/// <summary>
/// Processes the result.
/// </summary>
/// <param name="result">The result.</param>
/// <param name="steerer">The steerer.</param>
/// <returns>
/// <c>true</c> if the result was handled by this processor, otherwise <c>false</c>
/// </returns>
public override bool HandleResult(PathResult result, SteerForPathComponent steerer)
{
switch (result.status)
{
case PathingStatus.DestinationBlocked:
{
var request = result.originalRequest;
//Try to find an unobstructed cell as close to the original destination as possible
var toGrid = GridManager.instance.GetGrid(request.to);
if (toGrid == null)
{
return false;
}
var newDestination = toGrid.GetNearestWalkableCell(
request.to,
this.transform.position,
false,
this.maxCellDistanceForNewDestination,
request.requesterProperties);
if (newDestination != null)
{
request.to = newDestination.position;
steerer.RequestPath(request);
return true;
}
break;
}
}
return false;
}
/// <summary>
/// Processes the result.
/// </summary>
/// <param name="result">The result.</param>
/// <param name="steerer">The steerer.</param>
/// <returns>
/// <c>true</c> if the result was handled by this processor, otherwise <c>false</c>
/// </returns>
public override bool HandleResult(PathResult result, SteerForPathComponent steerer)
{
switch (result.status)
{
case PathingStatus.NoRouteExists:
{
var request = result.originalRequest;
if (_retries < this.maxRetries)
{
_retries++;
request.type = RequestType.Normal;
//Having this as a separate call apparently avoids allocation of anonymous method, which otherwise happens even if the status is not the one triggering this action.
IssueRequest(request, steerer);
return true;
}
break;
}
}
_retries = 0;
return false;
}
public IEnumerator ProcessRequestCoroutineInternal(IPathRequest request)
{
//Granted this could be done smarter, but since this is not an expected scenario, we just use exception handling to handle it.
ValidateRequest(request);
_currentResult = new PathResult(PathingStatus.Complete, null, 0, request);
var status = PathingStatus.Complete;
//Iterate over the waypoints of the request, including the end point
_segmentRequest.Start(request);
do
{
status = StartPathSegment();
if (status != PathingStatus.Running)
{
break;
}
while (status == PathingStatus.Running)
{
status = ProcessNext();
yield return(null);
}
if (!CompletePathSegment(status))
{
break;
}
}while (_segmentRequest.MoveNext());
if (status != PathingStatus.Complete)
{
if (_segments.count > 0)
{
_currentResult.RegisterPartialResult(status, _segmentRequest.GetPendingWaypoints());
}
else
{
_currentResult.status = status;
}
}
//Splice the path segments and complete the request
_currentResult.path = Path.FromSegments(_segments);
request.Complete(_currentResult);
_segments.Clear();
_segmentRequest.Clear();
_currentResult = null;
}
private void FailRequest(IPathRequest request, Exception e)
{
_segments.Clear();
_segmentRequest.Clear();
_currentResult = null;
var result = new PathResult(PathingStatus.Failed, null, 0, request)
{
errorInfo = string.Concat(e.Message, Environment.NewLine, e.StackTrace)
};
request.Complete(result);
}
/// <summary> /// Processes the result. /// </summary> /// <param name="result">The result.</param> /// <param name="steerer">The steerer.</param> /// <returns> /// <c>true</c> if the result was handled by this processor, otherwise <c>false</c> /// </returns> public abstract bool HandleResult(PathResult result, SteerForPathComponent steerer);
public void Complete(PathResult result)
{
throw new InvalidOperationException();
}
/// <summary>
/// Completes this request
/// </summary>
/// <param name="result">The result.</param>
void IPathRequest.Complete(PathResult result)
{
this.requester.ConsumePathResult(result);
}
public IEnumerator ProcessRequestCoroutineInternal(IPathRequest request)
{
//Granted this could be done smarter, but since this is not an expected scenario, we just use exception handling to handle it.
ValidateRequest(request);
_currentResult = new PathResult(PathingStatus.Complete, null, 0, request);
var status = PathingStatus.Complete;
//Iterate over the waypoints of the request, including the end point
_segmentRequest.Start(request);
do
{
status = StartPathSegment();
if (status != PathingStatus.Running)
{
break;
}
while (status == PathingStatus.Running)
{
status = ProcessNext();
yield return null;
}
if (!CompletePathSegment(status))
{
break;
}
}
while (_segmentRequest.MoveNext());
if (status != PathingStatus.Complete)
{
if (_segments.count > 0)
{
_currentResult.RegisterPartialResult(status, _segmentRequest.GetPendingWaypoints());
}
else
{
_currentResult.status = status;
}
}
//Splice the path segments and complete the request
_currentResult.path = Path.FromSegments(_segments);
request.Complete(_currentResult);
_segments.Clear();
_segmentRequest.Clear();
_currentResult = null;
}
private void FailRequest(IPathRequest request, Exception e)
{
_segments.Clear();
_segmentRequest.Clear();
_currentResult = null;
var result = new PathResult(PathingStatus.Failed, null, 0, request)
{
errorInfo = string.Concat(e.Message, Environment.NewLine, e.StackTrace)
};
request.Complete(result);
}
//Note this may be called from another thread if the PathService is running asynchronously
void INeedPath.ConsumePathResult(PathResult result)
{
lock (_syncLock)
{
//If we have stooped or get back the result of a request other than the one we currently expect, just toss it as it will be outdated.
if (_stopped || result.originalRequest != _pendingPathRequest)
{
return;
}
_pendingResult = result;
_pendingPathRequest = null;
}
}
void INeedPath.ConsumePathResult(PathResult result)
{
LoadBalancer.marshaller.ExecuteOnMainThread(() => _callback(result));
}
/// <summary>
/// The path request callback method.
/// </summary>
/// <param name="result">The path result.</param>
/// <param name="unit">This unit's UnitFacade.</param>
/// <param name="unitPos">This unit's position.</param>
/// <param name="destination">The destination.</param>
/// <param name="grid">The grid.</param>
private void PathRequestCallback(PathResult result, IUnitFacade unit, Vector3 unitPos, Vector3 destination, IGrid grid)
{
// if the normal path request fails...
Action<PathResult> callback = (secondResult) =>
{
if (secondResult.status == PathingStatus.Complete)
{
// add the unit's current position to the path
var path = result.path;
path.Push(unit);
FollowPath(path, unit);
return;
}
// if the second path request fails, there is nothing to do
_stopped = true;
};
// try to request a path from the nearest (from) walkable cell
Cell fromCell = grid.GetNearestWalkableCell(unitPos, unitPos, true, 1, unit);
if (fromCell != null)
{
QueuePathRequest(fromCell.position, destination, unit, callback);
return;
}
// if that fails, search through all 8 neighbour cells and attempt to request a path from the nearest isWalkable neighbour
int neighboursCount = _neighbours.count;
for (int i = 0; i < neighboursCount; i++)
{
var neighbourCell = _neighbours[i];
if (neighbourCell.isWalkable(unit.attributes))
{
QueuePathRequest(neighbourCell.position, destination, unit, callback);
return;
}
}
}
private bool ProcessAndValidateResult(PathResult result, bool isWaypoint)
{
_wayPoints.frozen = false;
for (int i = 0; i < _resultProcessors.Length; i++)
{
if (_resultProcessors[i].HandleResult(result, this))
{
return (result.status == PathingStatus.Complete);
}
}
var status = result.status;
bool isPartial = (status == PathingStatus.CompletePartial);
if (isPartial)
{
status = result.innerResult.status;
}
switch (status)
{
case PathingStatus.Complete:
{
/* All is good, no more to do */
_arrivalEvent = UnitNavigationEventMessage.Event.DestinationReached;
return true;
}
case PathingStatus.NoRouteExists:
case PathingStatus.EndOutsideGrid:
{
_arrivalEvent = UnitNavigationEventMessage.Event.StoppedNoRouteExists;
break;
}
case PathingStatus.StartOutsideGrid:
{
_arrivalEvent = UnitNavigationEventMessage.Event.StoppedUnitOutsideGrid;
break;
}
case PathingStatus.DestinationBlocked:
{
_arrivalEvent = UnitNavigationEventMessage.Event.StoppedDestinationBlocked;
break;
}
case PathingStatus.Decayed:
{
//We cannot reissue the request here, since we may be on a different thread, but then again why would we issue the request again if it had a decay threshold its no longer valid.
_arrivalEvent = UnitNavigationEventMessage.Event.StoppedRequestDecayed;
break;
}
case PathingStatus.Failed:
{
StopInternal();
Debug.LogError("Path request failed: " + result.errorInfo);
break;
}
}
_wayPoints.frozen = true;
if (isPartial)
{
return true;
}
if (!isWaypoint)
{
//If we are not already moving stop and announce here
StopAndAnnounceArrival();
}
return false;
}
private bool ProcessAndValidateResult(PathResult result)
{
UnitNavigationEventMessage.Event msgEvent = UnitNavigationEventMessage.Event.None;
switch (result.status)
{
case PathingStatus.Complete:
{
/* All is good, no more to do */
return true;
}
case PathingStatus.NoRouteExists:
case PathingStatus.EndOutsideGrid:
{
msgEvent = UnitNavigationEventMessage.Event.StoppedNoRouteExists;
break;
}
case PathingStatus.StartOutsideGrid:
{
msgEvent = UnitNavigationEventMessage.Event.StoppedUnitOutsideGrid;
break;
}
case PathingStatus.DestinationBlocked:
{
msgEvent = UnitNavigationEventMessage.Event.StoppedDestinationBlocked;
break;
}
case PathingStatus.Decayed:
{
//We cannot reissue the request here, since we may be on a different thread, but then again why would we issue the request again if it had a decay threshold its no longer valid.
msgEvent = UnitNavigationEventMessage.Event.StoppedRequestDecayed;
break;
}
case PathingStatus.Failed:
{
Debug.LogError("Path request failed: " + result.errorInfo);
break;
}
}
var destination = result.originalRequest.to;
var pendingWaypoints = _wayPoints.count > 0 ? _wayPoints.ToArray() : Consts.EmptyVectorArray;
Stop();
if (msgEvent != UnitNavigationEventMessage.Event.None)
{
AnnounceEvent(msgEvent, destination, pendingWaypoints);
}
return false;
}
private void CompleteRequest(PathingStatus status)
{
PathResult result;
if (_currentRequest.type == RequestType.IntelOnly)
{
result = new PathResult(status, null, _goal.g, _currentRequest);
}
else if (status == PathingStatus.Complete)
{
Path path;
var maxPathLength = Mathf.CeilToInt(_goal.g / (_goal.parent.cellSize * _costProvider.baseMoveCost));
//Fix the actual destination so it does not overlap obstructions
FixupGoal(_currentRequest);
if (_currentRequest.pathFinderOptions.usePathSmoothing)
{
path = _smoother.Smooth(_goal, maxPathLength, _currentRequest, _cellCostStrategy);
}
else
{
path = new Path(maxPathLength);
//Push the actual end position as the goal
path.Push(new Position(_currentRequest.to));
IPathNode current = _goal.predecessor;
while (current != null)
{
path.Push(current);
current = current.predecessor;
}
//Instead of testing for it in the while loop, just pop off the start node and replace it with the actual start position
if (path.count > 1)
{
path.Pop();
}
path.Push(new Position(_currentRequest.from));
}
result = new PathResult(status, path, _goal.g, _currentRequest);
}
else
{
result = new PathResult(status, null, 0, _currentRequest);
}
_currentRequest.Complete(result);
_currentRequest = null;
}
private void ConsumePath()
{
PathResult result = _pendingResult;
_pendingResult = null;
var req = result.originalRequest as InternalPathRequest;
//Consume way points if appropriate. This must be done prior to the processing of the result, since if the request was a way point request, the first item in line is the one the result concerns.
if (req.pathType == InternalPathRequest.Type.Waypoint)
{
AnnounceEvent(UnitNavigationEventMessage.Event.WaypointReached, _wayPoints.Dequeue(), null);
}
//Process the result
if (!ProcessAndValidateResult(result))
{
return;
}
_currentPath = result.path;
// If we have a formation we want to recalculate positions
// We turn the model unit to face the new path direction so the formation can be sorted right away.
if (_currentFormation != null)
{
_modelUnit.transform.LookAt(_currentPath[1].position);
SetFormation(_currentFormation);
}
SetVectorFieldPath();
}
void INeedPath.ConsumePathResult(PathResult result)
{
// Execute on the main thread to avoid multi-threading issues or the need for using a lock or Monitor
NavLoadBalancer.marshaller.ExecuteOnMainThread(() =>
{
// If we have stopped or get back the result of a request other than the one we currently expect, just toss it as it will be outdated.
if (result.originalRequest != _pendingPathRequest)
{
return;
}
_pendingResult = result;
_pendingPathRequest = null;
});
}
private bool ConsumeResult()
{
//Since result processing may actually repath and consequently a new result may arrive we need to operate on locals and null the pending result
PathResult result;
lock (_syncLock)
{
result = _pendingResult;
_pendingResult = null;
}
var req = result.originalRequest as InternalPathRequest;
//Consume way points if appropriate. This must be done prior to the processing of the result, since if the request was a way point request, the first item in line is the one the result concerns.
if (req.pathType == InternalPathRequest.Type.Waypoint)
{
_wayPoints.Dequeue();
}
else if (req.pathType == InternalPathRequest.Type.PathboundWaypoint)
{
_pathboundWayPoints.Dequeue();
}
//Reset current destination and path no matter what
_previousDestination = _transform.position;
_currentDestination = null;
_currentPath = null;
//Process the result
if (!ProcessAndValidateResult(result))
{
return false;
}
//Consume the result
_onFinalApproach = false;
_currentPath = result.path;
_currentGrid = req.fromGrid;
_remainingSquaredDistance = _currentPath.CalculateSquaredLength();
_endOfResolvedPath = _currentPath.Last().position;
_endOfPath = _endOfResolvedPath;
//Update pending way points
UpdatePathboundWaypoints(result.pendingWaypoints);
//Pop the first node as our next destination.
_unit.hasArrivedAtDestination = false;
_currentDestination = _currentPath.Pop();
return true;
}
void INeedPath.ConsumePathResult(PathResult result)
{
LoadBalancer.marshaller.ExecuteOnMainThread(() => _callback(result));
}
private bool ProcessAndValidateResult(PathResult result)
{
for (int i = 0; i < _resultProcessors.Length; i++)
{
if (_resultProcessors[i].HandleResult(result, this))
{
return (result.status == PathingStatus.Complete);
}
}
UnitNavigationEventMessage.Event msgEvent = UnitNavigationEventMessage.Event.None;
switch (result.status)
{
case PathingStatus.Complete:
{
/* All is good, no more to do */
return true;
}
case PathingStatus.NoRouteExists:
{
msgEvent = UnitNavigationEventMessage.Event.StoppedNoRouteExists;
break;
}
case PathingStatus.DestinationBlocked:
{
msgEvent = UnitNavigationEventMessage.Event.StoppedDestinationBlocked;
break;
}
case PathingStatus.Decayed:
{
//We cannot reissue the request here, since we may be on a different thread, but then again why would we issue the request again if it had a decay threshold its no longer valid.
msgEvent = UnitNavigationEventMessage.Event.StoppedRequestDecayed;
break;
}
case PathingStatus.StartOutsideGrid:
case PathingStatus.EndOutsideGrid:
case PathingStatus.Failed:
{
//The first two are handled before going to the pather, by the DirectPather, and since it would be a bug if either happen and not something a handler should care for
//we do not send a message
Debug.LogError("Unexpected status returned from pather: " + result.status.ToString());
break;
}
}
var destination = result.originalRequest.to;
var pendingWaypoints = _wayPoints.ToArray();
StopInternal();
if (msgEvent != UnitNavigationEventMessage.Event.None)
{
AnnounceEvent(msgEvent, destination, pendingWaypoints);
}
return false;
}
/// <summary>
/// Completes this request
/// </summary>
/// <param name="result">The result.</param>
void IPathRequest.Complete(PathResult result)
{
this.requester.ConsumePathResult(result);
}
public void Complete(PathResult result)
{
throw new InvalidOperationException();
}
private void ConsumeResult()
{
//Since result processing may actually repath and consequently a new result may arrive we need to operate on locals and null the pending result
PathResult result;
lock (_syncLock)
{
result = _pendingResult;
_pendingResult = null;
}
var req = result.originalRequest as InternalPathRequest;
//Consume way points if appropriate. This must be done prior to the processing of the result, since if the request was a way point request, the first item in line is the one the result concerns.
bool isWaypoint = req.pathType == InternalPathRequest.Type.Waypoint;
if (!isWaypoint)
{
//Since a waypoint request does not account for the entire path, we do not set the request time
_lastPathRequestTime = req.timeStamp;
}
//Process the result
if (ProcessAndValidateResult(result, isWaypoint))
{
//Consume the result
SetPath(result.path, isWaypoint);
}
}
//INeedPath
public virtual void ConsumePathResult(PathResult result)
{
Debug.LogWarning("Received path " + result);
//throw new NotImplementedException();
}
private void StopInternal()
{
lock (_syncLock)
{
_stopped = true;
_wayPoints.Clear();
_currentPath = null;
_pendingPathRequest = null;
_currentDestination = null;
_pendingResult = null;
_manualReplan = null;
}
}
private void ConsumeResult()
{
//Consume way points if appropriate. This must be done prior to the processing of the result, since if the request was a way point request, the first item in line is the one the result concerns.
if (_pendingResult.originalRequest.type == RequestType.Waypoint)
{
_wayPoints.Dequeue();
}
else if (_pendingResult.originalRequest.type == RequestType.PathboundWaypoint)
{
_pathboundWayPoints.Dequeue();
}
//Reset current destination no matter what
_currentDestination = null;
//Since result processing may actually repath and consequently a new result may arrive we need to operate on locals and null the pending result
var result = _pendingResult;
_pendingResult = null;
//Process the result
if (!ProcessAndValidateResult(result))
{
return;
}
//Consume the result
_currentPath = result.path;
_currentGrid = result.originalRequest.fromGrid;
_endOfResolvedPath = _currentPath.Last().position;
_endOfPath = _endOfResolvedPath;
//Update pending way points
UpdatePathboundWaypoints(result.pendingWaypoints);
//The first point on the path is always the origin of the request, so we want to skip that.
_currentPath.Pop();
}
