planner variables
tunnelDistanceThreshold = t_tunnelDistanceThreshold;
tunnelTimeThreshold = t_tunnelTimeThreshold;
gridTimeDomain = t_gridTimeDomain;
spaceTimePath = t_spaceTimePath;
spaceTimePathStatus = false;
dynamicChange = false;
currentlyExecutingTask = false;
gridPathStatus = PathStatus.NoPath;
}
public GlobalNavigationtask(State t_startState, State t_goalState, int t_passableMask,
TaskPriority t_taskPriority, TaskManager taskManager)
: base(taskManager, t_taskPriority) // defaults to a real-time task unless the priority is explicitly set
{
taskType = TaskType.GlobalNavigationTask;
startState = t_startState;
goalState = t_goalState;
// EVENT: globalNavigationTask is triggered by the goalState when STATE_CHANGED
goalState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// NOTE: this does not replan when the start state changes
passableMask = t_passableMask;
}
// defaults to a real-time task unless the priority is explicitly set
public GlobalNavigationtask(State t_startState, State t_goalState, int t_passableMask,
TaskPriority t_taskPriority, TaskManager taskManager)
: base(taskManager, t_taskPriority)
{
taskType = TaskType.GlobalNavigationTask;
startState = t_startState;
goalState = t_goalState;
// EVENT: globalNavigationTask is triggered by the goalState when STATE_CHANGED
goalState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// NOTE: this does not replan when the start state changes
passableMask = t_passableMask;
}
private void _MoveToNextTaskForExecution()
{
// we finished executing current plan
currentPlanExecutionIndex = currentPlanExecutionIndex + 1;
globalPath.RemoveAt(0);
// we can remove the grid task, the local path and the space time path
numGlobalPathWaypoints--;
if (numGlobalPathWaypoints == 0)
{
Debug.LogWarning("REACHED GOAL or reached end of all calculated space time paths -- cannot execute any more");
goalReached = true;
return;
}
gridNavigationTasks[currentPlanExecutionIndex - 1].currentlyExecutingTask = false;
gridNavigationTasks[currentPlanExecutionIndex].currentlyExecutingTask = true;
// WE UNREGISTER THE PREVIOUS TASK FROM THE NEIGHBOR AGENTS AND REGISTER THE CURRENT ONE
neighborAgents.observable.unregisterObserver(Event.NEIGBHOR_AGENTS_CHANGED, gridNavigationTasks[currentPlanExecutionIndex - 1]);
neighborObstacles.observable.unregisterObserver(Event.NEIGBHOR_DYNAMIC_OBSTACLES_CHANGED, gridNavigationTasks[currentPlanExecutionIndex - 1]);
// WE REGISTER THE CURRENT ONE
neighborAgents.observable.registerObserver(Event.NEIGBHOR_AGENTS_CHANGED, gridNavigationTasks[currentPlanExecutionIndex]);
neighborObstacles.observable.registerObserver(Event.NEIGBHOR_DYNAMIC_OBSTACLES_CHANGED, gridNavigationTasks[currentPlanExecutionIndex]);
// TODo: NOT SURE IF THIS IS CORREECT unregister with its old goal for previous task
globalPath[0].unregisterObserver(Event.STATE_POSITION_CHANGED, gridNavigationTasks[currentPlanExecutionIndex - 1]);
// JUST MANUALLY SENDING IT A START STATE CHANGED EVENT
Vector3[] data = new Vector3[2];
data[0] = gridNavigationTasks[currentPlanExecutionIndex].startState.getPosition();
data[1] = currentState.getPosition();
gridNavigationTasks[currentPlanExecutionIndex].notifyEvent(Event.STATE_POSITION_CHANGED, data);
// IMP :: we need to make the next task monitor the current start state now + unregister to previous start state
gridNavigationTasks[currentPlanExecutionIndex].startState = currentState;
currentState.registerObserver(Event.STATE_POSITION_CHANGED, gridNavigationTasks[currentPlanExecutionIndex]);
gridNavigationTasks[currentPlanExecutionIndex].notifyEvent(Event.CURRENT_EXECUTING_TASK, null);
}
