/// A positive iThinkFact is added to the \a State, and a negative one is removed from it.
public void applyFact( iThinkState State )
{
if ( this.positive == false )
State.delFact( this );
else
State.addFact( this );
}
/*! Returns a new iThinkState, applying only positive effects of this action */
public iThinkState applyPositiveEffects( iThinkState State )
{
iThinkState NewState = new iThinkState( State );
foreach ( iThinkFact effect in this.effects )
{
if (effect.getPositive())
NewState.addFact(effect);
}
return NewState;
}
public override iThinkPlan SearchMethod( iThinkState GoalState, iThinkActionManager ActionManager, List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
//Debug.LogWarning(GoalState.ToString());
//Debug.LogWarning(ActionManager.getActions().Count);
//Debug.LogWarning(OpenStates.Count);
//Debug.LogWarning(VisitedStates.Count);
/*Debug.Log("Available Actions = " + totalActions);
foreach ( iThinkAction act in ActionManager.getActions() )
Debug.Log(act.ToString());*/
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState;
while ( OpenStates.Count != 0 )
{
List<iThinkAction> applicableActions = new List<iThinkAction>();
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
VisitedStates.Add( CurrentState );
OpenStates.RemoveAt( 0 );
//Debug.LogWarning( "Iteration #" + it + " - " + curStep.getState().ToString() );
applicableActions = getApplicable( CurrentState, ActionManager.getActions() );
int count=0;
foreach ( iThinkAction action in applicableActions )
{
//Debug.Log(action.ToString());
nextStep = progress( curStep, action );
if ( compareStates( nextStep.getState(), GoalState ) )
{
Debug.Log( "Found Plan (DepthFS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count );
Plan.setPlan( nextStep );
return Plan;
}
if( !VisitedStates.Contains(nextStep.getState()))
{
OpenStates.Insert( count, nextStep );
count++;
}
}
++it;
}
Debug.Log( "Didn't find Plan (DepthFS) " + it );
return null;
}
public void writeInitState(iThinkState st)
{
// create a writer and open the file
TextWriter tw = new StreamWriter("initState.txt");
foreach (iThinkFact f in st.getFactList())
{
// write a line of text to the file
tw.WriteLine(f.ToString());
}
// close the stream
tw.Close();
}
public bool forwardSearch( iThinkState InitialState, iThinkState GoalState, iThinkActionManager ActionManager)
{
iThinkPlan ReturnVal;
_OpenStates.Clear();
_VisitedStates.Clear();
iThinkPlan step = new iThinkPlan( InitialState );
_OpenStates.Add( step );
_VisitedStates.Add( step.getState() );
ReturnVal = SearchMethod( GoalState, ActionManager, _OpenStates, _VisitedStates );
if ( ReturnVal == null )
return false;
else if ( ReturnVal.hasPlan() )
return true;
return false;
}
/*!
* Checks whether the action can be applied on iThinkState \a curState
* @param curState The state to be checked
* @returns A boolean value
*/
public bool isApplicable( iThinkState curState )
{
int counter = 0;
foreach ( iThinkFact fact in preconditions )
{
//! TODO Get facts of wanted type/name only
foreach ( iThinkFact checkFact in curState.getFactList() )
{
if ( fact.Equals(checkFact) )
counter++;
}
}
if ( counter == preconditions.Count ){
//Debug.LogError("Found applicable! " + this.ToString());
return true;
}
//if ( this.name.StartsWith("SFPSPlace") )
// Debug.Log("Unequal: " + counter + " of " + preconditions.Count + " - act: " + this.ToString());
return false;
}
public override iThinkPlan SearchMethod( iThinkState GoalState, iThinkActionManager ActionManager,
List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
int it = 0;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List<iThinkPlan> stateList = null;
this.totalActions = ActionManager.getActions().Count;
this.nodes += OpenStates.Count;
/*Debug.Log("Available Actions = " + totalActions);
foreach ( iThinkAction act in ActionManager.getActions() )
Debug.Log(act.ToString());*/
List<iThinkAction> applicableActions = new List<iThinkAction>();
stateList = new List<iThinkPlan>();
if ( compareStates( OpenStates[0].getState(), GoalState ) )
{
Debug.Log( "Found Plan (BestFS) - Already at goal state!" );
Plan.setPlan( OpenStates[0] );
repoFunct.completed=true;
return Plan;
}
while ( OpenStates.Count != 0 )
{
if(it % 200 == 0 && it!=0){
//InitRepo();
this.repoOpenStates = new List<iThinkPlan>(OpenStates);
this.repoVisitedStates = new List<iThinkState>(VisitedStates);
this.repoStateList = new List<iThinkPlan>(stateList);
this.repoCurrentState = new iThinkState(CurrentState);
this.repoIterations = it;
repoFunct.loadData = true;
return null;
}else if( repoFunct.loadData ){
OpenStates = this.repoOpenStates;
VisitedStates = this.repoVisitedStates;
stateList = this.repoStateList;
CurrentState = this.repoCurrentState;
it = this.repoIterations;
repoFunct.loadData = false;
//ClearRepo();
}else{
stateList = new List<iThinkPlan>();
}
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
//Debug.Log(GoalState.ToString());
//Debug.Log(CurrentState.ToString());
//Debug.LogWarning( "Iteration #" + it + " - " + curStep.getState().ToString() );
VisitedStates.Add( OpenStates[0].getState() );
OpenStates.RemoveAt( 0 );
applicableActions = getApplicable( CurrentState, ActionManager.getActions() );
this.nodesExpanded++;
this.totalApplicable += applicableActions.Count;
foreach ( iThinkAction action in applicableActions )
{
//Debug.Log(action.ToString());
nextStep = progress( curStep, action );
if ( compareStates( nextStep.getState(), GoalState ) )
{
Debug.Log( "Found Plan (BestFS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count );
Plan.setPlan( nextStep );
repoFunct.completed=true;
return Plan;
}
if ( VisitedStates.Contains(nextStep.getState()) == false )
{
int Cost = hFunction( nextStep.getState(), GoalState );
nextStep.getState().setCost( Cost );
stateList.Add( nextStep );
this.nodes ++;
this.totalActionsUsed++;
}
}
OpenStates.AddRange( stateList );
OpenStates.Sort( delegate( iThinkPlan obj1, iThinkPlan obj2 )
{
if ( obj1.getState().getCost() == obj2.getState().getCost() )
return 0;
else if ( obj1.getState().getCost() > obj2.getState().getCost() )
return -1;
else
return 1;
}
);
++it;
}
Debug.Log( "Didn't find plan (BestFS) " + it );
return null;
}
public void setPlan(iThinkPlan plan)
{
state = new iThinkState(plan.getState());
actions = new List <iThinkAction>(plan.getPlanActions());
}
public bool forwardSearchBounded( iThinkState InitialState, iThinkState GoalState, iThinkActionManager ActionManager, double timelimit, int retries = 3)
{
iThinkPlan ReturnVal;
_OpenStates.Clear();
_VisitedStates.Clear();
iThinkPlan step = new iThinkPlan( InitialState );
_OpenStates.Add( step );
_VisitedStates.Add( step.getState() );
ReturnVal = SearchMethodBounded( GoalState, ActionManager, _OpenStates, _VisitedStates, timelimit );
if ( ReturnVal == null )
return false;
else if ( compareStates(ReturnVal.getState(), GoalState ) )
return true;
return false;
}
public iThinkPlan(iThinkState state, List <iThinkAction> actions)
{
this.state = new iThinkState(state);
this.actions = new List <iThinkAction>(actions);
}
public iThinkPlan( iThinkState state, List<iThinkAction> actions )
{
this.state = new iThinkState( state );
this.actions = new List<iThinkAction>( actions );
}
public void setCurState(iThinkState state){ curState = state;}
public override iThinkPlan SearchMethod ( iThinkState GoalState, iThinkActionManager ActionManager,
List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
int it = 0;
actionManager = ActionManager;
iThinkPlan curStep, nextStep;
iThinkState CurrentState = null;
List<iThinkPlan> stateList = null;
nodesVisited++;
while ( OpenStates.Count != 0 )
{
List<iThinkAction> applicableActions = new List<iThinkAction>();
stateList = new List<iThinkPlan>();
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
VisitedStates.Add(CurrentState);
/*
for ( int i = 0 ; i < ((SimpleFPSActionManager)ActionManager).totalAreas ; i++ )
foreach (iThinkAction a in ((SimpleFPSActionManager)ActionManager).getActions(i))
a.ToStringLite();
*/
OpenStates.RemoveAt( 0 );
if (curStep.getActionCount() < depth)
{
applicableActions = getApplicable( curStep.getState(), ((SimpleFPSActionManager)ActionManager).getActions( Convert.ToInt32(curStep.getState().getFactList().Find(item => item.getName().Equals("npc-at")).getObj(0).name.Substring(4))));
foreach ( iThinkAction action in applicableActions )
{
nextStep = progress( curStep, action );
nodesVisited++;
if ( compareStates( nextStep.getState(), GoalState ) )
{
nodesExpanded++;
Debug.Log( "Found Plan (A* FS) after " + it + " iterations, of length " + nextStep.getPlanActions().Count + ", Nodes Expanded: " + nodesExpanded);
Plan.setPlan( nextStep );
repoFunct.completed=true;
return Plan;
}
if ( !VisitedStates.Contains(nextStep.getState()) )
{
int Cost = hFunction( nextStep.getState(), GoalState );
Cost = Cost + nextStep.getPlanActions().Count;
nextStep.getState().setCost( Cost );
stateList.Add( nextStep );
nodesExpanded++;
}
}
OpenStates.AddRange( stateList );
OpenStates.Sort( delegate( iThinkPlan obj1, iThinkPlan obj2 )
{
if ( obj1.getState().getCost() == obj2.getState().getCost() )
return 0;
else if ( obj1.getState().getCost() < obj2.getState().getCost() )
return -1;
else
return 1;
}
);
++it;
}
}
Debug.Log( "Didn't find Plan (A* FS)" );
return null;
}
public void setGoalState(iThinkState state)
{
goalState = state;
}
public virtual iThinkPlan SearchMethod(iThinkState GoalState, iThinkActionManager ActionManager, List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
return null;
}
public iThinkState( iThinkState state )
{
facts = new List<iThinkFact>( state.facts );
heuristicCost = state.heuristicCost;
name = state.name;
}
public bool Equals(iThinkState state2)
{
foreach ( iThinkFact fact1 in this.facts )
{
bool check = false;
foreach ( iThinkFact fact2 in state2.facts )
{
if ( fact1.Equals(fact2) )
check = true;
}
if ( check == false )
return false;
}
return true;
}
public void setPlan( iThinkPlan plan ) {
state = new iThinkState(plan.getState());
actions = new List<iThinkAction>( plan.getPlanActions() );
}
public void setState( iThinkState NewState ) { state = NewState; }
public iThinkPlan( iThinkPlan Step )
{
this.state = new iThinkState( Step.state );
this.actions = new List<iThinkAction>( Step.actions );
}
public void setState(iThinkState NewState)
{
state = NewState;
}
public override iThinkPlan SearchMethod( iThinkState GoalState, iThinkActionManager ActionManager, List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates )
{
int it = 0;
DateTime n1 = DateTime.Now;
iThinkPlan curStep, nextStep;
iThinkState CurrentState;
nodesVisited++;
actionManager = ActionManager;
List<iThinkAction> applicableActions;
if ( compareStates( OpenStates[0].getState(), GoalState ) )
{
Debug.Log( "Found Plan (HFS) - Already at goal state!" );
Plan.setPlan( OpenStates[0] );
repoFunct.completed=true;
return Plan;
}
//Debug.Log("Available actions: " + ActionManager.getActions().Count);
while ( OpenStates.Count != 0 )
{
curStep = new iThinkPlan( OpenStates[0] );
CurrentState = OpenStates[0].getState();
VisitedStates.Add( CurrentState );
OpenStates.RemoveAt( 0 );
int curArea = Convert.ToInt32(curStep.getState().getFactList().Find(item => item.getName().Equals("npc-at")).getObj(0).name.Substring(4));
if (curStep.getActionCount() < depth)
{
List<iThinkPlan> successors = new List<iThinkPlan>();
applicableActions = getApplicable( CurrentState, ((SimpleFPSActionManager)ActionManager).getActions(-1) );
///applicableActions = getApplicable( CurrentState, ((SimpleFPSActionManager)ActionManager).getActions(curArea) );
nodesExpanded++;
foreach ( iThinkAction action in applicableActions )
{
nextStep = progress( curStep, action );
if ( compareStates( nextStep.getState(), GoalState ) )
{
nodesVisited++;
Debug.Log( "Found Plan (H-DepthFS) " + nextStep.getActionCount() +
" (Nodes: "+nodesVisited+"/"+nodesExpanded+")");
Plan.setPlan( nextStep );
return Plan;
}
//if ( !VisitedStates.Contains(nextStep.getState()) ) {
int Cost = hFunction( nextStep.getState(), GoalState, curArea );
if (Cost != -1)
{
nextStep.getState().setCost( Cost );
successors.Add(nextStep);
nodesVisited++;
}
//}
}
successors.Sort( delegate( iThinkPlan obj1, iThinkPlan obj2 )
{
if ( obj1.getState().getCost() == obj2.getState().getCost() )
return 0;
else if ( obj1.getState().getCost() < obj2.getState().getCost() )
return -1;
else
return 1;
}
);
OpenStates.InsertRange(0, successors);
TimeSpan timediff = n1 - DateTime.Now;
if ( timediff.TotalSeconds > 60 )
return OpenStates[0];
++it;
}
else {
Debug.LogWarning("Depth Sucks!");
}
}
Debug.Log( "Didn't find Plan (H-DepthFS)" );
return null;
}
public void setStartState(iThinkState state){ startState = state;}
public iThinkPlan()
{
this.state = null;
this.actions = new List <iThinkAction>();
}
public void setGoalState(iThinkState state){ goalState = state;}
/// Finds all actions applicable to the current \a State from the collection of available \a Actions
public List<iThinkAction> getApplicable( iThinkState State, List<iThinkAction> Actions )
{
List<iThinkAction> ApplicableActions = new List<iThinkAction>();
foreach ( iThinkAction action in Actions )
{
if ( action == null )
break;
if ( action.isApplicable( State ) )
ApplicableActions.Add( action );
}
//foreach (iThinkAction a in ApplicableActions)
// UnityEngine.Debug.Log(a.ToStringLite());
return ApplicableActions;
}
public iThinkPlan(iThinkPlan Step)
{
this.state = new iThinkState(Step.state);
this.actions = new List <iThinkAction>(Step.actions);
}
/// Checks if goalState is a subset of curState
static public bool compareStates( iThinkState curState, iThinkState goalState )
{
int counter = 0;
if (curState != null) {
foreach ( iThinkFact fact in goalState.getFactList() )
{
foreach ( iThinkFact check in curState.getFactList() )
{
if ( check == null )
return false;
else if ( check.Equals(fact) )
counter++;
}
}
}
if ( counter == goalState.getFactList().Count )
return true;
return false;
}
public virtual iThinkPlan SearchMethodBounded(iThinkState GoalState, iThinkActionManager ActionManager, List<iThinkPlan> OpenStates, List<iThinkState> VisitedStates, double timelimit)
{
return null;
}
public iThinkPlan()
{
this.state = null;
this.actions = new List<iThinkAction>();
}
public int hFunction(iThinkState nextState, iThinkState GoalState, int area)
{
//Debug.LogError(area);
iThinkState tempState = new iThinkState(GoalState);
iThinkState curState = new iThinkState(nextState);
for (int i=0 ; i<depth ; i++)
{
List<int> areas = new List<int>();
foreach (iThinkFact f in curState.getFactList())
{
if (f.getName() == "npc-at")
{
string name = f.getObj(0).name;
int a = Convert.ToInt32(name.Substring(4));
areas.Add(a);
}
tempState.delFact(f);
}
if (tempState.getFactList().Count == 0)
return i;
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(-1) );
///List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(area) );
List<iThinkAction> allApplicableActions = new List<iThinkAction>();
foreach (int k in areas)
{
List<iThinkAction> applicableActions = getApplicable(curState, ((SimpleFPSActionManager)actionManager).getActions(k) );
allApplicableActions.InsertRange(0, applicableActions);
}
iThinkPlan curStep = new iThinkPlan(curState);
foreach (iThinkAction act in allApplicableActions)
{
iThinkPlan nextStep = progressPositive(curStep, act);
//iThinkPlan nextStep = progress(curStep, act);
curStep = nextStep;
}
curState = curStep.getState();
}
//in case the planning graph has #layers = depth, return -1, indicating that no solution can be found starting from current state)
//consequenlty, the state will not be added in the fringe.
return -1;
}
public virtual int hFunction( iThinkState nextState, iThinkState GoalState )
{
int counter = 0;
foreach ( iThinkFact fact in nextState.getFactList() )
{
foreach ( iThinkFact goalFact in GoalState.getFactList() )
{
if ( fact.Equals( goalFact) )
{
counter++;
break;
}
}
}
return counter;
}
