// Use this for initialization
void Start()
{
compileExpressionParser();
//Knowledge update rate
KnowledgeUpdateWindow.LoadFromFile();
//Get goal
goal = (CompoundTask)serializedGoal.DeSerialize(null);
//Initialize knowledge
foreach (SerializedFact fact in serializedKnowledge)
{
Atom newFact = new Atom(fact.name, fact.sign);
foreach (string objName in fact.values)
{
newFact.addTerm(new Term(GameObject.Find(objName)));
}
state.addFact(newFact);
}
//Initialize variables
foreach (SerializedVariable var in serializedDomainVariables)
{
if (var.key != "" && var.value != "")
{
domainVariables [serializedDomainVariables.IndexOf(var)].value = GameObject.Find(var.value);
}
}
//Instantiate variables
InstantiateVariables(goal, domainVariables);
//Add sensor
if (sensor == 0)
{
sensorySystem = new CameraSensor(this);
}
else if (sensor == 1)
{
sensorySystem = new RadiusSensor(this, radiusLength);
}
try {
definitions = FactDefinitionsContainer.Load(FactsDefinitionWindow.definitionsPath).list;
}
catch (Exception e) {
Debug.Log(e.Message);
}
//Agent FSM
FSM = new AgentStateMachine(AgentState.IDLE, this);
//Action manager
actionManager = new ActionManager(this);
//Coordination
communicationSystem = new CommunicationSystem(this);
groupMembers = new List <HTNAgent> ();
//Personalities
knownPersonalities = PersonalitiesContainer.Load(PersonalityEditorWindow.path).list;
}
public override void OnInspectorGUI()
{
DrawDefaultInspector();
//Sensory
GUILayout.BeginHorizontal(GUILayout.Width(300));
GUILayout.Label("Sensor", GUILayout.Width(110));
if (agent.sensor == 0)
{
sensIndex = 0;
}
else if (agent.sensor == 1)
{
sensIndex = 1;
}
sensIndex = EditorGUILayout.Popup(sensIndex, sensors, GUILayout.Width(100));
if (sensIndex == 1)
{
GUILayout.Label("Length");
agent.radiusLength = EditorGUILayout.FloatField(agent.radiusLength, GUILayout.Width(25));
}
GUILayout.EndHorizontal();
//Goal
if (GUILayout.Button("Edit Goal"))
{
HTNEditorWindow.ShowWindow(agent, agent.goal);
}
agent.sensor = sensIndex;
//Personality
if (agent.knownPersonalities == null)
{
agent.knownPersonalities = PersonalitiesContainer.Load("Assets/personalities.xml").list;
}
if (PersonalityEditorWindow.personalities.list.Count > 0)
{
foreach (string personality in PersonalityEditorWindow.personalities.list)
{
if (!agent.knownPersonalities.Contains(personality))
{
agent.knownPersonalities.Add(personality);
}
}
GUILayout.BeginHorizontal(GUILayout.Width(200));
GUILayout.Label("Personality");
persIndex = PersonalityEditorWindow.personalities.list.Concat(new List <string>(new string[] { "none" })).ToList().IndexOf(agent.personality);
string[] personalities = PersonalityEditorWindow.personalities.list.Concat(new List <string> (new string[] { "none" })).ToList().ToArray();
GUILayout.Space(40.0f);
persIndex = EditorGUILayout.Popup(persIndex, personalities, GUILayout.Width(100));
if (persIndex == -1)
{
persIndex = 0;
}
agent.personality = personalities [persIndex];
GUILayout.EndHorizontal();
}
//Algorithm
GUILayout.BeginHorizontal(GUILayout.Width(200));
GUILayout.Label("Backtracking");
string[] options = { "Yes", "No" };
backTracking = EditorGUILayout.Popup(backTracking, options, GUILayout.Width(100));
if (backTracking == 0)
{
agent.backTracking = true;
}
else if (backTracking == 1)
{
agent.backTracking = false;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal(GUILayout.Width(200));
GUILayout.Label("Methods ordering");
GUILayout.Space(10.0f);
string[] options2 = { "None", "Preferences", "Preferences and costs" };
chosenOrdering = EditorGUILayout.Popup(chosenOrdering, options2, GUILayout.Width(100));
switch (chosenOrdering)
{
case 0:
agent.methodsOrdering = MethodsOrdering.NONE;
break;
case 1:
agent.methodsOrdering = MethodsOrdering.PREF;
break;
case 2:
agent.methodsOrdering = MethodsOrdering.COSTANDPREF;
break;
default:
break;
}
GUILayout.EndHorizontal();
//Domain variables
foldout = EditorGUILayout.Foldout(foldout, "Internal knowledge");
if (foldout)
{
//MODEL
GUIStyle style = new GUIStyle();
style.alignment = (TextAnchor)TextAlignment.Left;
EditorGUILayout.BeginHorizontal(style, GUILayout.Width(400));
EditorGUILayout.LabelField("Size", GUILayout.Width(130));
int oldSize = agent.serializedKnowledge.Count;
string size = EditorGUILayout.TextField(oldSize.ToString(), GUILayout.Width(300));
int newSize = 0;
System.Int32.TryParse(size, out newSize);
if (newSize > oldSize)
{
for (int i = 0; i < newSize - oldSize; i++)
{
SerializedFact fact = new SerializedFact("New Fact");
fact.values.Add(GameObject.FindObjectOfType <GameObject>().name);
agent.serializedKnowledge.Add(fact);
}
}
else if (newSize < oldSize)
{
for (int i = oldSize - 1; i > (oldSize - (oldSize - newSize) - 1); i--)
{
agent.serializedKnowledge.Remove(agent.serializedKnowledge[i]);
}
}
EditorGUILayout.EndHorizontal();
if (agent.serializedKnowledge.Count > 0)
{
for (int i = 0; i < newSize; i++)
{
SerializedFact fact = agent.serializedKnowledge[i];
EditorGUILayout.BeginHorizontal(style, GUILayout.Width(400));
//Fact name
EditorGUILayout.LabelField("Name", GUILayout.Width(60));
List <string> names = new List <string> ();
try {
names = AtomsContainer.Load(AtomListWindow.path).list;
}
catch (Exception e) {
Debug.Log(e.Message);
}
if (names.Count > 0)
{
selectedName = names.IndexOf(fact.name);
selectedName = EditorGUILayout.Popup(selectedName, names.ToArray(), GUILayout.Width(50));
if (selectedName == -1)
{
selectedName = 0;
}
fact.name = names [selectedName];
}
else
{
EditorUtility.DisplayDialog("", "No names in atom names list. Please, fill the list before adding a definition", "OK");
}
//Fact sign
fact.sign = System.Convert.ToBoolean(EditorGUILayout.Popup(System.Convert.ToInt32(fact.sign), factSigns, GUILayout.Width(60)));
//Fact type
if (fact.values.Count == 1)
{
selectedFactType = 0;
}
else if (fact.values.Count == 2)
{
selectedFactType = 1;
}
selectedFactType = EditorGUILayout.Popup(selectedFactType, factTypes, GUILayout.Width(40));
if (selectedFactType == 1 && fact.values.Count == 1)
{
fact.values.Add(GameObject.FindObjectOfType <GameObject>().name);
}
if (selectedFactType == 0 && fact.values.Count == 2)
{
fact.values.Remove(fact.values [1]);
}
//Fact arguments
GameObject found = GameObject.Find(fact.values [0]);
fact.values[0] = ((GameObject)EditorGUILayout.ObjectField(found, typeof(GameObject), true, GUILayout.Width(80))).name;
if (fact.values.Count == 2)
{
found = GameObject.Find(fact.values [1]);
fact.values [1] = ((GameObject)EditorGUILayout.ObjectField(found, typeof(GameObject), true, GUILayout.Width(80))).name;
}
EditorGUILayout.EndHorizontal();
agent.serializedKnowledge[i] = fact;
}
}
}
//Joint plan
if (agent.agentType == AgentTypes.LEADER)
{
foldout3 = EditorGUILayout.Foldout(foldout3, "Joint plan");
if (foldout3)
{
GUIStyle style = new GUIStyle();
style.alignment = (TextAnchor)TextAlignment.Left;
EditorGUILayout.BeginHorizontal(style, GUILayout.Width(400));
EditorGUILayout.LabelField("Size", GUILayout.Width(130));
int oldSize = agent.groupMembers.Count;
string size = EditorGUILayout.TextField(oldSize.ToString(), GUILayout.Width(300));
int newSize = 0;
System.Int32.TryParse(size, out newSize);
if (newSize > oldSize)
{
for (int i = 0; i < newSize - oldSize; i++)
{
HTNAgent[] agents = GameObject.FindObjectsOfType <HTNAgent>();
foreach (HTNAgent a in agents)
{
if (a.agentType == AgentTypes.MEMBER)
{
agent.groupMembers.Add(a);
}
}
}
}
else if (newSize < oldSize)
{
for (int i = oldSize - 1; i > (oldSize - (oldSize - newSize) - 1); i--)
{
agent.groupMembers.Remove(agent.groupMembers[i]);
}
}
EditorGUILayout.EndHorizontal();
//VIEW
if (agent.groupMembers.Count > 0)
{
for (int i = 0; i < newSize; i++)
{
HTNAgent member = agent.groupMembers[i];
EditorGUILayout.BeginHorizontal(style, GUILayout.Width(400));
//Agent
EditorGUILayout.LabelField("Agent", GUILayout.Width(130));
member = (HTNAgent)EditorGUILayout.ObjectField(member, typeof(HTNAgent), GUILayout.Width(100));
//Goal
if (GUILayout.Button("Edit Goal"))
{
HTNEditorWindow.ShowWindow(member, member.goal);
}
member.domainVariables = agent.domainVariables;
member.serializedDomainVariables = agent.serializedDomainVariables;
EditorGUILayout.EndHorizontal();
if (member.agentType == AgentTypes.MEMBER)
{
agent.groupMembers[i] = member;
}
else
{
EditorUtility.DisplayDialog("INVALID ACTION", "Can only add MEMBER type agents", "OK");
}
}
}
}
}
//Domain variables
foldout2 = EditorGUILayout.Foldout(foldout2, "Planning variables");
if (foldout2)
{
//MODEL
GUIStyle style = new GUIStyle();
style.alignment = (TextAnchor)TextAlignment.Left;
EditorGUILayout.BeginHorizontal(style, GUILayout.Width(400));
EditorGUILayout.LabelField("Size", GUILayout.Width(130));
int oldSize = agent.domainVariables.Count;
string size = EditorGUILayout.TextField(oldSize.ToString(), GUILayout.Width(300));
int newSize = 0;
System.Int32.TryParse(size, out newSize);
if (newSize > oldSize)
{
for (int i = 0; i < newSize - oldSize; i++)
{
agent.domainVariables.Add(new Term(""));
agent.serializedDomainVariables.Add(new SerializedVariable(""));
}
}
else if (newSize < oldSize)
{
for (int i = oldSize - 1; i > (oldSize - (oldSize - newSize) - 1); i--)
{
agent.domainVariables.Remove(agent.domainVariables[i]);
agent.serializedDomainVariables.Remove(agent.serializedDomainVariables[i]);
}
}
EditorGUILayout.EndHorizontal();
//VIEW
if (agent.domainVariables.Count > 0)
{
for (int i = 0; i < newSize; i++)
{
SerializedVariable variable = agent.serializedDomainVariables[i];
EditorGUILayout.BeginHorizontal(style, GUILayout.Width(400));
//Name
EditorGUILayout.LabelField("Name", GUILayout.Width(130));
variable.key = EditorGUILayout.TextField(variable.key, GUILayout.Width(100));
//Value
GameObject found = GameObject.Find(variable.value);
GameObject obj = ((GameObject)EditorGUILayout.ObjectField(found, typeof(GameObject), true, GUILayout.Width(200)));
if (obj == null)
{
variable.value = "";
}
else
{
variable.value = obj.name;
}
EditorGUILayout.EndHorizontal();
agent.serializedDomainVariables[i] = variable;
agent.domainVariables[i].key = variable.key;
}
}
}
}