//-----------------------------------------------------------------------------------------------
public void RestoreToLastDecomposedTask(
out CompoundTask lastDecomposedTask, out Plan lastPlan, out Stack <Task> lastTaskHistory)
{
lastDecomposedTask = m_taskHistory.Pop();
lastPlan = m_planHistory.Pop();
lastTaskHistory = m_decompHistory.Pop();
}
//-----------------------------------------------------------------------------------------------
public override Task Clone()
{
CompoundTask clone = new CompoundTask(m_name, m_modifierMask);
clone.m_methods = m_methods;
return clone;
}
//-----------------------------------------------------------------------------------------------
public void RecordTaskDecomposition(
CompoundTask currentTask, Plan currentPlan, Stack <Task> decompHistory)
{
m_taskHistory.Push(currentTask);
Plan planCopy = currentPlan.Clone();
m_planHistory.Push(planCopy);
Stack <Task> decompClone = new Stack <Task>(decompHistory);
m_decompHistory.Push(decompClone);
}
//-----------------------------------------------------------------------------------------------
private void HandleCompoundTask(CompoundTask task)
{
Method satisfiedMethod = task.FindSatisfiedMethod(m_workingWorldState);
if (satisfiedMethod != null)
{
m_planHistory.RecordTaskDecomposition(task, m_finalPlan, m_tasksToProcess);
DecomposeMethodAndAddToProcessStack(satisfiedMethod, task);
}
else
{
RestoreToLastDecomposedTask();
}
}
//-----------------------------------------------------------------------------------------------
private void DecomposeMethodAndAddToProcessStack(Method method, CompoundTask task)
{
List <Method.TaskWithModifiers> methodTasks = method.Subtasks;
for (int taskIndex = (methodTasks.Count - 1); taskIndex >= 0; --taskIndex)
{
// Clone so we can store modifiers
Task taskToPush = methodTasks[taskIndex].StoredTask.Clone();
if (methodTasks[taskIndex].StoredMods != null)
{
foreach (Task.eModifier mod in methodTasks[taskIndex].StoredMods)
{
taskToPush.AddModifier(mod);
}
}
// Also add parent task's modifiers!
taskToPush.CombineModifierMasks(task.ModifierMask);
m_tasksToProcess.Push(taskToPush);
}
}
