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 virtual List <Endeavour> getAvailableEndeavours(RobotController controller)
{
List <Endeavour> availableEndeavours = new List <Endeavour> ();
foreach (EndeavourFactory endeavour in endeavours)
{
Endeavour newEndeavour = endeavour.constructEndeavour(controller);
if (newEndeavour != null)
{
availableEndeavours.Add(newEndeavour);
}
}
return(availableEndeavours);
}
public bool Equals(Endeavour endeavour)
{
return controller == endeavour.controller && name.Equals(endeavour.name);
}
public void addEndeavour(Endeavour action)
{
availableEndeavours.Add (action);
//evaluateActions ();
dirty = true;
}
private void evaluateActions()
{
List <DecisionInfoObject> debugText = new List <DecisionInfoObject>();
//print("****EVALUATE****");
dirty = false;
PriorityQueue endeavourQueue = new PriorityQueue();
List <Endeavour> staleEndeavours = new List <Endeavour>();
//print("\tCurrent Endeavours");
foreach (Endeavour action in currentEndeavours)
{
if (action.isStale())
{
//print("\t\tstale: " + action.getName());
action.stopExecution();
staleEndeavours.Add(action);
}
else
{
//print("\t\t++" + action.getName());
availableEndeavours.Add(action);
}
}
//print("\tAvailable Endeavours");
foreach (Endeavour action in availableEndeavours)
{
if (action.isStale())
{
//print("\t\t--" + action.getName());
staleEndeavours.Add(action);
}
else
{
//print("\t\t++" + action.getName());
endeavourQueue.Enqueue(action);
}
}
foreach (Endeavour action in staleEndeavours)
{
//print("remove: " + action.getName());
availableEndeavours.Remove(action);
currentEndeavours.Remove(action);
}
HashSet <Endeavour> proposedEndeavours = new HashSet <Endeavour>();
Dictionary <System.Type, int> componentMap = getComponentUsageMap();
#if UNITY_EDITOR
bool maxPrioritySet = false;
float localMaxPriority = 0;
float localMinPriority = 0;
#endif
while (endeavourQueue.Count > 0)
{
Endeavour action = (Endeavour)endeavourQueue.Dequeue();
if (action.isReady(componentMap))
{
#if UNITY_EDITOR
if (debug)
{
float priority = action.getPriority();
if (!maxPrioritySet)
{
maxPrioritySet = true;
localMaxPriority = priority;
localMinPriority = priority;
}
else
{
if (priority > localMaxPriority)
{
localMaxPriority = priority;
}
if (priority < localMinPriority)
{
localMinPriority = priority;
}
}
debugText.Add(new DecisionInfoObject(action.getName(), action.getParent().getName(), priority, true));
}
#endif
if (proposedEndeavours.Contains(action))
{
Debug.LogError("action already proposed!!!");
}
proposedEndeavours.Add(action);
availableEndeavours.Remove(action);
}
else
{
#if UNITY_EDITOR
if (debug)
{
float priority = action.getPriority();
if (!maxPrioritySet)
{
maxPrioritySet = true;
localMaxPriority = priority;
localMinPriority = priority;
}
else
{
if (priority > localMaxPriority)
{
localMaxPriority = priority;
}
if (priority < localMinPriority)
{
localMinPriority = priority;
}
}
debugText.Add(new DecisionInfoObject(action.getName(), action.getParent().getName(), priority, false));
}
#endif
if (action.active)
{
action.stopExecution();
}
}
}
// All previous actions MUST be stopped before we start the new ones
foreach (Endeavour action in proposedEndeavours)
{
if (!action.active)
{
action.execute();
}
}
currentEndeavours = proposedEndeavours;
#if UNITY_EDITOR
if (debug)
{
lines = debugText;
maxPriority = (Mathf.Abs(localMaxPriority) > Mathf.Abs(localMinPriority)) ? Mathf.Abs(localMaxPriority) : Mathf.Abs(localMinPriority);
if (shouldAlphabetize)
{
alphabetize();
}
}
#endif
}
public void addEndeavour(Endeavour action)
{
availableEndeavours.Add(action);
//evaluateActions ();
dirty = true;
}
public void addEndeavour(Endeavour action)
{
availableEndeavours.Add (action);
evaluateActions ();
}
public bool Equals(Endeavour endeavour)
{
return(controller == endeavour.controller && name.Equals(endeavour.name));
}