//判断是否有能够打断计划的动作执行
private void JudgeInterruptibleHandler()
{
foreach (var handler in _interruptibleHandlers)
{
if (handler.CanPerformAction())
{
DebugMsg.Log(handler.Label + "打断计划");
_agent.Performer.Interruptible();
break;
}
}
}
//更新CurrentGoal对象
private void UpdateCurrentGoal()
{
CurrentGoal = FindGoal();
if (CurrentGoal != null)
{
DebugMsg.Log("CurrentGoal:" + CurrentGoal.Label.ToString());
}
else
{
DebugMsg.Log("CurrentGoal is null");
}
}
public void HandlerAction()
{
if (IsComplete)
{
_onComplete();
}
else
{
_currentActionHandler = _plan.Dequeue();
DebugMsg.Log("----当前执行动作:" + _currentActionHandler.Label);
_actionManager.ExcuteHandler(_currentActionHandler.Label);
}
}
public void UpdateData()
{
DebugMsg.Log("----" + Label + "激活条件：" + ActiveCondition());
if (ActiveCondition())
{
_onActivate(this);
}
else
{
_onInactivate(this);
}
}
private void ChangeValue(string key, bool value)
{
if (_onChange != null)
{
DebugMsg.Log("-----state值被改变了" + key + " " + value);
}
_dataTable[key] = value;
if (_onChange != null)
{
_onChange();
}
}
private void AddHandler(TAction label, Dictionary <TAction, IActionHandler <TAction> > dic)
{
var handler = _agent.Maps.GetActionHandler(label);
if (handler != null)
{
dic.Add(label, handler);
//这里写拉姆达表达式，是为了避免初始化的时候_onActionComplete还是null的
handler.AddFinishCallBack(() =>
{
DebugMsg.Log("动作完成： " + label);
_onActionComplete(label);
});
}
else
{
DebugMsg.LogError("映射文件中未找到对应Handler,标签为:" + label);
}
}
protected async void OnComplete(float delayTime = 0)
{
if (ExcuteState == ActionExcuteState.EXIT)
{
return;
}
await Task.Delay(TimeSpan.FromSeconds(delayTime));
ExcuteState = ActionExcuteState.EXIT;
DebugMsg.Log("------设置" + Label + "影响");
if (Action.Effects != null)
{
SetAgentData(Action.Effects);
}
if (_onFinishAction != null)
{
_onFinishAction();
}
}
public IGoal <TGoal> FindGoal()
{
//查找优先级最大的那个
_activeGoals = _activeGoals.OrderByDescending(u => u.GetPriority()).ToList();
DebugMsg.Log("-----------active goal-----------");
foreach (IGoal <TGoal> goal in _activeGoals)
{
DebugMsg.Log(goal.Label + " 优先级：" + goal.GetPriority());
}
DebugMsg.Log("---------------------------------");
if (_activeGoals.Count > 0)
{
return(_activeGoals[0]);
}
else
{
return(null);
}
}
public Queue <IActionHandler <TAction> > BuildPlan(IGoal <TGoal> goal)
{
DebugMsg.Log("制定计划");
DebugMsg.Log("---------------当前代理状态------------");
DebugMsg.Log(_agent.AgentState.ToString());
DebugMsg.Log("---------------------------");
Queue <IActionHandler <TAction> > plan = new Queue <IActionHandler <TAction> >();
if (goal == null)
{
return(plan);
}
TreeNode <TAction> currentNode = Plan(goal);
if (currentNode == null)
{
plan.Enqueue(_agent.ActionManager.GetHandler(_agent.ActionManager.GetDefaultActionLabel()));
DebugMsg.LogError("当前节点为空，设置当前动作为默认动作");
return(plan);
}
while (currentNode.ID != TreeNode <TAction> .DEFAULT_ID)
{
plan.Enqueue(currentNode.ActionHandler);
currentNode = currentNode.ParentNode;
}
DebugMsg.Log("---------------最终生成计划------------");
foreach (IActionHandler <TAction> handler in plan)
{
DebugMsg.Log("计划项：" + handler.Label);
}
DebugMsg.Log("---------------当前代理状态------------");
DebugMsg.Log(_agent.AgentState.ToString());
DebugMsg.Log("---------------------------");
DebugMsg.Log("计划结束");
return(plan);
}
public TreeNode <TAction> Plan(IGoal <TGoal> goal)
{
Tree <TAction> tree = new Tree <TAction>();
//初始化树的头节点
TreeNode <TAction> topNode = CreateTopNode(tree, goal);
TreeNode <TAction> cheapestNode = null;
TreeNode <TAction> currentNode = topNode;
TreeNode <TAction> subNode = null;
while (!IsEnd(currentNode))
{
//获取所有的子行为
List <IActionHandler <TAction> > handlers = GetSubHandlers(currentNode);
DebugMsg.Log("---------------currentNode:" + currentNode.ID + "-----------------");
foreach (IActionHandler <TAction> handler in handlers)
{
DebugMsg.Log("计划子行为:" + handler.Label + " 优先级：" + handler.Action.Priority);
}
DebugMsg.Log("--------------------------------");
foreach (IActionHandler <TAction> handler in handlers)
{
subNode = tree.CreateNode(handler);
SetNodeState(currentNode, subNode);
subNode.Cost = GetCost(subNode);
subNode.ParentNode = currentNode;
cheapestNode = GetCheapestNode(subNode, cheapestNode);
}
currentNode = cheapestNode;
cheapestNode = null;
}
return(currentNode);
}
public void UpdateData()
{
DebugMsg.Log("GoalManager UpdateData");
UpdateGoals();
UpdateCurrentGoal();
}
