public ScanAtStationAction(RobotController controller, List <Goal> goals, LabelHandle scanStation)
: base(controller, goals, scanStation)
{
this.name = "scanAtStation";
this.scanStation = scanStation;
requiredComponents = new System.Type[] { typeof(HoverJet) };
}
public RobotMessage(MessageType type, string message, LabelHandle target, Vector3 targetPos, Vector3? velocity) {
this.type = type;
this.message = message;
this.target = target;
this.targetPos = targetPos;
this.targetVelocity = velocity;
}
public InvestigateAction(RobotController controller, List<Goal> goals, LabelHandle parent)
: base(controller, goals, parent)
{
creationTime = System.DateTime.Now;
this.name = "investigate";
requiredComponents = new System.Type[] { typeof(HoverJet) };
}
public InvestigateAction(RobotController controller, List <Goal> goals, LabelHandle parent)
: base(controller, goals, parent)
{
creationTime = System.DateTime.Now;
this.name = "investigate";
requiredComponents = new System.Type[] { typeof(HoverJet) };
}
internal void AddBranch(int ilOffset, LabelHandle label, byte shortOpCode)
{
Debug.Assert(ilOffset >= 0);
Debug.Assert(_branches.Count == 0 || ilOffset > _branches.Last().ILOffset);
ValidateLabel(label);
_branches.Add(new BranchInfo(ilOffset, label, shortOpCode));
}
internal void AddBranch(int ilOffset, LabelHandle label, byte shortOpCode)
{
Debug.Assert(ilOffset >= 0);
Debug.Assert(_branches.Count == 0 || ilOffset > _branches.Last().ILOffset);
ValidateLabel(label);
_branches.Add(new BranchInfo(ilOffset, label, shortOpCode));
}
public System.DateTime? getLastSightingTime(LabelHandle target)
{
if(targetSightings.ContainsKey(target)) {
return targetSightings[target].getSightingTime();
}
return null;
}
public void Awake()
{
labelHandle = new LabelHandle(transform.position, name);
labelHandle.label = this;
Label.labels.Add(this);
if (isVisible)
{
visibleLabels.Add(this);
}
triggers = new Dictionary <System.Type, List <Operation> >();
foreach (Operation op in operations)
{
addOperation(op, op.getTriggers());
}
foreach (EndeavourFactory endeavour in endeavours)
{
endeavour.setParent(this);
}
foreach (Tag tag in tags)
{
tagMap.Add(tag.type, tag);
}
}
public System.Nullable<Vector3> getLastKnownPosition(LabelHandle target)
{
if (targetSightings.ContainsKey(target)) {
return targetSightings[target].getPosition();
}
return null;
}
public void trackTarget(LabelHandle target)
{
trackedTargets.Add(target);
target.getPosition();
foreach (InherentEndeavourFactory factory in inherentEndeavours)
{
if (factory.isApplicable(target))
{
Endeavour action = factory.constructEndeavour(this, target);
if (action != null)
{
availableEndeavours.Add(action);
dirty = true;
}
}
}
if (target.label != null)
{
foreach (Endeavour action in target.label.getAvailableEndeavours(this))
{
availableEndeavours.Add(action);
dirty = true;
}
}
}
public void addSighting(LabelHandle target, Vector3 position, Vector3?direction)
{
if (targetSightings.ContainsKey(target))
{
SensoryInfo info = targetSightings[target];
if (info.getSightings() == 0)
{
// We have to increment the sighting count before we notify listeners
info.addSighting();
notifyListenersTargetFound(target);
}
else
{
// Keep this. See above comment
info.addSighting();
}
info.updatePosition(position);
info.updateDirection(direction);
}
else
{
targetSightings[target] = new SensoryInfo(position, direction, 1);
notifyListenersTargetFound(target);
}
}
public void notifyListenersTargetLost(LabelHandle target)
{
for (int i = 0; i < listeners.Count; i++)
{
listeners[i].notifySightingLost(target);
}
}
public RobotMessage(MessageType type, string message, LabelHandle target, Vector3 targetPos, Vector3?velocity)
{
this.type = type;
this.message = message;
this.target = target;
this.targetPos = targetPos;
this.targetVelocity = velocity;
}
private void sightingFound(LabelHandle target, Vector3 pos, Vector3?dir)
{
if (externalMentalModel != null)
{
externalMentalModel.addSighting(target, pos, dir);
}
mentalModel.addSighting(target, pos, dir);
}
private void sightingLost(LabelHandle target, Vector3 lastKnownPos, Vector3?lastKnownVelocity)
{
if (externalMentalModel != null)
{
externalMentalModel.removeSighting(target, lastKnownPos, lastKnownVelocity);
}
mentalModel.removeSighting(target, lastKnownPos, lastKnownVelocity);
}
public HoldAction(RobotController controller, Label target, LabelHandle source) : base(controller, new List <Goal> {
new Goal(GoalEnum.Offense, 3), new Goal(GoalEnum.Protection, 3)
}, source)
{
this.target = target;
this.name = "grab";
requiredComponents = new System.Type[] { typeof(RobotArms) };
}
public System.DateTime?getLastSightingTime(LabelHandle target)
{
if (targetSightings.ContainsKey(target))
{
return(targetSightings[target].getSightingTime());
}
return(null);
}
public System.Nullable <Vector3> getLastKnownPosition(LabelHandle target)
{
if (targetSightings.ContainsKey(target))
{
return(targetSightings[target].getPosition());
}
return(null);
}
public void updateInfo(LabelHandle target)
{
if (getSightings() > 0) {
updatePosition(target.getPosition());
updateTime(System.DateTime.Now);
updateAttachedTags(target.getTags());
if (target.getDirection() != null) {
updateDirection(target.getDirection());
}
}
}
private void ValidateLabel(LabelHandle label)
{
if (label.IsNil)
{
Throw.ArgumentNull(nameof(label));
}
if (label.Id > _labels.Count)
{
Throw.LabelDoesntBelongToBuilder(nameof(label));
}
}
public void Branch(ILOpCode code, LabelHandle label)
{
// throws if code is not a branch:
ILOpCode shortCode = code.GetShortBranch();
GetBranchBuilder().AddBranch(Offset, label, (byte)shortCode);
OpCode(shortCode);
// -1 points in the middle of the branch instruction and is thus invalid.
// We want to produce invalid IL so that if the caller doesn't patch the branches
// the branch instructions will be invalid in an obvious way.
Builder.WriteSByte(-1);
}
private void ValidateLabel(LabelHandle label)
{
if (label.IsNil)
{
throw new ArgumentNullException(nameof(label));
}
if (label.Id > _labels.Count)
{
// TODO: localize
throw new ArgumentException("Label not defined", nameof(label));
}
}
private void pursueTarget()
{
if (target != null)
{
if (hasReachedTargetLocation())
{
if (!hasMatchedTargetRotation())
{
roboController.transform.rotation = Quaternion.RotateTowards(Quaternion.LookRotation(roboController.transform.forward), Quaternion.LookRotation(target.label.transform.forward), nav.angularSpeed * Time.deltaTime);
}
else
{
roboController.enqueueMessage(new RobotMessage(RobotMessage.MessageType.ACTION, "target reached", target, target.getPosition(), null));
target = null;
return;
}
}
if (nav.enabled)
{
nav.speed = pursueSpeed;
if (target.getDirection().HasValue&& Vector3.Distance(roboController.transform.position, target.getPosition()) > target.getDirection().Value.magnitude)
{
nav.SetDestination((target.getPosition())); // +
//target.getDirection().Value
//* .08f
//* (1 + Vector3.Dot(target.getDirection().Value.normalized, (target.getPosition() - roboController.transform.position).normalized))
//*(target.getDirection().Value.magnitude/nav.speed)
//* Vector3.Distance(roboController.transform.position, target.getPosition())));
}
else
{
nav.SetDestination(target.getPosition());
}
#if UNITY_EDITOR
if (roboController.debug)
{
Destroy(dest);
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = nav.destination;
cube.GetComponent <MeshRenderer>().material.color = Color.green;
Destroy(cube.GetComponent <BoxCollider>());
cube.transform.localScale = new Vector3(.3f, .3f, .3f);
dest = cube;
}
#endif
}
}
}
public void setTarget(LabelHandle target, bool matchRotation = false)
{
this.target = target;
if (target == null)
{
nav.Stop();
isPursuit = false;
}
else
{
nav.Resume();
}
matchTargetRotation = matchRotation;
}
public void OnCollisionEnter(Collision col) {
float volume = col.impulse.magnitude *this.volume;
if (volume > volumeThreshold) {
source.volume = volume;
if (source.clip == null)
source.clip = clip;
source.Play(0);
LabelHandle audioLabel = new LabelHandle(transform.position, "rock");
audioLabel.addTag(new Tag(TagEnum.Sound, volume));
audioLabel.addTag(new Tag(TagEnum.Threat, 5f));
AudioEvent rockCollisionSound = new AudioEvent(transform.position, audioLabel, transform.position);
rockCollisionSound.broadcast(volume);
}
}
public void removeSighting(LabelHandle target, Vector3 position, Vector3? direction)
{
if (targetSightings.ContainsKey (target)) {
SensoryInfo info = targetSightings[target];
info.removeSighting();
if (info.getSightings() < 1) {
notifyListenersTargetLost (target);
}
info.updatePosition(position);
} else {
//Realistically we should never get here. This case is stupid.
targetSightings[target] = new SensoryInfo(position, direction, 0);
notifyListenersTargetLost (target);
Debug.LogWarning("Target '" + target.getName() + "' that was never found has been lost. Shenanigans?");
}
}
public void Equality()
{
var a1 = new LabelHandle(1);
var a2 = new LabelHandle(2);
var b1 = new LabelHandle(1);
Assert.False(((object)a1).Equals(a2));
Assert.False(a1.Equals(new object()));
Assert.False(a1.Equals(a2));
Assert.False(a1 == a2);
Assert.True(((object)a1).Equals(b1));
Assert.True(a1.Equals(b1));
Assert.True(a1 == b1);
Assert.Equal(a1.GetHashCode(), b1.GetHashCode());
}
public ExceptionHandlerInfo(
ExceptionRegionKind kind,
LabelHandle tryStart,
LabelHandle tryEnd,
LabelHandle handlerStart,
LabelHandle handlerEnd,
LabelHandle filterStart,
EntityHandle catchType)
{
Kind = kind;
TryStart = tryStart;
TryEnd = tryEnd;
HandlerStart = handlerStart;
HandlerEnd = handlerEnd;
FilterStart = filterStart;
CatchType = catchType;
}
public void OnCollisionEnter(Collision col)
{
float volume = col.impulse.magnitude * this.volume;
if (volume > volumeThreshold)
{
source.volume = volume;
if (source.clip == null)
{
source.clip = clip;
}
source.Play(0);
LabelHandle audioLabel = new LabelHandle(transform.position, "rock");
audioLabel.addTag(new Tag(TagEnum.Sound, volume));
audioLabel.addTag(new Tag(TagEnum.Threat, 5f));
AudioEvent rockCollisionSound = new AudioEvent(transform.position, audioLabel, transform.position);
rockCollisionSound.broadcast(volume);
}
}
public void addSighting(LabelHandle target, Vector3 position, Vector3? direction)
{
if (targetSightings.ContainsKey (target)) {
SensoryInfo info = targetSightings[target];
info.addSighting();
info.updateInfo(target);
} else {
if (staleTargetSightings.ContainsKey(target)) {
SensoryInfo info = staleTargetSightings[target];
targetSightings.Add(target, info);
staleTargetSightings.Remove(target);
info.addSighting();
} else {
targetSightings[target] = new SensoryInfo(position, direction, System.DateTime.Now, target.getTags(), 1);
}
registerTags(target);
notifyListenersTargetFound(target);
}
}
public void addSighting(LabelHandle target, Vector3 position, Vector3? direction) {
if (targetSightings.ContainsKey (target)) {
SensoryInfo info = targetSightings[target];
if (info.getSightings() == 0) {
// We have to increment the sighting count before we notify listeners
info.addSighting();
notifyListenersTargetFound(target);
}
else {
// Keep this. See above comment
info.addSighting();
}
info.updatePosition(position);
info.updateDirection(direction);
} else {
targetSightings[target] = new SensoryInfo(position, direction, System.DateTime.Now, 1);
notifyListenersTargetFound(target);
}
}
public void setTarget(LabelHandle target, bool autoBrake, bool matchRotation = false) {
this.target = target;
matchTargetRotation = matchRotation;
if(target == null) {
if(nav.enabled) {
nav.Stop();
}
isPursuit = false;
} else {
if(hasReachedTargetLocation() && hasMatchedTargetRotation()) {
this.target = null;
//print("bailing...");
return;
}
if(nav.enabled) {
nav.Resume();
}
}
nav.autoBraking = autoBrake;
}
public void setTarget(LabelHandle target, bool matchRotation = false)
{
this.target = target;
if (target == null)
{
if (nav.enabled)
{
nav.Stop();
}
isPursuit = false;
}
else
{
if (nav.enabled)
{
nav.Resume();
}
}
matchTargetRotation = matchRotation;
nav.autoBraking = true;
}
public void removeSighting(LabelHandle target, Vector3 position, Vector3?direction)
{
if (targetSightings.ContainsKey(target))
{
SensoryInfo info = targetSightings[target];
info.removeSighting();
if (info.getSightings() < 1)
{
notifyListenersTargetLost(target);
}
info.updatePosition(position);
}
else
{
//Realistically we should never get here. This case is stupid.
targetSightings[target] = new SensoryInfo(position, direction, 0);
notifyListenersTargetLost(target);
Debug.LogWarning("Target '" + target.getName() + "' that was never found has been lost. Shenanigans?");
}
}
public void Awake() {
labelHandle = new LabelHandle(transform.position, name);
labelHandle.label = this;
Label.labels.Add(this);
if (isVisible) {
visibleLabels.Add(this);
}
triggers = new Dictionary<System.Type, List<Operation>>();
foreach(Operation op in operations) {
addOperation(op, op.getTriggers());
}
foreach (EndeavourFactory endeavour in endeavours) {
endeavour.setParent(this);
}
foreach(Tag tag in tags) {
tagMap.Add(tag.type, tag);
}
}
private void goToTarget()
{
if (target != null)
{
if (hasReachedTargetLocation())
{
if (!hasMatchedTargetRotation())
{
roboController.transform.rotation = Quaternion.RotateTowards(Quaternion.LookRotation(roboController.transform.forward), Quaternion.LookRotation(target.label.transform.forward), nav.angularSpeed * Time.deltaTime);
}
else
{
roboController.enqueueMessage(new RobotMessage(RobotMessage.MessageType.ACTION, "target reached", target, target.getPosition(), null));
target = null;
return;
}
}
if (nav.enabled)
{
nav.speed = regularSpeed;
nav.SetDestination(target.getPosition());
#if UNITY_EDITOR
if (roboController.debug)
{
Destroy(dest);
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = target.getPosition();
cube.GetComponent <MeshRenderer>().material.color = Color.green;
Destroy(cube.GetComponent <BoxCollider>());
cube.transform.localScale = new Vector3(.3f, .3f, .3f);
dest = cube;
}
#endif
}
}
}
public void Awake()
{
labelHandle = new LabelHandle(transform.position, name);
labelHandle.label = this;
Label.labels.Add(this);
if (isVisible) {
visibleLabels.Add(this);
}
triggers = new Dictionary<System.Type, List<Operation>>();
foreach(Operation op in operations) {
addOperation(op, op.getTriggers());
}
tagMap = new Dictionary<TagEnum, Tag>();
foreach(Tag tag in tags) {
if (tag == null) {
Debug.LogWarning("Null tag attached to '" + name + "'");
}
tag.setLabelHandle(labelHandle);
tagMap.Add(tag.type, tag);
}
}
public PatrolTag(float severity, LabelHandle handle)
: base(TagEnum.PatrolRoute, severity, handle)
{
}
public void notifySightingLost(LabelHandle target)
{
broadcastMessage(new EventMessage("target lost", target));
}
public void notifySighting(LabelHandle target)
{
broadcastMessage(new EventMessage("target found", target));
}
private void unregisterTags(LabelHandle handle)
{
List<TagEnum> tags = handle.getTagTypes();
foreach (TagEnum tag in tags) {
if (knownTags.ContainsKey(tag)) {
knownTags[tag].Remove(handle.getTag(tag));
}
}
}
//TODO velocity must not be null when we improve the investigate system!
public AudioEvent(Vector3 source, LabelHandle handle, Vector3 sourcePos)
: base(RobotMessage.MessageType.TARGET_SIGHTED, "sound heard", handle, sourcePos, null)
{
}
internal BranchInfo(int ilOffset, LabelHandle label, byte shortOpCode)
{
ILOffset = ilOffset;
Label = label;
ShortOpCode = shortOpCode;
}
internal void MarkLabel(int ilOffset, LabelHandle label)
{
Debug.Assert(ilOffset >= 0);
ValidateLabel(label);
_labels[label.Id - 1] = ilOffset;
}
public HoldAction(RobotController controller, Label target, LabelHandle source) : base(controller, new List<Goal>{new Goal(GoalEnum.Offense, 3), new Goal(GoalEnum.Protection, 3)}, source ) {
this.target = target;
this.name = "grab";
requiredComponents = new System.Type[] {typeof(RobotArms)};
}
public Endeavour(RobotController controller, List<Goal> goals, LabelHandle parent) {
this.controller = controller;
this.goals = goals;
this.parent = parent;
}
public override Endeavour constructEndeavour(RobotController controller, LabelHandle target)
{
return(new InvestigateAction(controller, this.goals, target));
}
public override bool isApplicable(LabelHandle labelHandel)
{
return(labelHandel.hasTag(TagEnum.Sound));
}
public void MarkLabel(LabelHandle label)
{
GetBranchBuilder().MarkLabel(Offset, label);
}
private void registerTags(LabelHandle handle)
{
List<TagEnum> tags = handle.getTagTypes();
foreach (TagEnum tag in tags) {
if (knownTags.ContainsKey(tag)) {
knownTags[tag].Add(handle.getTag(tag));
//Debug.Log("registering tag: " + handle.getTag(tag).GetType() + " as " + tag.ToString());
} else {
List<Tag> tagList = new List<Tag>();
tagList.Add(handle.getTag(tag));
knownTags[tag] = tagList;
//Debug.Log("registering tag: " + handle.getTag(tag).GetType() + " as " + tag.ToString() );
}
}
}
public bool knowsTarget(LabelHandle target)
{
return targetSightings.ContainsKey(target);
}
public bool knowsTarget(LabelHandle target)
{
return(targetSightings.ContainsKey(target));
}
private void notifyListenersTargetLost(LabelHandle target)
{
foreach (Tag tag in target.getTags()) {
notifyListenersTagRemoved(tag);
}
}
public ScanAtStationAction(RobotController controller, List<Goal> goals, LabelHandle scanStation)
: base(controller, goals, scanStation) {
this.name = "scanAtStation";
this.scanStation = scanStation;
requiredComponents = new System.Type[] {typeof(HoverJet)};
}
private void notifyListenersTargetFound(LabelHandle target)
{
foreach (Tag tag in target.getTags()) {
notifyListenersTagAdded(tag);
}
}
//TODO velocity must not be null when we improve the investigate system!
public AudioEvent(Vector3 source, LabelHandle handle, Vector3 sourcePos)
: base(RobotMessage.MessageType.TARGET_SIGHTED, "sound heard", handle, sourcePos, null)
{
}
public bool canSee(LabelHandle target)
{
return(targetSightings.ContainsKey(target) && targetSightings[target].getSightings() > 0);
}
private void ValidateLabel(LabelHandle label)
{
if (label.IsNil)
{
throw new ArgumentNullException(nameof(label));
}
if (label.Id > _labels.Count)
{
// TODO: localize
throw new ArgumentException("Label not defined", nameof(label));
}
}
public bool canSee(LabelHandle target)
{
return targetSightings.ContainsKey(target) && targetSightings[target].getSightings() > 0;
}
