public override LispOperator <TBb> CreateOperator(
TBb blackboard,
LispParser.Node node,
LispParser.ICompiler <TBb> compiler)
{
LispParser.IdentifierNode identifierNode = node as LispParser.IdentifierNode;
if (identifierNode == null)
{
return(null);
}
Func <bool> func = blackboard.GetBoolFunction(identifierNode.Value);
if (func == null)
{
return(null);
}
return(new BlackboardBoolFunction <TBb>(identifierNode.Value, func));
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
throw new NotImplementedException("Not implemented, use NamedCoroutine instead?");
}
public override LispOperator <TBb> CreateOperator(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode methodNode = node as LispParser.MethodNode;
if (methodNode == null || methodNode.Identifier.Value != Name)
{
return(null);
}
LispMethod <TBb> method = CreateMethod(blackboard, methodNode, compiler);
if (method != null)
{
if (method.GetType() != GetType())
{
throw new InvalidOperationException(
string.Format(
"Expected {0} but compiled to {1}!",
TypeHelper.GetFriendlyTypeName(GetType()),
TypeHelper.GetFriendlyTypeName(method.GetType())));
}
foreach (LispParser.Node child in methodNode.Children)
{
method.Children.Add((LispOperator <TBb>)compiler.Compile(blackboard, child));
}
}
return(method);
}
public abstract LispOperator <TBb> CreateOperator(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler);
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
ControlFlowNode <TBb> controlFlowNode = CreateControlFlow(blackboard, method, compiler);
if (controlFlowNode == null)
{
return(null);
}
foreach (LispParser.Node child in method.Children)
{
bool handled =
child.NamedParamX <LispParser.StringNode>("Name", v => controlFlowNode.Name = v.Value) ||
child.ParamX <LispParser.MethodNode>(null, v => controlFlowNode.Children.Add((TreeTask <TBb>)compiler.Compile(blackboard, child)));
if (!handled)
{
LispParser.NamedParameterNode named = child as LispParser.NamedParameterNode;
if (named != null && named.Identifier.Value == "if")
{
controlFlowNode.Predicate = ((BehaviourTreeCompiler <TBb>)compiler).LispCompiler.Compile(blackboard, named.Value);
if (!(controlFlowNode.Predicate is ICanEvaluateToBool))
{
throw new InvalidOperationException(
string.Format(
"The if predicate must evaluate to a bool, {0} doesn't!",
named.Value));
}
continue;
}
throw new InvalidOperationException(
string.Format(
"Unhandled child {0} on {1}!",
child,
this));
}
}
return(controlFlowNode);
}
public override LispOperator <TBb> CreateOperator(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.StringNode stringNode = node as LispParser.StringNode;
return(stringNode != null ? new StringConstant <TBb>(stringNode.Value) : null);
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
return(new KeepRunning <TBb>());
}
LispParser.ICanCreateFromLispParseTree <TBb> LispParser.ICanCreateFromLispParseTree <TBb> .CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode method = node as LispParser.MethodNode;
if (method == null)
{
return(null);
}
if (method.MethodName == GetClassName())
{
TreeTask <TBb> treeTask = CreateTreeTaskFromParseTree(blackboard, method, compiler);
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.StringNode>("Name", v => treeTask.Name = v.Value);
}
return(treeTask);
}
else
{
return(null);
}
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
UtilityControlFlowNode <TBb> utilityControlFlowNode = CreateUtilityControlFlow(blackboard, method, compiler);
if (utilityControlFlowNode == null)
{
return(null);
}
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.StringNode>("Name", v => utilityControlFlowNode.Name = v.Value);
child.ParamX <LispParser.MethodNode>(null, v => utilityControlFlowNode.Children.Add((TaskUtility <TBb>)compiler.Compile(blackboard, child)));
}
return(utilityControlFlowNode);
}
public override LispOperator <TBb> CreateOperator(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.IdentifierNode identifierNode = node as LispParser.IdentifierNode;
return(identifierNode != null && identifierNode.Value == "False" ? new FalseConstant <TBb>() : null);
}
public override LispOperator <TBb> CreateOperator(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.IntegerNode integerNode = node as LispParser.IntegerNode;
return(integerNode != null ? new IntConstant <TBb>(integerNode.Value) : null);
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
throw new NotImplementedException();
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
throw new InvalidOperationException("Not implemented!");
}
protected override LispMethod <TBb> CreateMethod(TBb blackboard, LispParser.MethodNode methodNode, LispParser.ICompiler <TBb> compiler)
{
return(new LessThanOrEqualTo <TBb>());
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
DebugLog <TBb> debugLog = new DebugLog <TBb>(null);
debugLog.StringComputer = ((BehaviourTreeCompiler <TBb>)compiler).LispCompiler.Compile(blackboard, method.Children[0]);
if (!(debugLog.StringComputer is ICanEvaluateToString))
{
throw new InvalidOperationException("The string computer must evaluate to a string!");
}
return(debugLog);
}
protected override UtilityControlFlowNode <TBb> CreateUtilityControlFlow(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
return(new UtilitySelector <TBb>());
}
public LispParser.ICanCreateFromLispParseTree <TBb> CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode method = node as LispParser.MethodNode;
if (method == null)
{
throw new InvalidOperationException("Expected BehaviourTree but found: null");
}
if (method.MethodName != "BehaviourTree")
{
throw new InvalidOperationException("Expected BehaviourTree but found: " + method);
}
BehaviourTree <TBb> behaviourTree = new BehaviourTree <TBb>(null, null);
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.NumberNode>("RunningTaskHysterisis", v => behaviourTree.RunningTaskHysterisis = (int)v.FloatValue);
child.NamedParamX <LispParser.StringNode>("Name", v => behaviourTree.Name = v.Value);
child.ParamX <LispParser.MethodNode>(null, v => behaviourTree.RootTask = (TreeTask <TBb>)compiler.Compile(blackboard, v));
}
return(behaviourTree);
}
public LispParser.ICanCreateFromLispParseTree <TBb> CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode method = node as LispParser.MethodNode;
if (method == null || method.MethodName != "TaskUtility")
{
return(null);
}
TaskUtility <TBb> taskUtility = new TaskUtility <TBb>(null, null);
taskUtility.UtilityComputer = ((BehaviourTreeCompiler <TBb>)compiler).LispCompiler.Compile(blackboard, method.Children[0]);
if (!(taskUtility.UtilityComputer is ICanEvaluateToFloat))
{
throw new InvalidOperationException("The utility computer must evaluate to a float!");
}
taskUtility.Task = (TreeTask <TBb>)compiler.Compile(blackboard, method.Children[1]);
return(taskUtility);
}
protected abstract TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler);
protected override Decorator <TBb> CreateDecoratorFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
RunNTimes <TBb> runNTimes = new RunNTimes <TBb>(null);
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.IntegerNode>("MaxRunTimes", x => runNTimes.MaxRunTimes = x.Value);
}
return(runNTimes);
}
protected override LispMethod <TBb> CreateMethod(TBb blackboard, LispParser.MethodNode methodNode, LispParser.ICompiler <TBb> compiler)
{
return(new Format <TBb>());
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
Decorator <TBb> decorator = CreateDecoratorFromParseTree(blackboard, method, compiler);
if (decorator != null)
{
if (decorator.GetType() != GetType())
{
throw new InvalidOperationException(
string.Format(
"Expected {0} but compiled to {1}!",
TypeHelper.GetFriendlyTypeName(GetType()),
TypeHelper.GetFriendlyTypeName(decorator.GetType())));
}
decorator.DecoratedTask = (TreeTask <TBb>)compiler.Compile(blackboard, method.Children.OfType <LispParser.MethodNode>().Single());
}
return(decorator);
}
protected override ControlFlowNode <TBb> CreateControlFlow(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
return(new Sequence <TBb>());
}
protected abstract Decorator <TBb> CreateDecoratorFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler);
protected abstract ControlFlowNode <TBb> CreateControlFlow(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler);
protected override Decorator <TBb> CreateDecoratorFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
return(new Counter <TBb>(null));
}
LispParser.ICanCreateFromLispParseTree <TBb> LispParser.ICanCreateFromLispParseTree <TBb> .CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
return(CreateOperator(blackboard, node, compiler));
}
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
FixedResultState <TBb> fixedResultState = new FixedResultState <TBb>(ResultState);
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.StringNode>("ResultState", v => fixedResultState.ResultState = (TaskState)Enum.Parse(typeof(TaskState), v.Value));
}
return(fixedResultState);
}
protected abstract LispMethod <TBb> CreateMethod(TBb blackboard, LispParser.MethodNode methodNode, LispParser.ICompiler <TBb> compiler);
protected override TreeTask <TBb> CreateTreeTaskFromParseTree(TBb blackboard, LispParser.MethodNode method, LispParser.ICompiler <TBb> compiler)
{
NamedCoroutine <TBb> namedCoroutine = new NamedCoroutine <TBb>(null, null);
foreach (LispParser.Node child in method.Children)
{
LispParser.IdentifierNode identifier = child as LispParser.IdentifierNode;
if (identifier != null)
{
Func <IEnumerator <TaskState> > func = blackboard.GetCoRoutineFunc(identifier.Value);
if (func == null)
{
throw new InvalidOperationException("Unrecognized couroutine creator: " + identifier.Value);
}
namedCoroutine.NamedCoroutineCreator = new NamedCoroutineCreator(identifier.Value, func);
}
}
return(namedCoroutine);
}