protected virtual void OnDonePlanning(IReGoapGoal <T, W> newGoal)
{
startedPlanning = false;
currentReGoapPlanWorker = default(ReGoapPlanWork <T, W>);
if (newGoal == null)
{
if (currentGoal == null)
{
ReGoapLogger.LogWarning("GoapAgent " + this + " could not find a plan.");
}
return;
}
if (currentActionState != null)
{
currentActionState.Action.Exit(null);
}
currentActionState = null;
currentGoal = newGoal;
if (startingPlan != null)
{
for (int i = 0; i < startingPlan.Count; i++)
{
startingPlan[i].Action.PlanExit(i > 0 ? startingPlan[i - 1].Action : null, i + 1 < startingPlan.Count ? startingPlan[i + 1].Action : null, startingPlan[i].Settings, currentGoal.GetGoalState());
}
}
startingPlan = currentGoal.GetPlan().ToList();
ClearPlanValues();
for (int i = 0; i < startingPlan.Count; i++)
{
startingPlan[i].Action.PlanEnter(i > 0 ? startingPlan[i - 1].Action : null, i + 1 < startingPlan.Count ? startingPlan[i + 1].Action : null, startingPlan[i].Settings, currentGoal.GetGoalState());
}
currentGoal.Run(WarnGoalEnd);
PushAction();
}
private static double Profile(string description, Action func, int iterations = 100)
{
// from: http://stackoverflow.com/questions/1047218/benchmarking-small-code-samples-in-c-can-this-implementation-be-improved
//Process.GetCurrentProcess().PriorityClass = ProcessPriorityClass.High;
//Thread.CurrentThread.Priority = ThreadPriority.Highest;
// warm up
func();
var watch = new Stopwatch();
ReGoapLogger.Level = ReGoapLogger.DebugLevel.None;
// clean up
GC.Collect();
GC.WaitForPendingFinalizers();
GC.Collect();
watch.Start();
for (int i = 0; i < iterations; i++)
{
func();
}
watch.Stop();
// clean up
GC.Collect();
ReGoapLogger.Level = ReGoapLogger.DebugLevel.Full;
ReGoapLogger.Log(string.Format("[Profile] {0} took {1}ms (iters: {2} ; avg: {3}ms).", description, watch.Elapsed.TotalMilliseconds, iterations, watch.Elapsed.TotalMilliseconds / iterations));
return(watch.Elapsed.TotalMilliseconds);
}
protected virtual void OnDonePlanning(IReGoapGoal newGoal)
{
currentPlanWorker = null;
if (newGoal == null)
{
if (currentGoal == null)
{
ReGoapLogger.LogWarning("GoapAgent " + this + " could not find a plan.");
}
return;
}
if (currentActionState != null)
{
currentActionState.Action.Exit(null);
}
currentActionState = null;
currentGoal = newGoal;
var plan = currentGoal.GetPlan();
startingPlan = plan.ToList();
ClearPlanValues();
foreach (var actionState in startingPlan)
{
actionState.Action.PostPlanCalculations(this);
}
currentGoal.Run(WarnGoalEnd);
PushAction();
}
public IReGoapGoal Plan(IReGoapAgent agent, IReGoapGoal blacklistGoal = null, Queue <ReGoapActionState> currentPlan = null, Action <IReGoapGoal> callback = null)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal>();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible()) //goal.GetPriority() > bestPriority &&
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
var leaf = (BGoapNode)astar.Run(
new BGoapNode(this, goalState, null, null), goapAgent.GetMemory().GetWorldState(), settings.MaxIterations, settings.PlanningEarlyExit);
if (leaf == null)
{
currentGoal = null;
continue;
}
var path = leaf.CalculatePath();
if (currentPlan != null && currentPlan == path)
{
currentGoal = null;
break;
}
currentGoal.SetPlan(path);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
public virtual void WarnGoalEnd(IReGoapGoal goal)
{
if (goal != currentGoal)
{
ReGoapLogger.LogWarning(string.Format("[GoapAgent] Goal {0} warned for end but is not current goal.", goal));
return;
}
CalculateNewGoal();
}
public void MainLoop()
{
while (isRunning)
{
threadEvents.WaitOne();
try {
CheckWorkers();
} catch (Exception e) {
ReGoapLogger.LogError(e.ToString());
}
}
}
public INode <T> Run(INode <T> start, T goal, int maxIterations = 100, bool earlyExit = true)
{
frontier.Clear();
stateToNode.Clear();
explored.Clear();
frontier.Enqueue(start, start.GetCost());
var iterations = 0;
while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
{
iterations++;
var node = frontier.Dequeue();
if (node.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] Success iterations: " + iterations);
return(node);
}
explored[node.GetState()] = node;
foreach (var child in node.Expand())
{
if (earlyExit && child.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] (early exit) Success iterations: " + iterations);
return(child);
}
var childCost = child.GetCost();
var state = child.GetState();
if (explored.ContainsKey(state))
{
continue;
}
INode <T> similiarNode;
stateToNode.TryGetValue(state, out similiarNode);
if (similiarNode != null)
{
if (similiarNode.GetCost() > childCost)
{
frontier.Remove(similiarNode);
}
else
{
break;
}
}
frontier.Enqueue(child, childCost);
stateToNode[state] = child;
}
}
ReGoapLogger.LogWarning("[Astar] failed.");
return(null);
}
public virtual void WarnActionFailure(IReGoapAction thisAction)
{
if (thisAction != currentActionState.Action)
{
ReGoapLogger.LogWarning(string.Format("[GoapAgent] Action {0} warned for failure but is not current action.", thisAction));
return;
}
if (BlackListGoalOnFailure)
{
goalBlacklist[currentGoal] = Time.time + currentGoal.GetErrorDelay();
}
CalculateNewGoal(true);
}
private bool CheckIfStuck()
{
if (Time.time > stuckCheckCooldown)
{
stuckCheckCooldown = Time.time + StuckCheckDelay;
if ((lastStuckCheckUpdatePosition - transform.position).magnitude < MaxStuckDistance)
{
ReGoapLogger.Log("[SmsGoTo] '" + name + "' is stuck.");
return(true);
}
lastStuckCheckUpdatePosition = transform.position;
}
return(false);
}
public override void Run(IReGoapAction previous, IReGoapAction next, IReGoapActionSettings settings, ReGoapState goalState, Action <IReGoapAction> done, Action <IReGoapAction> fail)
{
base.Run(previous, next, settings, goalState, done, fail);
var workstation = agent.GetMemory().GetWorldState().Get <Workstation>("nearestWorkstation");
if (workstation.CraftResource(resourcesBag, recipe))
{
ReGoapLogger.Log("[CraftRecipeAction] crafted recipe " + recipe.GetCraftedResource());
done(this);
}
else
{
fail(this);
}
}
public override void Run(IReGoapAction <string, object> previous, IReGoapAction <string, object> next, IReGoapActionSettings <string, object> settings, ReGoapState <string, object> goalState, Action <IReGoapAction <string, object> > done, Action <IReGoapAction <string, object> > fail)
{
base.Run(previous, next, settings, goalState, done, fail);
var workstation = agent.GetMemory().GetWorldState().Get("nearestWorkstation") as Workstation;
if (workstation != null && workstation.CraftResource(resourcesBag, recipe))
{
ReGoapLogger.Log("[CraftRecipeAction] crafted recipe " + recipe.GetCraftedResource());
done(this);
}
else
{
fail(this);
}
}
public override void Run(IReGoapAction previous, IReGoapAction next, IReGoapActionSettings settings, ReGoapState goalState, Action <IReGoapAction> done, Action <IReGoapAction> fail)
{
base.Run(previous, next, settings, goalState, done, fail);
SetNeededResources(settings);
if (resource == null || resource.GetCapacity() < ResourcePerAction)
{
failCallback(this);
}
else
{
ReGoapLogger.Log("[GatherResourceAction] acquired " + ResourcePerAction + " " + resource.GetName());
resource.RemoveResource(ResourcePerAction);
bag.AddResource(resource.GetName(), ResourcePerAction);
doneCallback(this);
}
}
protected void Update()
{
if (resource == null || resource.GetCapacity() < ResourcePerAction)
{
failCallback(this);
return;
}
if (Time.time > gatherCooldown)
{
gatherCooldown = float.MaxValue;
ReGoapLogger.Log("[GatherResourceAction] acquired " + ResourcePerAction + " " + resource.GetName());
resource.RemoveResource(ResourcePerAction);
bag.AddResource(resource.GetName(), ResourcePerAction);
doneCallback(this);
}
}
// called in another thread
private void OnDonePlan(ReGoapPlannerThread <T, W> plannerThread, ReGoapPlanWork <T, W> work, IReGoapGoal <T, W> newGoal)
{
work.NewGoal = newGoal;
lock (doneWorks)
{
doneWorks.Add(work);
}
if (work.NewGoal != null && ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
ReGoapLogger.Log("[GoapPlannerManager] Done calculating plan, actions list:");
var i = 0;
foreach (var action in work.NewGoal.GetPlan())
{
ReGoapLogger.Log(string.Format("{0}: {1}", i++, action.Action));
}
}
}
// called in another thread
private void OnDonePlan(GoapPlannerThread plannerThread, PlanWork work, IReGoapGoal newGoal)
{
work.NewGoal = newGoal;
lock (doneWorks)
{
doneWorks.Add(work);
#if DEBUG
if (work.NewGoal != null)
{
ReGoapLogger.Log("[GoapPlannerManager] Done calculating plan, actions list:");
var i = 0;
foreach (var action in work.NewGoal.GetPlan())
{
ReGoapLogger.Log(string.Format("{0}: {1}", i++, action.Action));
}
}
#endif
}
}
protected void Update()
{
if (resource == null || resource.GetCapacity() < ResourcePerAction)
{
failCallback(this);
return;
}
if (Time.time > gatherCooldown)
{
gatherCooldown = float.MaxValue;
ReGoapLogger.Log("[GatherResourceAction] acquired " + ResourcePerAction + " " + resource.GetName());
resource.RemoveResource(ResourcePerAction);
bag.AddResource(resource.GetName(), ResourcePerAction);
doneCallback(this);
if (settings.HasKey("resource"))
{
((IResource)settings.Get("resource")).Unreserve(GetHashCode());
}
}
}
protected virtual void Awake()
{
ReGoapNode <T, W> .Warmup(NodeWarmupCount);
ReGoapState <T, W> .Warmup(StatesWarmupCount);
ReGoapLogger.Level = LogLevel;
if (Instance != null)
{
Destroy(this);
var errorString =
"[GoapPlannerManager] Trying to instantiate a new manager but there can be only one per scene.";
ReGoapLogger.LogError(errorString);
throw new UnityException(errorString);
}
Instance = this;
doneWorks = new List <ReGoapPlanWork <T, W> >();
ReGoapPlannerThread <T, W> .WorksQueue = new Queue <ReGoapPlanWork <T, W> >();
planners = new ReGoapPlannerThread <T, W> [ThreadsCount];
threads = new Thread[ThreadsCount];
if (MultiThread)
{
ReGoapLogger.Log(String.Format("[GoapPlannerManager] Running in multi-thread mode ({0} threads).", ThreadsCount));
for (int i = 0; i < ThreadsCount; i++)
{
planners[i] = new ReGoapPlannerThread <T, W>(PlannerSettings, OnDonePlan);
var thread = new Thread(planners[i].MainLoop);
thread.Start();
threads[i] = thread;
}
} // no threads run
else
{
ReGoapLogger.Log("[GoapPlannerManager] Running in single-thread mode.");
planners[0] = new ReGoapPlannerThread <T, W>(PlannerSettings, OnDonePlan);
}
}
protected virtual void Awake()
{
if (Instance != null)
{
Destroy(this);
var errorString =
"[GoapPlannerManager] Trying to instantiate a new manager but there can be only one per scene.";
ReGoapLogger.LogError(errorString);
throw new UnityException(errorString);
}
Instance = this;
doneWorks = new List <PlanWork>();
worksQueue = new Queue <PlanWork>();
planners = new GoapPlannerThread[ThreadsCount];
threads = new Thread[ThreadsCount];
threadEvents = new AutoResetEvent(false);
if (ThreadsCount > 1)
{
ReGoapLogger.Log("[GoapPlannerManager] Running in multi-thread mode.");
for (int i = 0; i < ThreadsCount; i++)
{
planners[i] = new GoapPlannerThread(threadEvents, PlannerSettings, worksQueue, OnDonePlan);
var thread = new Thread(planners[i].MainLoop)
{
IsBackground = true
};
thread.Start();
threads[i] = thread;
}
} // no threads run
else
{
ReGoapLogger.Log("[GoapPlannerManager] Running in single-thread mode.");
planners[0] = new GoapPlannerThread(threadEvents, PlannerSettings, worksQueue, OnDonePlan);
}
}
public IReGoapGoal Plan(IReGoapAgent agent, IReGoapGoal blacklistGoal = null, Queue <ReGoapActionState> currentPlan = null, Action <IReGoapGoal> callback = null)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal>();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible()) //goal.GetPriority() > bestPriority &&
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(goapAgent, goalState);
if (!action.CheckProceduralCondition(goapAgent, wantedGoalCheck))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = new ReGoapState();
previous.MissingDifference(action.GetEffects(wantedGoalCheck), ref wantedGoalCheck);
}
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
var leaf = (ReGoapNode)astar.Run(
new ReGoapNode(this, goalState, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit);
if (leaf == null)
{
currentGoal = null;
continue;
}
var path = leaf.CalculatePath();
if (currentPlan != null && currentPlan == path)
{
currentGoal = null;
break;
}
currentGoal.SetPlan(path);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
public INode <T> Run(INode <T> start, T goal, int maxIterations = 100, bool earlyExit = true, bool clearNodes = true, bool debugPlan = false)
{
_debugPlan = debugPlan;
frontier.Clear();
stateToNode.Clear();
explored.Clear();
if (clearNodes)
{
ClearNodes();
createdNodes.Add(start);
}
frontier.Enqueue(start, start.GetCost());
_DebugPlan(start, null);
var iterations = 0;
while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
{
var node = frontier.Dequeue();
Utilities.ReGoapLogger.Log(string.Format("\n++++Explored action: {0}({3}), state ({1})\n goal ({2})\n effect: ({4})", node.Name, node.GetState(), node.GoalString, node.GetCost(), node.EffectString));
if (node.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] Success iterations: " + iterations);
_EndDebugPlan(node);
return(node);
}
explored[node.GetState()] = node;
foreach (var child in node.Expand())
{
iterations++;
if (clearNodes)
{
createdNodes.Add(child);
}
if (earlyExit && child.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] (early exit) Success iterations: " + iterations);
_EndDebugPlan(child);
return(child);
}
var childCost = child.GetCost();
var state = child.GetState();
if (explored.ContainsKey(state))
{
continue;
}
INode <T> similiarNode;
stateToNode.TryGetValue(state, out similiarNode);
if (similiarNode != null)
{
if (similiarNode.GetCost() > childCost)
{
frontier.Remove(similiarNode);
}
else
{
break;
}
}
_DebugPlan(child, node);
Utilities.ReGoapLogger.Log(string.Format(" Enqueue frontier: {0}, cost: {1}", child.Name, childCost));
frontier.Enqueue(child, childCost);
stateToNode[state] = child;
}
}
string failReason =
(frontier.Count <= 0 ? "Depleted Search Space. " : "") +
((iterations >= maxIterations) ? "Too many iter: " + iterations : "") +
(frontier.Count + 1 >= frontier.MaxSize ? "FrontierQueue too large: " + frontier.MaxSize : "");
ReGoapLogger.LogWarning("[Astar] failed. " + failReason);
_EndDebugPlan(null);
return(null);
}
public IReGoapGoal <T, W> Plan(IReGoapAgent <T, W> agent, IReGoapGoal <T, W> blacklistGoal = null, Queue <ReGoapActionState <T, W> > currentPlan = null, Action <IReGoapGoal <T, W> > callback = null)
{
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
ReGoapLogger.Log("[ReGoalPlanner] Starting planning calculation for agent: " + agent);
}
goapAgent = agent;
Calculated = false;
currentGoal = null;
var possibleGoals = new List <IReGoapGoal <T, W> >();
foreach (var goal in goapAgent.GetGoalsSet())
{
if (goal == blacklistGoal)
{
continue;
}
goal.Precalculations(this);
if (goal.IsGoalPossible())
{
possibleGoals.Add(goal);
}
}
possibleGoals.Sort((x, y) => x.GetPriority().CompareTo(y.GetPriority()));
while (possibleGoals.Count > 0)
{
currentGoal = possibleGoals[possibleGoals.Count - 1];
possibleGoals.RemoveAt(possibleGoals.Count - 1);
var goalState = currentGoal.GetGoalState();
// can't work with dynamic actions, of course
if (!settings.UsingDynamicActions)
{
var wantedGoalCheck = currentGoal.GetGoalState();
// we check if the goal can be archived through actions first, so we don't brute force it with A* if we can't
foreach (var action in goapAgent.GetActionsSet())
{
action.Precalculations(goapAgent, goalState);
if (!action.CheckProceduralCondition(goapAgent, wantedGoalCheck))
{
continue;
}
// check if the effects of all actions can archieve currentGoal
var previous = wantedGoalCheck;
wantedGoalCheck = ReGoapState <T, W> .Instantiate();
previous.MissingDifference(action.GetEffects(wantedGoalCheck), ref wantedGoalCheck);
}
// can't validate goal
if (wantedGoalCheck.Count > 0)
{
currentGoal = null;
continue;
}
}
//Utilities.ReGoapLogger.Log(string.Format("**** Goal: {0}, Expected State = ({1})", currentGoal.GetName(), goalState));
goalState = goalState.Clone();
var leaf = (ReGoapNode <T, W>)astar.Run(
ReGoapNode <T, W> .Instantiate(this, goalState, null, null), goalState, settings.MaxIterations, settings.PlanningEarlyExit, debugPlan: agent.debugPlan);
if (leaf == null)
{
currentGoal = null;
continue;
}
var result = leaf.CalculatePath();
if (currentPlan != null && currentPlan == result)
{
currentGoal = null;
break;
}
if (result.Count == 0)
{
currentGoal = null;
continue;
}
currentGoal.SetPlan(result);
break;
}
Calculated = true;
if (callback != null)
{
callback(currentGoal);
}
if (currentGoal != null)
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] Calculated plan for goal '{0}', plan length: {1}", currentGoal, currentGoal.GetPlan().Count));
if (ReGoapLogger.Level == ReGoapLogger.DebugLevel.Full)
{
int i = 0;
foreach (var action in currentGoal.GetPlan())
{
ReGoapLogger.Log(string.Format("[ReGoapPlanner] {0}) {1}", i++, action.Action));
}
}
}
else
{
ReGoapLogger.LogWarning("[ReGoapPlanner] Error while calculating plan.");
}
return(currentGoal);
}
public INode <T> Run(INode <T> start, T goal, int maxIterations = 100, bool earlyExit = true, bool clearNodes = true, bool debugPlan = false)
{
this.debugPlan = debugPlan;
frontier.Clear();
stateToNode.Clear();
explored.Clear();
if (clearNodes)
{
ClearNodes();
createdNodes.Add(start);
}
frontier.Enqueue(start, start.GetCost());
DebugPlan(start, null);
var iterations = 0;
while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
{
var node = frontier.Dequeue();
if (node.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] Success iterations: " + iterations);
EndDebugPlan(node);
return(node);
}
explored[node.GetState()] = node;
foreach (var child in node.Expand())
{
iterations++;
if (clearNodes)
{
createdNodes.Add(child);
}
if (earlyExit && child.IsGoal(goal))
{
ReGoapLogger.Log("[Astar] (early exit) Success iterations: " + iterations);
EndDebugPlan(child);
return(child);
}
var childCost = child.GetCost();
var state = child.GetState();
if (explored.ContainsKey(state))
{
continue;
}
INode <T> similiarNode;
stateToNode.TryGetValue(state, out similiarNode);
if (similiarNode != null)
{
if (similiarNode.GetCost() > childCost)
{
frontier.Remove(similiarNode);
}
else
{
break;
}
}
DebugPlan(child, node);
//Utilities.ReGoapLogger.Log(string.Format(" Enqueue frontier: {0}, cost: {1}", child.Name, childCost));
frontier.Enqueue(child, childCost);
stateToNode[state] = child;
}
}
ReGoapLogger.LogWarning("[Astar] failed.");
EndDebugPlan(null);
return(null);
}
