private static object FromStringStruct(Type type, string src)
{
object objValue = Activator.CreateInstance(type);
Dictionary <string, FieldInfo> structMembers = new Dictionary <string, FieldInfo>();
FieldInfo[] fields = type.GetFields(BindingFlags.DeclaredOnly | BindingFlags.NonPublic | BindingFlags.Public | BindingFlags.Instance | BindingFlags.Static);
for (int i = 0; i < fields.Length; ++i)
{
FieldInfo f = fields[i];
if (!f.IsLiteral)
{
structMembers.Add(f.Name, f);
}
}
if (string.IsNullOrEmpty(src))
{
return(objValue);
}
//{color=0;id=;type={bLive=false;name=0;weight=0;};}
//the first char is '{'
//the last char is '}'
int posCloseBrackets = SkipPairedBrackets(src, 0);
Debug.Check(posCloseBrackets != -1);
//{color=0;id=;type={bLive=false;name=0;weight=0;};}
int posBegin = 1;
int posEnd = src.IndexOf(';', posBegin);
while (posEnd != -1)
{
Debug.Check(src[posEnd] == ';');
//the last one might be empty
if (posEnd > posBegin)
{
int posEqual = src.IndexOf('=', posBegin);
Debug.Check(posEqual > posBegin);
int length = posEqual - posBegin;
string memmberName = src.Substring(posBegin, length);
string memberValueStr;
char c = src[posEqual + 1];
if (c != '{')
{
length = posEnd - posEqual - 1;
memberValueStr = src.Substring(posEqual + 1, length);
}
else
{
int pStructBegin = 0;
pStructBegin += posEqual + 1;
int posCloseBrackets_ = SkipPairedBrackets(src, pStructBegin);
length = posCloseBrackets_ - pStructBegin + 1;
memberValueStr = src.Substring(posEqual + 1, length);
posEnd = posEqual + 1 + length;
}
if (structMembers.ContainsKey(memmberName))
{
FieldInfo memberType = structMembers[memmberName];
Debug.Check(memberType != null);
object memberValue = FromString(memberType.FieldType, memberValueStr, false);
memberType.SetValue(objValue, memberValue);
}
}
//skip ';'
posBegin = posEnd + 1;
//{color=0;id=;type={bLive=false;name=0;weight=0;};}
posEnd = src.IndexOf(';', posBegin);
if (posEnd > posCloseBrackets)
{
break;
}
}
return(objValue);
}
public override void Run(Agent self)
{
Debug.Check(_param0 != null);
_returnValue.value = behaviac.Agent.VectorLength((System.Collections.IList)_param0.GetValueObject(self));
}
protected override bool onenter(Agent pAgent)
{
Debug.Check(this.m_children.Count > 0);
this.m_activeChildIndex = 0;
return(true);
}
public EBTStatus exec(Agent pAgent, EBTStatus childStatus)
{
#if !BEHAVIAC_RELEASE
Debug.Check(this.m_node == null || this.m_node.IsValid(pAgent, this),
string.Format("Agent In BT:{0} while the Agent used for: {1}", this.m_node.GetAgentType(), pAgent.GetClassTypeName()));
string classStr = (this.m_node != null ? this.m_node.GetClassNameString() : "BT");
int nodeId = (this.m_node != null ? this.m_node.GetId() : -1);
string taskClassid = string.Format("{0}[{1}]", classStr, nodeId);
AutoProfileBlockSend profiler_block = new AutoProfileBlockSend(taskClassid, pAgent);
#endif//#if !BEHAVIAC_RELEASE
bool bEnterResult = false;
if (this.m_status == EBTStatus.BT_RUNNING)
{
bEnterResult = true;
}
else
{
//reset it to invalid when it was success/failure
this.m_status = EBTStatus.BT_INVALID;
bEnterResult = this.onenter_action(pAgent);
}
if (bEnterResult)
{
#if !BEHAVIAC_RELEASE
if (Config.IsLoggingOrSocketing)
{
string btStr = BehaviorTask.GetTickInfo(pAgent, this, "update");
//empty btStr is for internal BehaviorTreeTask
if (!string.IsNullOrEmpty(btStr))
{
LogManager.Instance.Log(pAgent, btStr, EActionResult.EAR_none, LogMode.ELM_tick);
}
}
#endif
bool bValid = this.CheckParentUpdatePreconditions(pAgent);
if (bValid)
{
this.m_status = this.update_current(pAgent, childStatus);
}
else
{
this.m_status = EBTStatus.BT_FAILURE;
if (this.GetCurrentTask() != null)
{
this.update_current(pAgent, EBTStatus.BT_FAILURE);
}
}
if (this.m_status != EBTStatus.BT_RUNNING)
{
//clear it
this.onexit_action(pAgent, this.m_status);
//this node is possibly ticked by its parent or by the topBranch who records it as currrent node
//so, we can't here reset the topBranch's current node
}
else
{
BranchTask tree = this.GetTopManageBranchTask();
if (tree != null)
{
tree.SetCurrentTask(this);
}
}
}
else
{
this.m_status = EBTStatus.BT_FAILURE;
}
#if !BEHAVIAC_RELEASE
profiler_block.Close();
#endif
return(this.m_status);
}
protected override void onexit(Agent pAgent, EBTStatus s)
{
Debug.Check(true);
base.onexit(pAgent, s);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
int idx = -1;
if (childStatus != EBTStatus.BT_RUNNING)
{
Debug.Check(this.m_activeChildIndex != CompositeTask.InvalidChildIndex);
if (childStatus == EBTStatus.BT_SUCCESS)
{
return(EBTStatus.BT_SUCCESS);
}
else if (childStatus == EBTStatus.BT_FAILURE)
{
//the next for starts from (idx + 1), so that it starts from next one after this failed one
idx = this.m_activeChildIndex;
}
else
{
Debug.Check(false);
}
}
//checking the preconditions and take the first action tree
int index = (int)-1;
for (int i = (idx + 1); i < this.m_children.Count; ++i)
{
Debug.Check(this.m_children[i] is WithPreconditionTask);
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
BehaviorTask pre = pSubTree.PreconditionNode;
EBTStatus status = pre.exec(pAgent);
if (status == EBTStatus.BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (int)-1)
{
if (this.m_activeChildIndex != CompositeTask.InvalidChildIndex &&
this.m_activeChildIndex != index)
{
WithPreconditionTask pCurrentSubTree = (WithPreconditionTask)this.m_children[this.m_activeChildIndex];
//BehaviorTask action = pCurrentSubTree.ActionNode;
pCurrentSubTree.abort(pAgent);
//don't set it here
//this.m_activeChildIndex = index;
}
for (int i = index; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
if (i > index)
{
BehaviorTask pre = pSubTree.PreconditionNode;
EBTStatus status = pre.exec(pAgent);
//to search for the first one whose precondition is success
if (status != EBTStatus.BT_SUCCESS)
{
continue;
}
}
BehaviorTask action = pSubTree.ActionNode;
EBTStatus s = action.exec(pAgent);
if (s == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = i;
pSubTree.m_status = EBTStatus.BT_RUNNING;
}
else
{
pSubTree.m_status = s;
if (s == EBTStatus.BT_FAILURE)
{
//THE ACTION failed, to try the next one
continue;
}
}
Debug.Check(s == EBTStatus.BT_RUNNING || s == EBTStatus.BT_SUCCESS);
return(s);
}
}
return(EBTStatus.BT_FAILURE);
}
public EBTStatus ParallelUpdate(Agent pAgent, List <BehaviorTask> children)
{
bool sawSuccess = false;
bool sawFail = false;
bool sawRunning = false;
bool sawAllFails = true;
bool sawAllSuccess = true;
bool bLoop = (this.m_childFinishPolicy == CHILDFINISH_POLICY.CHILDFINISH_LOOP);
// go through all m_children
for (int i = 0; i < children.Count; ++i)
{
BehaviorTask pChild = children[i];
EBTStatus treeStatus = pChild.GetStatus();
if (bLoop || (treeStatus == EBTStatus.BT_RUNNING || treeStatus == EBTStatus.BT_INVALID))
{
EBTStatus status = pChild.exec(pAgent);
if (status == EBTStatus.BT_FAILURE)
{
sawFail = true;
sawAllSuccess = false;
}
else if (status == EBTStatus.BT_SUCCESS)
{
sawSuccess = true;
sawAllFails = false;
}
else if (status == EBTStatus.BT_RUNNING)
{
sawRunning = true;
sawAllFails = false;
sawAllSuccess = false;
}
}
else if (treeStatus == EBTStatus.BT_SUCCESS)
{
sawSuccess = true;
sawAllFails = false;
}
else
{
Debug.Check(treeStatus == EBTStatus.BT_FAILURE);
sawFail = true;
sawAllSuccess = false;
}
}
EBTStatus result = sawRunning ? EBTStatus.BT_RUNNING : EBTStatus.BT_FAILURE;
if ((this.m_failPolicy == FAILURE_POLICY.FAIL_ON_ALL && sawAllFails) ||
(this.m_failPolicy == FAILURE_POLICY.FAIL_ON_ONE && sawFail))
{
result = EBTStatus.BT_FAILURE;
}
else if ((this.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ALL && sawAllSuccess) ||
(this.m_succeedPolicy == SUCCESS_POLICY.SUCCEED_ON_ONE && sawSuccess))
{
result = EBTStatus.BT_SUCCESS;
}
//else if (m_failPolicy == FAIL_ON_ALL && m_succeedPolicy == SUCCEED_ON_ALL && sawRunning)
//{
// return EBTStatus.BT_RUNNING;
//}
if (this.m_exitPolicy == EXIT_POLICY.EXIT_ABORT_RUNNINGSIBLINGS && (result == EBTStatus.BT_FAILURE || result == EBTStatus.BT_SUCCESS))
{
for (int i = 0; i < children.Count; ++i)
{
BehaviorTask pChild = children[i];
//Debug.Check(BehaviorTreeTask.DynamicCast(pChild));
EBTStatus treeStatus = pChild.GetStatus();
if (treeStatus == EBTStatus.BT_RUNNING)
{
pChild.abort(pAgent);
}
}
}
return(result);
}
public static IInstanceMember ParseProperty(string value)
{
try
{
if (string.IsNullOrEmpty(value))
{
return(null);
}
List <string> tokens = StringUtils.SplitTokens(value);
string typeName = "";
if (tokens[0] == "const")
{
// const Int32 0
Debug.Check(tokens.Count == 3);
const int kConstLength = 5;
string strRemaining = value.Substring(kConstLength + 1);
int p = StringUtils.FirstToken(strRemaining, ' ', ref typeName);
typeName = typeName.Replace("::", ".");
string strVale = strRemaining.Substring(p + 1);
// const
return(AgentMeta.CreateInstanceConst(typeName, strVale));
}
else
{
string propStr = "";
string indexPropStr = "";
if (tokens[0] == "static")
{
// static float Self.AgentNodeTest::s_float_type_0
// static float Self.AgentNodeTest::s_float_type_0[int Self.AgentNodeTest::par_int_type_2]
Debug.Check(tokens.Count == 3 || tokens.Count == 4);
typeName = tokens[1];
propStr = tokens[2];
if (tokens.Count == 4) // array index
{
indexPropStr = tokens[3];
}
}
else
{
// float Self.AgentNodeTest::par_float_type_1
// float Self.AgentNodeTest::par_float_type_1[int Self.AgentNodeTest::par_int_type_2]
Debug.Check(tokens.Count == 2 || tokens.Count == 3);
typeName = tokens[0];
propStr = tokens[1];
if (tokens.Count == 3) // array index
{
indexPropStr = tokens[2];
}
}
string arrayItem = "";
IInstanceMember indexMember = null;
if (!string.IsNullOrEmpty(indexPropStr))
{
arrayItem = "[]";
indexMember = ParseProperty <int>(indexPropStr);
}
typeName = typeName.Replace("::", ".");
propStr = propStr.Replace("::", ".");
string[] props = propStr.Split('.');
Debug.Check(props.Length >= 3);
string instantceName = props[0];
string propName = props[props.Length - 1];
string className = props[1];
for (int i = 2; i < props.Length - 1; ++i)
{
className += "." + props[i];
}
uint classId = Utils.MakeVariableId(className);
AgentMeta meta = AgentMeta.GetMeta(classId);
Debug.Check(meta != null);
uint propId = Utils.MakeVariableId(propName + arrayItem);
// property
IProperty p = meta.GetProperty(propId);
if (p != null)
{
return(p.CreateInstance(instantceName, indexMember));
}
// local var
return(AgentMeta.CreateInstanceProperty(typeName, instantceName, indexMember, propId));
}
}
catch (System.Exception e)
{
Debug.Check(false, e.Message);
}
return(null);
}
public static ulong ByteSwap64(ulong i)
{
//return (0xFF & i) << 24 | (0xFF00 & i) << 8 | (0xFF0000 & i) >> 8 | (0xFF000000 & i) >> 24;
Debug.Check(false, "unimplemented");
return(i);
}
public static object FromStringPrimitive(Type type, string valueStr)
{
if (valueStr != null)
{
if (type == typeof(string) && !string.IsNullOrEmpty(valueStr) &&
valueStr.Length > 1 && valueStr[0] == '\"' && valueStr[valueStr.Length - 1] == '\"')
{
valueStr = valueStr.Substring(1, valueStr.Length - 2);
}
try
{
TypeConverter converter = TypeDescriptor.GetConverter(type);
return(converter.ConvertFromString(valueStr));
}
catch
{
if (type == typeof(bool))
{
bool b;
if (bool.TryParse(valueStr, out b))
{
return(b);
}
}
else if (type == typeof(int))
{
int i;
if (int.TryParse(valueStr, out i))
{
return(i);
}
}
else if (type == typeof(uint))
{
uint ui;
if (uint.TryParse(valueStr, out ui))
{
return(ui);
}
}
else if (type == typeof(short))
{
short s;
if (short.TryParse(valueStr, out s))
{
return(s);
}
}
else if (type == typeof(ushort))
{
ushort us;
if (ushort.TryParse(valueStr, out us))
{
return(us);
}
}
else if (type == typeof(char))
{
char c;
if (char.TryParse(valueStr, out c))
{
return(c);
}
}
else if (type == typeof(sbyte))
{
sbyte sb;
if (sbyte.TryParse(valueStr, out sb))
{
return(sb);
}
}
else if (type == typeof(byte))
{
byte b;
if (byte.TryParse(valueStr, out b))
{
return(b);
}
}
else if (type == typeof(long))
{
long l;
if (long.TryParse(valueStr, out l))
{
return(l);
}
}
else if (type == typeof(ulong))
{
ulong ul;
if (ulong.TryParse(valueStr, out ul))
{
return(ul);
}
}
else if (type == typeof(float))
{
float f;
if (float.TryParse(valueStr, out f))
{
return(f);
}
}
else if (type == typeof(double))
{
double d;
if (double.TryParse(valueStr, out d))
{
return(d);
}
}
else if (type == typeof(string))
{
return(valueStr);
}
else if (type.IsEnum)
{
object ret = Enum.Parse(type, valueStr, true);
return(ret);
}
else
{
Debug.Check(false);
}
}
}
return(GetDefaultValue(type));
}
public static bool IsAgentType(Type type)
{
Debug.Check(type != null);
return(type == typeof(Agent) || type.IsSubclassOf(typeof(Agent)));
}
public static bool ParseForStruct(Type type, string str, ref string strT, Dictionary <string, IInstanceMember> props)
{
int pB = 0;
int i = 0;
while (i < str.Length)
{
char c = str[i];
if (c == ';' || c == '{' || c == '}')
{
int p = pB;
while (p <= i)
{
strT += str[p++];
}
pB = i + 1;
}
else if (c == ' ')
{
//par or property
string propName = "";
int p = pB;
while (str[p] != '=')
{
propName += str[p++];
}
//skip '='
Debug.Check(str[p] == '=');
p++;
string valueStr = str.Substring(p);
string typeStr = "";
while (str[p] != ' ')
{
typeStr += str[p++];
}
//bool bStatic = false;
if (typeStr == "static")
{
//skip ' '
Debug.Check(str[p] == ' ');
p++;
while (str[p] != ' ')
{
typeStr += str[p++];
}
//bStatic = true;
}
string parName = "";
//skip ' '
Debug.Check(str[i] == ' ');
i++;
while (str[i] != ';')
{
parName += str[i++];
}
props[propName] = AgentMeta.ParseProperty(valueStr);
//skip ';'
Debug.Check(str[i] == ';');
pB = i + 1;
}
i++;
}
return(true);
}
public static List <string> SplitTokens(string str)
{
List <string> ret = new List <string>();
// "const string \"test string\""
// "const int 10"
// "int Self.AgentArrayAccessTest::ListInts[int Self.AgentArrayAccessTest::l_index]"
if (str.StartsWith("const string "))
{
ret.Add("const");
ret.Add("string");
ret.Add(str.Substring(13));
return(ret);
}
int pB = 0;
int i = 0;
bool bBeginIndex = false;
while (i < str.Length)
{
bool bFound = false;
char c = str[i];
if (c == ' ' && !bBeginIndex)
{
bFound = true;
}
else if (c == '[')
{
bBeginIndex = true;
bFound = true;
}
else if (c == ']')
{
bBeginIndex = false;
bFound = true;
}
if (bFound)
{
string strT = ReadToken(str, pB, i);
Debug.Check(strT.Length > 0);
ret.Add(strT);
pB = i + 1;
}
i++;
}
string t = ReadToken(str, pB, i);
if (t.Length > 0)
{
ret.Add(t);
}
return(ret);
}
private static object FromStringVector(Type type, string src)
{
Type vectorType = typeof(List <>).MakeGenericType(type);
IList objVector = (IList)Activator.CreateInstance(vectorType);
if (string.IsNullOrEmpty(src))
{
return(objVector);
}
int semiColon = src.IndexOf(':');
Debug.Check(semiColon != -1);
string countStr = src.Substring(0, semiColon);
int count = int.Parse(countStr);
int b = semiColon + 1;
int sep = b;
if (b < src.Length && src[b] == '{')
{
sep = SkipPairedBrackets(src, b);
Debug.Check(sep != -1);
}
sep = src.IndexOf('|', sep);
while (sep != -1)
{
int len = sep - b;
string elemStr = src.Substring(b, len);
object elemObject = FromString(type, elemStr, false);
objVector.Add(elemObject);
b = sep + 1;
if (b < src.Length && src[b] == '{')
{
sep = SkipPairedBrackets(src, b);
Debug.Check(b != -1);
}
else
{
sep = b;
}
sep = src.IndexOf('|', sep);
}
if (b < src.Length)
{
int len = src.Length - b;
string elemStr = src.Substring(b, len);
object elemObject = FromString(type, elemStr, false);
objVector.Add(elemObject);
}
Debug.Check(objVector.Count == count);
return(objVector);
}
//private static bool MemberCompare(object left, object right)
//{
// if (Object.ReferenceEquals(left, right))
// return true;
// if (left == null || right == null)
// return false;
// Type type = left.GetType();
// if (type != right.GetType())
// return false;
// if (left as ValueType != null)
// return left.Equals(right);
// if (left as IEnumerable != null)
// {
// IEnumerator rightEnumerator = (right as IEnumerable).GetEnumerator();
// rightEnumerator.Reset();
// foreach (object leftItem in left as IEnumerable)
// {
// if (!rightEnumerator.MoveNext())
// {
// return false;
// }
// else
// {
// if (!MemberCompare(leftItem, rightEnumerator.Current))
// return false;
// }
// }
// }
// else
// {
// Debug.Check(false);
// }
// return true;
//}
public static bool Compare <T>(T left, T right, EOperatorType comparisonType)
{
Type type = typeof(T);
if (Utils.IsCustomStructType(type))
{
//bool bEqual = MemberCompare(left, right);
bool bEqual = Operator <T> .MemberEqual(left, right);
switch (comparisonType)
{
case EOperatorType.E_EQUAL: return(bEqual);
case EOperatorType.E_NOTEQUAL: return(!bEqual);
}
}
else if (Utils.IsArrayType(type))
{
//bool bEqual = MemberCompare(left, right);
bool bEqual = Operator <T> .ItemEqual(left, right);
switch (comparisonType)
{
case EOperatorType.E_EQUAL: return(bEqual);
case EOperatorType.E_NOTEQUAL: return(!bEqual);
}
}
else if (Utils.IsStringType(type) || type == typeof(bool))
{
switch (comparisonType)
{
case EOperatorType.E_EQUAL: return(Operator <T> .Equal(left, right));
case EOperatorType.E_NOTEQUAL: return(Operator <T> .NotEqual(left, right));
}
}
else if (Utils.IsEnumType(type) || type == typeof(char))
{
int iLeft = Convert.ToInt32(left);
int iRight = Convert.ToInt32(right);
switch (comparisonType)
{
case EOperatorType.E_EQUAL: return(Operator <int> .Equal(iLeft, iRight));
case EOperatorType.E_NOTEQUAL: return(Operator <int> .NotEqual(iLeft, iRight));
case EOperatorType.E_GREATER: return(Operator <int> .GreaterThan(iLeft, iRight));
case EOperatorType.E_GREATEREQUAL: return(Operator <int> .GreaterThanOrEqual(iLeft, iRight));
case EOperatorType.E_LESS: return(Operator <int> .LessThan(iLeft, iRight));
case EOperatorType.E_LESSEQUAL: return(Operator <int> .LessThanOrEqual(iLeft, iRight));
}
}
else
{
switch (comparisonType)
{
case EOperatorType.E_EQUAL: return(Operator <T> .Equal(left, right));
case EOperatorType.E_NOTEQUAL: return(Operator <T> .NotEqual(left, right));
case EOperatorType.E_GREATER: return(Operator <T> .GreaterThan(left, right));
case EOperatorType.E_GREATEREQUAL: return(Operator <T> .GreaterThanOrEqual(left, right));
case EOperatorType.E_LESS: return(Operator <T> .LessThan(left, right));
case EOperatorType.E_LESSEQUAL: return(Operator <T> .LessThanOrEqual(left, right));
}
}
Debug.Check(false);
return(false);
}
private void ThreadFunc()
{
Log("behaviac: Socket Thread Starting\n");
try
{
this.ReserveThreadPacketBuffer();
int bufferIndex = t_packetBufferIndex;
Debug.Check(bufferIndex > 0);
bool blockingSocket = true;
Socket serverSocket = null;
try
{
serverSocket = SocketBase.Create(blockingSocket);
if (serverSocket == null)
{
Log("behaviac: Couldn't create server socket.\n");
return;
}
string bufferTemp = string.Format("behaviac: Listening at port {0}...\n", m_port);
Log(bufferTemp);
// max connections: 1, don't allow multiple clients?
if (!SocketBase.Listen(serverSocket, m_port, 1))
{
Log("behaviac: Couldn't configure server socket.\n");
SocketBase.Close(ref serverSocket);
return;
}
}
catch (Exception ex)
{
Debug.LogError(ex.Message);
}
while (m_terminating.Get() == 0)
{
//wait for connecting
while (m_terminating.Get() == 0)
{
if (SocketBase.TestConnection(serverSocket))
{
break;
}
System.Threading.Thread.Sleep(100);
}
if (m_terminating.Get() == 0)
{
Log("behaviac: accepting...\n");
try
{
m_writeSocket = SocketBase.Accept(serverSocket, SocketConnection.kSocketBufferSize);
if (m_writeSocket == null)
{
Log("behaviac: Couldn't create write socket.\n");
SocketBase.Close(ref serverSocket);
return;
}
}
catch (Exception ex)
{
Debug.LogError(ex.Message);
}
try
{
m_isConnected.AtomicInc();
System.Threading.Thread.Sleep(1);
OnConnection();
m_isConnectedFinished.AtomicInc();
System.Threading.Thread.Sleep(1);
//this.OnConnectionFinished();
Log("behaviac: Connected. accepted\n");
}
catch (Exception ex)
{
Debug.LogError(ex.Message);
}
try
{
while (m_terminating.Get() == 0 && this.m_writeSocket != null)
{
System.Threading.Thread.Sleep(1);
this.SendAllPackets();
this.ReceivePackets("");
}
if (this.m_writeSocket != null && this.m_writeSocket.Connected)
{
// One last time, to send any outstanding packets out there.
this.SendAllPackets();
}
SocketBase.Close(ref this.m_writeSocket);
this.Clear();
Log("behaviac: disconnected. \n");
}
catch (Exception ex)
{
Debug.LogError(ex.Message + ex.StackTrace);
}
}
}//while (!m_terminating)
SocketBase.Close(ref serverSocket);
this.Clear();
}
catch (Exception ex)
{
Debug.LogError(ex.Message);
}
Log("behaviac: ThreadFunc exited. \n");
}
protected override BehaviorTask createTask()
{
Debug.Check(false);
return(null);
}
public virtual void AddVariable(uint varId, IInstantiatedVariable pVar, int stackIndex)
{
Debug.Check(!this.m_variables.ContainsKey(varId));
this.m_variables[varId] = pVar;
}
protected override void addChild(BehaviorTask pBehavior)
{
base.addChild(pBehavior);
Debug.Check(pBehavior is WithPreconditionTask);
}
protected override EBTStatus update(Agent pAgent, EBTStatus childStatus)
{
//checking the preconditions and take the first action tree
int index = (int)-1;
for (int i = 0; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pPrecondTree = pSubTree.PreconditionNode();
EBTStatus status = pPrecondTree.exec(pAgent);
if (status == EBTStatus.BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (int)-1)
{
if (this.m_activeChildIndex != CompositeTask.InvalidChildIndex)
{
WithPreconditionTask pCurrentSubTree = (WithPreconditionTask)this.m_children[this.m_activeChildIndex];
Debug.Check(pCurrentSubTree is WithPreconditionTask);
BehaviorTask pCurrentActionTree = pCurrentSubTree.Action();
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[index];
Debug.Check(pSubTree is WithPreconditionTask);
BehaviorTask pActionTree = pSubTree.Action();
if (pCurrentActionTree != pActionTree)
{
pCurrentActionTree.abort(pAgent);
pCurrentSubTree.abort(pAgent);
this.m_activeChildIndex = index;
}
}
for (int i = 0; i < this.m_children.Count; ++i)
{
WithPreconditionTask pSubTree = (WithPreconditionTask)this.m_children[i];
Debug.Check(pSubTree is WithPreconditionTask);
//dummy ticking so that the designer knows it is updating
EBTStatus statusDummy = pSubTree.exec(pAgent);
Debug.Check(statusDummy == EBTStatus.BT_RUNNING);
//when i < index, the precondition is failure, so to continue
if (i < index)
{
continue;
}
if (i > index)
{
BehaviorTask pPreconditionTree = pSubTree.PreconditionNode();
EBTStatus status = pPreconditionTree.exec(pAgent);
//to search for the first one whose precondition is success
if (status != EBTStatus.BT_SUCCESS)
{
continue;
}
}
BehaviorTask pActionTree = pSubTree.Action();
EBTStatus s = pActionTree.exec(pAgent);
if (s == EBTStatus.BT_RUNNING)
{
this.m_activeChildIndex = index;
}
else
{
pActionTree.reset(pAgent);
if (s == EBTStatus.BT_FAILURE || s == EBTStatus.BT_INVALID)
{
//THE ACTION failed, to try the next one
continue;
}
}
Debug.Check(s == EBTStatus.BT_RUNNING || s == EBTStatus.BT_SUCCESS);
return(s);
}
}
return(EBTStatus.BT_FAILURE);
}
protected override void load(int version, string agentType, List <property_t> properties)
{
base.load(version, agentType, properties);
for (int i = 0; i < properties.Count; ++i)
{
property_t p = properties[i];
if (p.name == "FailurePolicy")
{
if (p.value == "FAIL_ON_ONE")
{
this.m_failPolicy = FAILURE_POLICY.FAIL_ON_ONE;
}
else if (p.value == "FAIL_ON_ALL")
{
this.m_failPolicy = FAILURE_POLICY.FAIL_ON_ALL;
}
else
{
Debug.Check(false);
}
}
else if (p.name == "SuccessPolicy")
{
if (p.value == "SUCCEED_ON_ONE")
{
this.m_succeedPolicy = SUCCESS_POLICY.SUCCEED_ON_ONE;
}
else if (p.value == "SUCCEED_ON_ALL")
{
this.m_succeedPolicy = SUCCESS_POLICY.SUCCEED_ON_ALL;
}
else
{
Debug.Check(false);
}
}
else if (p.name == "ExitPolicy")
{
if (p.value == "EXIT_NONE")
{
this.m_exitPolicy = EXIT_POLICY.EXIT_NONE;
}
else if (p.value == "EXIT_ABORT_RUNNINGSIBLINGS")
{
this.m_exitPolicy = EXIT_POLICY.EXIT_ABORT_RUNNINGSIBLINGS;
}
else
{
Debug.Check(false);
}
}
else if (p.name == "ChildFinishPolicy")
{
if (p.value == "CHILDFINISH_ONCE")
{
this.m_childFinishPolicy = CHILDFINISH_POLICY.CHILDFINISH_ONCE;
}
else if (p.value == "CHILDFINISH_LOOP")
{
this.m_childFinishPolicy = CHILDFINISH_POLICY.CHILDFINISH_LOOP;
}
else
{
Debug.Check(false);
}
}
else
{
// todo: enter exit action failed here by mistake
//Debug.Check(false);
}
}
}
private EBTStatus UpdateFSM(Agent pAgent, EBTStatus childStatus)
{
Debug.Check(this.m_node != null);
Debug.Check(this.m_currentNodeId != -1);
#if !BEHAVIAC_RELEASE
int kMaxCount = 10;
Dictionary <int, int> state_update_count = new Dictionary <int, int>();
#endif//#if !BEHAVIAC_RELEASE
EBTStatus status = childStatus;
bool bLoop = true;
while (bLoop)
{
BehaviorTask currentState = this.GetChildById(this.m_currentNodeId);
currentState.exec(pAgent);
if (currentState is State.StateTask)
{
State.StateTask pStateTask = (State.StateTask)currentState;
if (pStateTask.IsEndState)
{
return(EBTStatus.BT_SUCCESS);
}
}
int nextStateId = currentState.GetNextStateId();
if (nextStateId < 0)
{
//if not transitioned, don't go on next state, to exit
bLoop = false;
}
else
{
#if !BEHAVIAC_RELEASE
if (state_update_count.ContainsKey(this.m_currentNodeId))
{
state_update_count[this.m_currentNodeId]++;
}
else
{
state_update_count.Add(this.m_currentNodeId, 1);
}
if (state_update_count[this.m_currentNodeId] > kMaxCount)
{
string treeName = BehaviorTask.GetParentTreeName(pAgent, this.GetNode());
Debug.LogError(string.Format("{0} might be updating an FSM('{1}') endlessly, possibly a dead loop, please redesign it!\n", pAgent.GetName(), treeName));
Debug.Check(false);
}
#endif
//if transitioned, go on next state
this.m_currentNodeId = nextStateId;
}
}
return(status);
}
protected override bool onenter(Agent pAgent)
{
Debug.Check(true);
return(true);
}
public override bool decompose(BehaviorNode node, PlannerTaskComplex seqTask, int depth, Planner planner)
{
Debug.Check(false);
return(false);
}
public void RemoveChild(PlannerTask childTask)
{
Debug.Check(this.m_children.Count > 0 && this.m_children[this.m_children.Count - 1] == childTask);
this.m_children.Remove(childTask);
}
public PlannerTask decomposeNode(BehaviorNode node, int depth)
{
try
{
// Ensure that the planner does not get stuck in an infinite loop
if (depth >= 256)
{
Debug.LogError("Exceeded task nesting depth. Does the graph contain an invalid cycle?");
return(null);
}
LogPlanNodeBegin(this.agent, node);
int depth1 = this.agent.Variables.Depth;
PlannerTask taskAdded = null;
bool isPreconditionOk = node.CheckPreconditions(this.agent, false);
if (isPreconditionOk)
{
bool bOk = true;
taskAdded = PlannerTask.Create(node, this.agent);
if (node is Action)
{
//nothing to do for action
Debug.Check(true);
}
else
{
Debug.Check(taskAdded is PlannerTaskComplex);
PlannerTaskComplex seqTask = taskAdded as PlannerTaskComplex;
bOk = this.decomposeComplex(node, seqTask, depth);
}
if (bOk)
{
node.ApplyEffects(this.agent, Effector.EPhase.E_SUCCESS);
}
else
{
BehaviorTask.DestroyTask(taskAdded);
taskAdded = null;
}
}
else
{
//precondition failed
LogPlanNodePreconditionFailed(this.agent, node);
}
LogPlanNodeEnd(this.agent, node, taskAdded != null ? "success" : "failure");
Debug.Check(this.agent.Variables.Depth == depth1);
return(taskAdded);
}
catch (Exception ex)
{
Debug.Check(false, ex.Message);
}
return(null);
}
public override void Run(Agent self)
{
Debug.Check(_param0 != null);
behaviac.Agent.VectorClear((System.Collections.IList)_param0.GetValueObject(self));
}
public static Func <TArg1, TArg2, bool> MakeMemberEqualsMethod <TArg1, TArg2>()
{
try
{
Type type1 = typeof(TArg1);
Type type2 = typeof(TArg1);
Debug.Check(Utils.IsCustomStructType(type1));
ParameterExpression pThis = Expression.Parameter(type1, "lhs");
ParameterExpression pThat = Expression.Parameter(type2, "rhs");
// cast to the subclass type1
UnaryExpression pCastThis = Expression.Convert(pThis, type1);
UnaryExpression pCastThat = Expression.Convert(pThat, type2);
// compound AND expression using short-circuit evaluation
Expression last = null;
BindingFlags bindingFlags = BindingFlags.NonPublic | BindingFlags.Public | BindingFlags.Instance;
foreach (FieldInfo field in type1.GetFields(bindingFlags))
{
BinaryExpression equals = null;
if (field.FieldType == typeof(System.Char))
{
//Char needs to be checked before primitive
MethodInfo CharEquals = typeof(Extensions).GetMethod("CharEquals");
equals = Expression.Equal(
Expression.Field(pCastThis, field),
Expression.Field(pCastThat, field),
false,
CharEquals
);
}
else if (field.FieldType.IsPrimitive || field.FieldType == typeof(string) || field.FieldType.IsEnum)
{
equals = Expression.Equal(
Expression.Field(pCastThis, field),
Expression.Field(pCastThat, field)
);
}
else
{
MethodInfo TypesEquals = typeof(Extensions).GetMethod("TypesEquals").MakeGenericMethod(field.FieldType);;
equals = Expression.Equal(
Expression.Field(pCastThis, field),
Expression.Field(pCastThat, field),
false,
TypesEquals
);
}
if (last == null)
{
last = equals;
}
else
{
last = Expression.AndAlso(last, equals);
}
}
//Expression<Func<bool>> falsePredicate = () => false;
Expression falsePredicate = Expression.Constant(false);
// call Object.Equals if second parameter doesn't match type1
last = Expression.Condition(
Expression.TypeIs(pThat, type1),
last,
falsePredicate
);
// compile method
return(Expression.Lambda <Func <TArg1, TArg2, bool> >(last, pThis, pThat).Compile());
}
catch (Exception ex)
{
string msg = ex.Message;
return(delegate { throw new InvalidOperationException(msg); });
}
}
protected override void load(int version, string agentType, List <property_t> properties)
{
base.load(version, agentType, properties);
for (int i = 0; i < properties.Count; ++i)
{
property_t p = properties[i];
if (p.name == "Opl")
{
this.m_opl = Condition.LoadLeft(p.value);
}
else if (p.name == "Operator")
{
if (p.value == "Add")
{
this.m_operator = EComputeOperator.E_ADD;
}
else if (p.value == "Sub")
{
this.m_operator = EComputeOperator.E_SUB;
}
else if (p.value == "Mul")
{
this.m_operator = EComputeOperator.E_MUL;
}
else if (p.value == "Div")
{
this.m_operator = EComputeOperator.E_DIV;
}
else
{
Debug.Check(false);
}
}
else if (p.name == "Opr1")
{
int pParenthesis = p.value.IndexOf('(');
if (pParenthesis == -1)
{
string typeName = null;
this.m_opr1 = Condition.LoadRight(p.value, ref typeName);
}
else
{
//method
this.m_opr1_m = Action.LoadMethod(p.value);
}
}
else if (p.name == "Opr2")
{
int pParenthesis = p.value.IndexOf('(');
if (pParenthesis == -1)
{
string typeName = null;
this.m_opr2 = Condition.LoadRight(p.value, ref typeName);
}
else
{
//method
this.m_opr2_m = Action.LoadMethod(p.value);
}
}
else
{
//Debug.Check(0, "unrecognised property %s", p.name);
}
}
}
public static void Clone <T>(ref T o, T c)
{
if (c == null)
{
o = default(T);
return;
}
//Type type = c.GetType();
Type type = typeof(T);
if (type.IsPrimitive || type.IsEnum || type.IsValueType)
{
//c is boxed, it needs to make a new copy
//if (o == null)
//{
// o =(T) Activator.CreateInstance(type);
//}
o = c;
}
else if (type == typeof(string))
{
//string is immutable, it doesn't need to make a new copy
o = c;
}
else if (type.IsArray)
{
Type elementType = type.GetElementType();
if (elementType == null)
{
elementType = Type.GetType(type.FullName.Replace("[]", string.Empty));
}
var array = c as Array;
Array copied = Array.CreateInstance(elementType, array.Length);
for (int i = 0; i < array.Length; i++)
{
object item = null;
Utils.Clone(ref item, array.GetValue(i));
//object item = Utils.Clone(array.GetValue(i));
copied.SetValue(item, i);
}
if (o == null)
{
o = (T)Convert.ChangeType(copied, type);
}
}
else if (Utils.IsArrayType(type))
{
Type elementType = type.GetElementType();
if (elementType == null)
{
elementType = Type.GetType(type.FullName.Replace("[]", string.Empty));
}
var array = c as IList;
o = (T)Activator.CreateInstance(type);
for (int i = 0; i < array.Count; i++)
{
object item = null;
Utils.Clone(ref item, array[i]);
((IList)o).Add(item);
}
}
else
{
bool isClass = type.IsClass;
if (isClass && Utils.IsRefNullType(type))
{
o = c;
}
else
{
Debug.Check(!type.IsPrimitive && !type.IsEnum);
bool isStruct = type.IsValueType;
if (o == null)
{
o = (T)Activator.CreateInstance(type);
}
if (isStruct || isClass)
{
FieldInfo[] fields = type.GetFields(BindingFlags.DeclaredOnly | BindingFlags.NonPublic | BindingFlags.Public | BindingFlags.Instance | BindingFlags.Static);
for (int i = 0; i < fields.Length; ++i)
{
FieldInfo f = fields[i];
if (!f.IsLiteral)
{
object fv = f.GetValue(c);
object fv2 = null;
Utils.Clone(ref fv2, fv);
f.SetValue(o, fv2);
}
}
}
else
{
o = c;
}
}
}
}
