private void ExecutePlan()
{
plan = plan != null ? plan : planner.GeneratePlan(currentGoal, state.DeepClone(), actions);
if (plan == null)
{
Debug.Log("Re-Plan");
idleAction.act(agent, state);
return;
}
if (currentAction == null)
{
currentAction = plan.getNextAction();
agent.actionProgress = 0;
}
if (currentAction == null || !currentAction.ValidateState(state) || plan.goal != currentGoal)
{
plan = null;
return;
}
if (currentAction.act(agent, state))
{
currentAction = null;
}
}
public void Update()
{
if (current == AgentState.IDLE)
{
//Transizione a PLANNING: se l'agente ha un task obiettivo non completato, o non esiste una condizione obiettivo, ma il manager delle azioni è comunque in stato STOP
if (agent.goal.methods.Count > 0 && !agent.goal.completed && (Time.frameCount % 60 == 0 || Time.frameCount == 1))
{
current = AgentState.PLANNING;
}
//Transizione a EXECUTING: se il manager delle azioni è in stato EXECUTE
else if (agent.actionManager.state == ManagerState.EXECUTE)
{
current = AgentState.EXECUTING;
}
else if (agent.actionManager.state == ManagerState.PAUSE)
{
PrimitiveTask currentTask = (PrimitiveTask)agent.actionManager.currentAction;
foreach (CuncurrentTask cuncurrent in currentTask.cuncurrentTasks)
{
if (!currentTask.CheckCuncurrency(cuncurrent, agent))
{
return;
}
}
agent.actionManager.Resume();
}
}
else if (current == AgentState.PLANNING)
{
/*In this state, agent plans to goal
* Transition to EXECUTING : if agent has a plan towards goal (not empty actions list)
* Transizion to IDLE: agent has no plan towards goal (empty actions list)*/
//Generate or fix plan
List <Task> tasks = new List <Task>();
//If manager has stopped with INVALID state, fix plan and get a new plan
if (agent.actionManager.state == ManagerState.INVALID)
{
//Climb the hierarchy and get the first valid node
CompoundTask validNode = Planner.GetValidNode((PrimitiveTask)agent.actionManager.currentAction, agent.state);
tasks.Add(validNode);
//Generate first segment of fixed plan, planning from the node found
List <PrimitiveTask> firstSegment = Planner.GeneratePlan(tasks, agent);
if (firstSegment.Count > 0)
{
//Get second segment from the current plan, deleting tasks who have node found as father or forefather
List <PrimitiveTask> secondSegment = new List <PrimitiveTask>();
foreach (PrimitiveTask task in agent.plan)
{
if (!task.IsMyForeFather(validNode) && !task.completed)
{
secondSegment.Add(task);
}
}
//Fix the plan concatenating first segment with second segment
agent.plan = firstSegment.Concat(secondSegment).ToList <PrimitiveTask>();
}
//No plan..
else
{
agent.plan = new List <PrimitiveTask>();
//If agent is a member of a group, notify it to the leader, who will stop execution of global plan
agent.communicationSystem.sendMessage(new Message(agent.leader, MessageContent.ORDER_FAILURE));
}
}
//Otherwise generate plan
else
{
tasks.Add(agent.goal);
agent.plan = Planner.GeneratePlan(tasks, agent);
}
if (agent.plan != null)
{
foreach (IGroundAction action in agent.plan)
{
agent.actionManager.ScheduleAction(action);
}
agent.actionManager.NextAction();
current = AgentState.EXECUTING;
agent.actionManager.state = ManagerState.EXECUTE;
}
else
{
agent.actionManager.state = ManagerState.STOP;
current = AgentState.IDLE;
}
}
else if (current == AgentState.EXECUTING)
{
//Dentro lo stato: esecuzione azione corrente del piano
//Transizione a IDLE : se il piano è completato con successo, oppure il manager delle azioni è andato in pausa
//Transizione a PLANNING : se il piano non è valido (precondizioni azione non valide)
agent.actionManager.RunCurrentAction();
if (agent.actionManager.state == ManagerState.EMPTY)
{
current = AgentState.IDLE;
agent.actionManager.state = ManagerState.STOP;
agent.goal.completed = true;
}
else if (agent.actionManager.state == ManagerState.INVALID)
{
current = AgentState.PLANNING;
}
else if (agent.actionManager.state == ManagerState.PAUSE)
{
current = AgentState.IDLE;
}
}
}