public AStarPlanResponse WaitForResponse(AstarPlanRequest request)
{
// If we already have a request, determine if it has been satisfied.
if (LastRequest != null)
{
// first, if the timer has triggered, return an unsuccessful plan.
Timeout.Update(DwarfTime.LastTime);
if (Timeout.HasTriggered)
{
LastRequest = null;
return(new AStarPlanResponse()
{
Success = false
});
}
// Otherwise, see if there are any responses yet.
while (Subscriber.Responses.Count > 0)
{
AStarPlanResponse response;
bool success = Subscriber.Responses.TryDequeue(out response);
// If so, determine if the response is what we requested.
if (success)
{
// If not, maybe try another response
if (response.Request != LastRequest)
{
continue;
}
// Otherwise, we found our guy. return it.
LastRequest = null;
// Clear the response queue.
while (Subscriber.Responses.Count > 0)
{
AStarPlanResponse dummy;
Subscriber.Responses.TryDequeue(out dummy);
}
return(response);
}
}
// No responses? Return null.
return(null);
}
Timeout.Reset();
// Otherwise, this is a new request. Push it and return null.
LastRequest = request;
Subscriber.SendRequest(request);
return(null);
}
public override IEnumerable <Status> Run()
{
Path = null;
Timeouts = 0;
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
var lastId = -1;
Vector3 goalPos = Vector3.Zero;
Agent.Blackboard.SetData <bool>("NoPath", false);
while (true)
{
if (Path != null)
{
yield return(Status.Success);
break;
}
if (Timeouts > MaxTimeouts)
{
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Status.Fail);
break;
}
if (WaitingOnResponse && Debugger.Switches.DrawPaths)
{
Drawer3D.DrawLine(Creature.AI.Position, goalPos, Color.Blue, 0.25f);
}
PlannerTimer.Update(DwarfTime.LastTime);
ChunkManager chunks = Creature.Manager.World.ChunkManager;
if (PlannerTimer.HasTriggered || Timeouts == 0)
{
if (!Target.IsValid && Type != PlanType.Edge)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Status.Fail);
break;
}
var voxUnder = VoxelHelpers.FindValidVoxelNear(chunks, Agent.Position);
if (!voxUnder.IsValid)
{
if (Debugger.Switches.DrawPaths)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Invalid request"), Creature.Physics, -10, 1);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
yield return(Status.Fail);
break;
}
Path = null;
AstarPlanRequest aspr = new AstarPlanRequest
{
Subscriber = Agent.PlanSubscriber,
Start = voxUnder,
MaxExpansions = MaxExpansions,
Sender = Agent,
HeuristicWeight = Weights[Timeouts]
};
lastId = aspr.ID;
aspr.GoalRegion = GetGoal();
goalPos = GetGoal().GetVoxel().GetBoundingBox().Center();
Agent.PlanSubscriber.Clear();
if (!Agent.PlanSubscriber.SendRequest(aspr, aspr.ID))
{
yield return(Status.Fail);
yield break;
}
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
WaitingOnResponse = true;
yield return(Status.Running);
Timeouts++;
}
else
{
Status statusResult = Status.Running;
while (Agent.PlanSubscriber.Responses.Count > 0)
{
AStarPlanResponse response;
if (!Agent.PlanSubscriber.Responses.TryDequeue(out response))
{
yield return(Status.Running);
continue;
}
LastResult = response.Result;
if (response.Success && response.Request.ID == lastId)
{
Path = response.Path;
WaitingOnResponse = false;
statusResult = Status.Success;
}
else if (response.Request.ID != lastId && response.Path != null && response.Path.Count > 0)
{
var goal = GetGoal();
bool obeysGoal = goal == null ? false : (response.Success && (goal.IsInGoalRegion(response.Path.Last().DestinationVoxel)));
if (Debugger.Switches.DrawPaths)
{
if (obeysGoal)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Using Old Path", response.Result), Creature.Physics, -10, 1);
}
else
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Old Path Dropped", response.Result), Creature.Physics, -10, 1);
}
}
if (obeysGoal)
{
Path = response.Path;
WaitingOnResponse = false;
statusResult = Status.Success;
}
else
{
continue;
}
}
else if (response.Result == AStarPlanner.PlanResultCode.Invalid || response.Result == AStarPlanner.PlanResultCode.NoSolution ||
response.Result == AStarPlanner.PlanResultCode.Cancelled || response.Result == AStarPlanner.PlanResultCode.Invalid)
{
if (Debugger.Switches.DrawPaths)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Path: {0}", response.Result), Creature.Physics, -10, 1);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
statusResult = Status.Fail;
yield return(Status.Fail);
}
else if (Timeouts <= MaxTimeouts)
{
Timeouts++;
yield return(Status.Running);
}
else
{
if (Debugger.Switches.DrawPaths)
{
Creature.World.UserInterface.MakeWorldPopup(String.Format("Max timeouts reached", response.Result), Creature.Physics, -10, 1);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
Agent.Blackboard.SetData <bool>("NoPath", true);
statusResult = Status.Fail;
}
}
yield return(statusResult);
}
}
}
public override IEnumerable <Status> Run()
{
Path = null;
Timeouts = 0;
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
Voxel voxUnder = new Voxel();
while (true)
{
if (Path != null)
{
yield return(Status.Success);
break;
}
if (Timeouts > MaxTimeouts)
{
yield return(Status.Fail);
break;
}
PlannerTimer.Update(DwarfTime.LastTime);
ChunkManager chunks = PlayState.ChunkManager;
if (PlannerTimer.HasTriggered || Timeouts == 0)
{
if (!chunks.ChunkData.GetVoxel(Agent.Position, ref voxUnder))
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
if (Target == null && Type != PlanType.Edge)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
if (voxUnder != null)
{
Path = null;
AstarPlanRequest aspr = new AstarPlanRequest
{
Subscriber = PlanSubscriber,
Start = voxUnder,
MaxExpansions = MaxExpansions,
Sender = Agent,
HeuristicWeight = Weights[Timeouts]
};
switch (Type)
{
case PlanType.Radius:
aspr.GoalRegion = new SphereGoalRegion(Target, Radius);
break;
case PlanType.Into:
aspr.GoalRegion = new VoxelGoalRegion(Target);
break;
case PlanType.Adjacent:
aspr.GoalRegion = new AdjacentVoxelGoalRegion2D(Target);
break;
case PlanType.Edge:
aspr.GoalRegion = new EdgeGoalRegion();
break;
}
PlanSubscriber.SendRequest(aspr);
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
WaitingOnResponse = true;
yield return(Status.Running);
}
else
{
Path = null;
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
Timeouts++;
}
else
{
if (Target != null && Creature.AI.DrawAIPlan)
{
Drawer3D.DrawLine(Creature.AI.Position, Target.Position, Color.Blue, 0.25f);
}
Status statusResult = Status.Running;
while (PlanSubscriber.Responses.Count > 0)
{
AStarPlanResponse response;
PlanSubscriber.Responses.TryDequeue(out response);
if (response.Success)
{
Path = response.Path;
if (Type == PlanType.Adjacent && Path.Count > 0)
{
Path.RemoveAt(Path.Count - 1);
}
WaitingOnResponse = false;
statusResult = Status.Success;
}
else
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
statusResult = Status.Fail;
}
}
yield return(statusResult);
}
}
}
public override IEnumerable <Status> Run()
{
Path = null;
Timeouts = 0;
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
while (true)
{
if (Path != null)
{
yield return(Status.Success);
break;
}
if (Timeouts > MaxTimeouts)
{
yield return(Status.Fail);
break;
}
PlannerTimer.Update(DwarfTime.LastTime);
ChunkManager chunks = Creature.Manager.World.ChunkManager;
if (PlannerTimer.HasTriggered || Timeouts == 0)
{
if (!Target.IsValid && Type != PlanType.Edge)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
var voxUnder = new VoxelHandle(chunks.ChunkData,
GlobalVoxelCoordinate.FromVector3(Agent.Position));
if (!voxUnder.IsValid)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
Path = null;
AstarPlanRequest aspr = new AstarPlanRequest
{
Subscriber = Agent.PlanSubscriber,
Start = voxUnder,
MaxExpansions = MaxExpansions,
Sender = Agent,
HeuristicWeight = Weights[Timeouts]
};
aspr.GoalRegion = GetGoal();
if (!Agent.PlanSubscriber.SendRequest(aspr))
{
yield return(Status.Fail);
yield break;
}
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
WaitingOnResponse = true;
yield return(Status.Running);
Timeouts++;
}
else
{
//if (Target.IsValid && Creature.AI.DrawAIPlan)
// Drawer3D.DrawLine(Creature.AI.Position, Target.WorldPosition, Color.Blue, 0.25f);
Status statusResult = Status.Running;
while (Agent.PlanSubscriber.Responses.Count > 0)
{
AStarPlanResponse response;
if (!Agent.PlanSubscriber.Responses.TryDequeue(out response))
{
yield return(Status.Running);
continue;
}
LastResult = response.Result;
if (response.Success)
{
Path = response.Path;
WaitingOnResponse = false;
statusResult = Status.Success;
}
else if (response.Result == AStarPlanner.PlanResultCode.Invalid || response.Result == AStarPlanner.PlanResultCode.NoSolution ||
response.Result == AStarPlanner.PlanResultCode.Cancelled || response.Result == AStarPlanner.PlanResultCode.Invalid)
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
statusResult = Status.Fail;
yield return(Status.Fail);
}
else if (Timeouts <= MaxTimeouts)
{
Timeouts++;
yield return(Status.Running);
}
else
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
statusResult = Status.Fail;
}
}
yield return(statusResult);
}
}
}
public override IEnumerable <Status> Run()
{
Path = null;
Timeouts = 0;
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
Voxel voxUnder = new Voxel();
while (true)
{
if (Path != null)
{
yield return(Status.Success);
break;
}
if (Timeouts > MaxTimeouts)
{
yield return(Status.Fail);
break;
}
PlannerTimer.Update(DwarfTime.LastTime);
ChunkManager chunks = PlayState.ChunkManager;
if (PlannerTimer.HasTriggered || Timeouts == 0)
{
if (!chunks.ChunkData.GetVoxel(Agent.Position, ref voxUnder))
{
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
if (Target == null)
{
if (Creature.Faction == PlayState.Master.Faction)
{
PlayState.AnnouncementManager.Announce(Creature.Stats.FullName + " (" + Creature.Stats.CurrentLevel.Name + ")" + " got lost.",
Creature.Stats.FullName + "'s target was lost.", () => Agent.ZoomToMe());
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
if (voxUnder != null)
{
Path = null;
AstarPlanRequest aspr = new AstarPlanRequest
{
Subscriber = PlanSubscriber,
Start = voxUnder,
MaxExpansions = MaxExpansions,
Sender = Agent
};
if (Type == PlanType.Radius)
{
aspr.GoalRegion = new SphereGoalRegion(Target, Radius);
}
else if (Type == PlanType.Into)
{
aspr.GoalRegion = new VoxelGoalRegion(Target);
}
else if (Type == PlanType.Adjacent)
{
aspr.GoalRegion = new AdjacentVoxelGoalRegion2D(Target);
}
PlanSubscriber.SendRequest(aspr);
PlannerTimer.Reset(PlannerTimer.TargetTimeSeconds);
WaitingOnResponse = true;
yield return(Status.Running);
}
else
{
Path = null;
if (Creature.Faction == PlayState.Master.Faction)
{
PlayState.AnnouncementManager.Announce(Creature.Stats.FullName + " got lost.",
Creature.Stats.FullName + " couldn't find a path. The target was invalid.", () => Agent.ZoomToMe());
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
yield return(Status.Fail);
break;
}
Timeouts++;
}
else
{
Status statusResult = Status.Running;
while (PlanSubscriber.Responses.Count > 0)
{
AStarPlanResponse response;
PlanSubscriber.Responses.TryDequeue(out response);
if (response.Success)
{
Path = response.Path;
if (Type == PlanType.Adjacent && Path.Count > 0)
{
Path.RemoveAt(Path.Count - 1);
}
WaitingOnResponse = false;
statusResult = Status.Success;
}
else
{
if (Creature.Faction == PlayState.Master.Faction)
{
PlayState.AnnouncementManager.Announce(Creature.Stats.FullName + " got lost.",
Creature.Stats.FullName + " couldn't find a path in time.", Agent.ZoomToMe);
}
Creature.DrawIndicator(IndicatorManager.StandardIndicators.Question);
statusResult = Status.Fail;
}
}
yield return(statusResult);
}
}
}
