/// <summary>
/// Generates a collection of active task nodes under this task. Used for debugging only.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <param name="taskNode"> Task node this task is located in. </param>
/// <param name="activeTasks"> Collection of active task nodes. </param>
public override void GetActiveTasks(
IAgentData agentData, TaskNode taskNode, ref ICollection <TaskNode> activeTasks)
{
Data data = agentData.CurrentTaskData as Data;
if (data == null)
{
throw new ArgumentException(string.Format("Expected parallel data for task '{0}'.", this.Name));
}
// Check if selector has an active child.
if (data.RunningChildren.Count == 0)
{
return;
}
// Add task to active tasks and collect active tasks of active child.
++agentData.CurrentDeciderLevel;
foreach (int childIdx in data.RunningChildren)
{
TaskNode childTaskNode = taskNode.CreateChildNode(this.Children[childIdx], childIdx);
activeTasks.Add(childTaskNode);
agentData.CurrentTaskData = data.ChildrenData[childIdx];
this.Children[childIdx].GetActiveTasks(agentData, childTaskNode, ref activeTasks);
}
--agentData.CurrentDeciderLevel;
}
/// <summary>
/// Searches for tasks which forfill the passed predicate.
/// </summary>
/// <param name="taskNode"> Task node of this task. </param>
/// <param name="predicate"> Predicate to forfill. </param>
/// <param name="tasks"> List of tasks which forfill the passed predicate. </param>
public override void FindTasks(TaskNode taskNode, Func <ITask, bool> predicate, ref ICollection <TaskNode> tasks)
{
// Check children.
for (int index = 0; index < this.children.Count; index++)
{
ITask child = this.children[index];
TaskNode childTaskNode = taskNode.CreateChildNode(child, index);
if (predicate(child))
{
tasks.Add(childTaskNode);
}
// Find tasks in child.
child.FindTasks(childTaskNode, predicate, ref tasks);
}
}
/// <summary>
/// Searches for tasks which forfill the passed predicate.
/// </summary>
/// <param name="taskNode"> Task node of this task. </param>
/// <param name="predicate"> Predicate to forfill. </param>
/// <param name="tasks"> List of tasks which forfill the passed predicate. </param>
public override void FindTasks(TaskNode taskNode, Func <ITask, bool> predicate, ref ICollection <TaskNode> tasks)
{
if (this.Task == null)
{
return;
}
// Check child.
TaskNode childTaskNode = taskNode.CreateChildNode(this.Task, 0);
if (predicate(this.Task))
{
tasks.Add(childTaskNode);
}
// Find tasks in child.
this.Task.FindTasks(childTaskNode, predicate, ref tasks);
}
/// <summary>
/// Generates a collection of active task nodes under this task. Used for debugging only.
/// </summary>
/// <param name="agentData"> Agent data. </param>
/// <param name="taskNode"> Task node this task is located in. </param>
/// <param name="activeTasks"> Collection of active task nodes. </param>
public override void GetActiveTasks(
IAgentData agentData, TaskNode taskNode, ref ICollection <TaskNode> activeTasks)
{
Data data = agentData.CurrentTaskData as Data;
if (data == null)
{
throw new ArgumentException(string.Format("Expected selector data for task '{0}'.", this.Name));
}
// Check if selector has an active child.
if (!MathUtils.IsWithinBounds(data.ActiveChildIdx, 0, this.Children.Count))
{
return;
}
// Add task to active tasks and collect active tasks of active child.
TaskNode childTaskNode = taskNode.CreateChildNode(this.Children[data.ActiveChildIdx], data.ActiveChildIdx);
activeTasks.Add(childTaskNode);
this.GetActiveChildTasks(data.ActiveChildIdx, agentData, childTaskNode, ref activeTasks);
}