/**
* Constructs an ExecutionTask with an associated ModelTask and a
* BTExecutor. The ModelTask represents the conceptual task that the
* ExecutionTask is running, and the BTExecutor is that in charge of the
* ExecutionTask. Also, the parent of the ExecutionTask must be provided.
*
* @param modelTask
* the ModelTask this ExecutionTask will run.
* @param executor
* the BTExecutor managing this task.
* @param parent
* the parent ExecutionTask, or null in case this is the root of
* the tree.
*/
protected ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
_modelTask = modelTask;
_executor = executor as BTExecutor;
_listeners = new List <ITaskListener>();
_spawnable = true;
_tickable = false;
_terminated = false;
_status = Status.Uninitialized;
_parent = parent;
if (_modelTask != null)
{
AlwaysFail = modelTask.AlwaysFail;
}
/* Compute the position of this node. */
if (parent == null)
{
_position = new Position();
}
else
{
_position = new Position(parent._position);
var nextMove = GetMove();
_position.AddMove(nextMove);
}
}
public ExecutionComposite(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(typeof(ModelComposite).IsAssignableFrom(modelTask.GetType()))) {
throw new ArgumentException("The ModelTask " + modelTask.GetType() + " must subclass "
+ typeof(ModelComposite) + " but it inherits from "
+ modelTask.GetType().BaseType);
}
}
/**
* Creates an ExecutionDecorator that is able to run a particular
* ModelDecorator task.
*
* @param modelTask
* the ModelDecorator task to run.
* @param executor
* the BTExecutor that will manage this ExecutionDecorator.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionDecorator(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelDecorator))
{
throw new ArgumentException("The ModelTask must subclass ModelDecorator but it inherits from " +
modelTask.GetType().Name);
}
}
public static void RunInterrupterBranch(IBTExecutor executor, int numTicks)
{
var counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < numTicks);
}
/**
* Creates an ExecutionComposite that is able to run a particular
* ModelComposite task.
*
* @param modelTask
* the ModelComposite task to run.
* @param executor
* the BTExecutor that will manage this ExecutionComposite.
* @param parent
* the parent ExecutionTask of this task.
*/
protected ExecutionComposite(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelComposite))
{
throw new ArgumentException("The ModelTask must subclass " + typeof(ModelComposite).Name + " but it inherits from " +
modelTask.GetType().Name);
}
}
/**
* Creates an ExecutionComposite that is able to run a particular
* ModelComposite task.
*
* @param modelTask
* the ModelComposite task to run.
* @param executor
* the BTExecutor that will manage this ExecutionComposite.
* @param parent
* the parent ExecutionTask of this task.
*/
protected ExecutionComposite(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelComposite))
{
throw new ArgumentException("The ModelTask must subclass " + typeof (ModelComposite).Name + " but it inherits from " +
modelTask.GetType().Name);
}
}
public ExecutionSelector(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelSelector)) {
throw new ArgumentException("The ModelTask must subclass "
+ typeof(ModelSelector) + " but it inherits from "
+ modelTask.GetType().BaseType);
}
}
/**
* Creates an ExecutionDecorator that is able to run a particular
* ModelDecorator task.
*
* @param modelTask
* the ModelDecorator task to run.
* @param executor
* the BTExecutor that will manage this ExecutionDecorator.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionDecorator(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelDecorator))
{
throw new ArgumentException("The ModelTask must subclass ModelDecorator but it inherits from " +
modelTask.GetType().Name);
}
}
public static void RunInterrupterBranch(IBTExecutor executor, int numTicks)
{
var counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < numTicks);
}
/**
* This method ticks <code>executor</code> {@value #NUM_TICKS_LONG_TICK} times. If the executor
* finishes earlier, it is not ticked anymore, and the ticking process stops.
*
* @param executor
* the IBTExecutor that is ticked.
*/
private void longTick(IBTExecutor executor)
{
if (executor.GetStatus() == Status.Running || executor.GetStatus() == Status.Uninitialized)
{
int counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < NumTicksLongTick);
}
}
public ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
this.modelTask = modelTask;
this.executor = executor;
this.spawnable = true;
this.tickable = false;
this.status = TaskStatus.UNINITIALISED;
if (parent == null) {
this.position = new Position();
}
else {
this.position = new Position(parent.position);
this.position.AddMove(GetMove());
this.parent = parent;
}
}
/**
* Evaluate all the guards that have not finished yet, that is, those whose
* result in {@link #guardsResults} is {@link Status#RUNNING}, by ticking
* them.
* <p>
* If all the guards have finished in failure, this method returns a Tuple
* whose first element is {@link Status#FAILURE}. If there is at least one
* guard still being evaluated, the first element of the Tuple contains
* {@link Status#RUNNING}. If all the guards have been evaluated and at
* least one has succeeded, the first element of the Tuple is
* {@link Status#SUCCESS}, and the second one is the index, over the list of
* guards ({@link #guardsExecutors}) , of the first guard (that with the
* highest priority) that has succeeded.
*
*/
private Tuple <Status, int> evaluateGuards()
{
bool oneRunning = false;
/* First, evaluate all the guards that have not finished yet. */
for (int i = 0; i < _guardsExecutors.Count; i++)
{
IBTExecutor guardExecutor = _guardsExecutors[i];
if (guardExecutor != null)
{
if (guardsResults[i] == Status.Running)
{
guardExecutor.Tick();
guardsResults[i] = guardExecutor.GetStatus();
if (guardsResults[i] == Status.Running)
{
oneRunning = true;
}
}
}
}
/* If there is at least one still running... */
if (oneRunning)
{
return(new Tuple <Status, int>(Status.Running, -1));
}
/* If all of them have finished we check which one succeeded first. */
for (int i = 0; i < guardsResults.Count; i++)
{
if (guardsResults[i] == Status.Success)
{
return(new Tuple <Status, int>(Status.Success, i));
}
}
/* Otherwise, the evaluation has failed. */
return(new Tuple <Status, int>(Status.Failure, -1));
}
/**
* Constructs an ExecutionTask with an associated ModelTask and a
* BTExecutor. The ModelTask represents the conceptual task that the
* ExecutionTask is running, and the BTExecutor is that in charge of the
* ExecutionTask. Also, the parent of the ExecutionTask must be provided.
*
* @param modelTask
* the ModelTask this ExecutionTask will run.
* @param executor
* the BTExecutor managing this task.
* @param parent
* the parent ExecutionTask, or null in case this is the root of
* the tree.
*/
protected ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
_modelTask = modelTask;
_executor = executor as BTExecutor;
_listeners = new List<ITaskListener>();
_spawnable = true;
_tickable = false;
_terminated = false;
_status = Status.Uninitialized;
_parent = parent;
if(_modelTask != null)
AlwaysFail = modelTask.AlwaysFail;
/* Compute the position of this node. */
if (parent == null)
{
_position = new Position();
}
else
{
_position = new Position(parent._position);
var nextMove = GetMove();
_position.AddMove(nextMove);
}
}
///Creates an ExecutionInterrupter that is able to run a ModelInterrupter
///task and that is managed by a BTExecutor.
///
///@param modelTask the ModelInterrupter that this ExecutionInterrupter is going to run.
///@param executor the BTExecutor in charge of running this ExecutionInterrupter.
///@param parent the parent ExecutionTask of this task.
public ExecutionInterrupter(ModelInterrupter modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
_interrupted = false;
}
public TestInterrupterExecutor(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
}
public void TriggerExecution()
{
if (this.TypeOfExecution == ExecutionType.TRIGGER) {
if (this.executor == null) {
this.executor = this.GetExecutor();
}
if (!running) {
running = true;
StartCoroutine("TickExecutorParallel");
this.FireOutput("OnExecutionTrigger");
}
}
}
public StubExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
}
///Creates an ExecutionInterrupter that is able to run a ModelInterrupter
///task and that is managed by a BTExecutor.
///
///@param modelTask the ModelInterrupter that this ExecutionInterrupter is going to run.
///@param executor the BTExecutor in charge of running this ExecutionInterrupter.
///@param parent the parent ExecutionTask of this task.
public ExecutionInterrupter(ModelInterrupter modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
_interrupted = false;
}
public override ExecutionTask CreateExecutor(IBTExecutor btExecutor, ExecutionTask parent)
{
return new ExecutionStatusResponder(this, btExecutor, parent);
}
public override ExecutionTask CreateExecutor(IBTExecutor btExecutor, ExecutionTask parent)
{
return new ExecutionSequence(this, btExecutor, parent);
}
/// <summary> /// Creates a suitable ExecutionTask that will be able to run this ModelTask /// through the management of a BTExecutor. /// </summary> /// <param name="btExecutor"></param> /// <param name="parent"></param> /// <returns></returns> public abstract ExecutionTask CreateExecutor(IBTExecutor btExecutor, ExecutionTask parent);
public void Start()
{
this.executor = this.GetExecutor();
if (this.TypeOfExecution == ExecutionType.AUTO) {
running = true;
StartCoroutine("TickExecutorParallel");
}
}
public StubExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent) : base(modelTask, executor, parent)
{
}
/**
* Evaluate all the guards that have not finished yet, that is, those whose result in
* {@link #guardsResults} is {@link Status#RUNNING}, by ticking them.
* <p>
* If all the guards have finished in failure, this method returns a Tuple whose first element is
* {@link Status#FAILURE}. If guards' evaluation has not completed yet, the first element of the
* Tuple contains {@link Status#RUNNING}. If all the guards have been evaluated and at least one
* has succeeded, the first element of the Tuple is {@link Status#SUCCESS}, and the second one is
* the index, over the list of guards ({@link #guardsExecutors}) , of the first guard (that with
* the highest priority) that has succeeded.
*
*/
private Tuple <Status, int> EvaluateGuards()
{
/*
* Tick all the guards that are still running. If one changes its status to SUCCESS and it
* matches the guard associated to "indexMostRelevantGuard", then the guards' evaluation is
* over and that is the selected guard.
*/
for (int i = 0; i < _guardsExecutors.Count; i++)
{
IBTExecutor guardExecutor = _guardsExecutors[i];
if (guardExecutor != null)
{
if (_guardsResults[i] == Status.Running)
{
longTick(guardExecutor);
_guardsResults[i] = guardExecutor.GetStatus();
if (guardExecutor.GetStatus() != Status.Running)
{
/*
* If the guard has finished, we check if it matches the
* "most relevant guard".
*/
if (i == _indexMostRelevantGuard)
{
if (guardExecutor.GetStatus() == Status.Success)
{
return(new Tuple <Status, int>(Status.Success, i));
}
/*
* If the guard failed, we have to find the next
* "most relevant guard" and update "indexMostRelevantGuard"
* accordingly. For that we check the status of the following
* guards. If we find a successful guard before any running guard,
* then the guards' evaluation is over, and that is the selected
* guard. If we find a running guard before, then that's the new
* "most relevant guard". Otherwise, the evaluation has failed, and
* there is no successful guard.
*/
bool oneRunning = false;
for (int k = _indexMostRelevantGuard + 1; k < _guardsExecutors.Count; k++)
{
if (_guardsExecutors[k] != null)
{
Status currentResult = _guardsExecutors[k].GetStatus();
if (currentResult == Status.Running)
{
_indexMostRelevantGuard = k;
oneRunning = true;
break;
}
if (currentResult == Status.Success)
{
return(new Tuple <Status, int>(Status.Success, k));
}
}
else
{
return(new Tuple <Status, int>(Status.Success, k));
}
}
if (!oneRunning)
{
return(new Tuple <Status, int>(Status.Failure, -1));
}
}
}
}
}
else
{
/* Remember, null guard means successful evaluation. */
if (i == _indexMostRelevantGuard)
{
return(new Tuple <Status, int>(Status.Success, i));
}
}
}
return(new Tuple <Status, int>(Status.Running, -1));
}
public TestInterrupterExecutor(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
}
/**
* This method ticks <code>executor</code> {@value #NUM_TICKS_LONG_TICK} times. If the executor
* finishes earlier, it is not ticked anymore, and the ticking process stops.
*
* @param executor
* the IBTExecutor that is ticked.
*/
private void longTick(IBTExecutor executor)
{
if (executor.GetStatus() == Status.Running || executor.GetStatus() == Status.Uninitialized)
{
int counter = 0;
do
{
executor.Tick();
counter++;
} while (executor.GetStatus() == Status.Running && counter < NumTicksLongTick);
}
}
